WO2024000331A1 - 感知服务获取方法及装置 - Google Patents

感知服务获取方法及装置 Download PDF

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Publication number
WO2024000331A1
WO2024000331A1 PCT/CN2022/102551 CN2022102551W WO2024000331A1 WO 2024000331 A1 WO2024000331 A1 WO 2024000331A1 CN 2022102551 W CN2022102551 W CN 2022102551W WO 2024000331 A1 WO2024000331 A1 WO 2024000331A1
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WO
WIPO (PCT)
Prior art keywords
sensing
network device
terminal device
request
access network
Prior art date
Application number
PCT/CN2022/102551
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English (en)
French (fr)
Inventor
吴锦花
Original Assignee
北京小米移动软件有限公司
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 北京小米移动软件有限公司 filed Critical 北京小米移动软件有限公司
Priority to PCT/CN2022/102551 priority Critical patent/WO2024000331A1/zh
Priority to CN202280002205.6A priority patent/CN117643082A/zh
Publication of WO2024000331A1 publication Critical patent/WO2024000331A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information

Definitions

  • the present application relates to the field of communication technology, and in particular to a sensing service acquisition method and device.
  • ADAS Advanced Driving Assistance System
  • vehicle wireless communication technology vehicle to everything, V2X
  • advanced driving assistance system Advanced Driving Assistance System
  • sensors installed on the vehicle such as millimeter wave radar, lidar, monocular/ Binocular cameras and satellite navigation, etc.
  • can sense the surrounding environment at any time during driving collect data, identify, detect and track static and dynamic objects, and can perform systematic calculations and analysis combined with navigation map data to make the driver aware in advance Possible dangers can effectively improve driving comfort and safety.
  • the first embodiment of the present application proposes a sensing service acquisition method.
  • the method is executed by a core network device.
  • the method includes:
  • the first sensing request sent by the first terminal device through the first access network device, the first sensing request is used to request real-time sensing information, and the first sensing request includes the real-time location of the first terminal device;
  • the real-time sensing information is sent to the first terminal device through the first access network device.
  • the method also includes:
  • Real-time sensing information sent by the second terminal device is received through the second access network device.
  • the real-time sensing information is obtained by sensing by the second access network device and/or the second terminal device.
  • the method also includes:
  • the third sensing request sent by the first terminal device is received through the first access network device.
  • the third sensing request is used to request the core network device to perform authorization.
  • the third sensing request includes the third sensing request.
  • the first access network device sends a third sensing response to the first terminal device.
  • the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing on the movement route. information.
  • the method also includes:
  • the first access network device sends a first awareness registration response to the first terminal device, where the first awareness registration response is used to confirm whether the awareness service registration of the first terminal device is successful.
  • the first sensing registration request includes: the first terminal device type and/or the first terminal device identification;
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the method also includes:
  • the second sensing registration request includes at least one of the following: location information of the second access network device; sensing capabilities of the second access network device.
  • the method also includes:
  • the second access network device sends a third awareness registration response to the second terminal device, where the third awareness registration response is used to confirm whether the awareness service registration of the second terminal device is successful.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, and sensing capabilities of the second terminal device.
  • the core network device is a sensing application function SAF.
  • the second embodiment of the present application proposes a method for obtaining sensing services.
  • the method is executed by a first terminal device.
  • the method includes:
  • the real-time sensing information sent by the core network device is received through the first access network device.
  • the method also includes:
  • the first access network device sends a third sensing request to the core network device.
  • the third sensing request is used to request the core network device to perform authorization.
  • the third sensing request includes the first terminal.
  • the device ’s movement route;
  • the movement route is used to verify the third sensing request
  • the first access network device receives a third sensing response sent by the core network device, and the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing on the movement route. information.
  • the method also includes:
  • the first awareness registration response sent by the core network device is received through the first access network device, and the first awareness registration response is used to confirm whether the awareness service registration of the first terminal device is successful.
  • the first sensing registration request includes: the first terminal device type and/or the first terminal device identification;
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the core network device is a sensing application function SAF.
  • the third embodiment of the present application proposes a sensing service acquisition method.
  • the method is executed by a second access network device.
  • the method includes:
  • the method also includes:
  • the real-time sensing information is obtained by sensing by the second access network device and/or the second terminal device.
  • the method also includes:
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the core network device is a sensing application function SAF.
  • the fourth embodiment of the present application provides a method for obtaining sensing services.
  • the method is executed by a second terminal device.
  • the method includes:
  • the real-time sensing information is sent to the core network device through the second access network device.
  • the method also includes:
  • the third sensing registration response sent by the core network device is received through the second access network device, and the third sensing registration response is used to confirm whether the sensing service registration of the second terminal device is successful.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, and sensing capabilities of the second terminal device.
  • the core network device is a sensing application function SAF.
  • the fifth aspect embodiment of this application proposes a core network device.
  • the core network device includes:
  • a transceiver unit configured to receive a first sensing request sent by a first terminal device through a first access network device, where the first sensing request is used to request real-time sensing information, where the first sensing request includes the first terminal device real-time location;
  • a processing unit configured to send a second sensing request to the second access network device according to the real-time location of the first terminal device, where the second sensing request is used to request acquisition of the real-time sensing information;
  • a transceiver unit further configured to receive the real-time sensing information sent by the second access network device
  • the transceiver unit is also configured to send the real-time sensing information to the first terminal device.
  • the transceiver unit is also used for:
  • Real-time sensing information sent by the second terminal device is received through the second access network device.
  • the real-time sensing information is obtained by sensing by the second access network device and/or the second terminal device.
  • the transceiver unit is also used for:
  • the third sensing request sent by the first terminal device is received through the first access network device.
  • the third sensing request is used to request the core network device to perform authorization.
  • the third sensing request includes the third sensing request.
  • the first access network device sends a third sensing response to the first terminal device.
  • the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing on the movement route. information.
  • the transceiver unit is also used to:
  • the first access network device sends a first awareness registration response to the first terminal device, where the first awareness registration response is used to confirm whether the awareness service registration of the first terminal device is successful.
  • the first sensing registration request includes: the first terminal device type and/or the first terminal device identification;
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the transceiver unit is also used to:
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the transceiver unit is also used to:
  • the second access network device sends a third awareness registration response to the second terminal device, where the third awareness registration response is used to confirm whether the awareness service registration of the second terminal device is successful.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, and sensing capabilities of the second terminal device.
  • the core network device is a sensing application function SAF.
  • the sixth aspect embodiment of the present application provides a first terminal device, including:
  • a transceiver unit configured to send a first sensing request to the core network device through the first access network device, where the first sensing request is used to request real-time sensing information, where the first sensing request includes the real-time location of the first terminal device;
  • the transceiver unit is also configured to receive the real-time sensing information sent by the core network device through the first access network device.
  • the transceiver unit is also used to:
  • the first access network device sends a third sensing request to the core network device.
  • the third sensing request is used to request the core network device to perform authorization.
  • the third sensing request includes the first terminal.
  • the device ’s movement route;
  • the movement route is used to verify the third sensing request
  • the first access network device receives a third sensing response sent by the core network device, and the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing on the movement route. information.
  • the transceiver unit is also used to:
  • the first awareness registration response sent by the core network device is received through the first access network device, and the first awareness registration response is used to confirm whether the awareness service registration of the first terminal device is successful.
  • the first sensing registration request includes: the first terminal device type and/or the first terminal device identification;
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the core network device is a sensing application function SAF.
  • the seventh embodiment of the present application provides an access network device, including:
  • a transceiver unit configured to receive a second sensing request sent by the core network device, where the second sensing request is used to request acquisition of real-time sensing information
  • the transceiver unit is also used to send the real-time sensing information to the core network device.
  • the transceiver unit is also used to:
  • the real-time sensing information is obtained by sensing by the second access network device and/or the second terminal device.
  • the transceiver unit is also used to:
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the core network device is a sensing application function SAF.
  • the eighth embodiment of the present application provides a second terminal device, including:
  • a transceiver unit configured to receive a second sensing request sent by the core network device through the second access network device, where the second sensing request is used to request acquisition of real-time sensing information;
  • a processing unit configured to sense the wireless communication environment around the second terminal device and obtain real-time sensing information
  • the transceiver unit is also configured to send the real-time sensing information to the core network device through the second access network device.
  • the transceiver unit is also used to:
  • the third sensing registration response sent by the core network device is received through the second access network device, and the third sensing registration response is used to confirm whether the sensing service registration of the second terminal device is successful.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, and sensing capabilities of the second terminal device.
  • the core network device is a sensing application function SAF.
  • the ninth aspect of the present application provides a communication device.
  • the device includes a processor and a memory.
  • a computer program is stored in the memory.
  • the processor executes the computer program stored in the memory so that the The device executes the perceptual service acquisition method described in the above-mentioned first aspect embodiment, or executes the perceptual service acquisition method described in the above-mentioned third aspect embodiment.
  • the tenth embodiment of the present application provides a communication device.
  • the device includes a processor and a memory.
  • a computer program is stored in the memory.
  • the processor executes the computer program stored in the memory so that the The device executes the perceptual service acquisition method described in the above-mentioned embodiment of the second aspect, or executes the perceptual service acquisition method described in the above-mentioned fourth embodiment.
  • An eleventh aspect embodiment of the present application provides a communication device.
  • the device includes a processor and an interface circuit.
  • the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is used to run the code instructions to cause The device executes the perceptual service acquisition method described in the above-mentioned first aspect embodiment, or executes the perceptual service acquisition method described in the above-mentioned third aspect embodiment.
  • the twelfth embodiment of the present application provides a communication device.
  • the device includes a processor and an interface circuit.
  • the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is used to run the code instructions to cause The device executes the perceptual service acquisition method described in the above-mentioned second aspect embodiment, or executes the perceptual service acquisition method described in the above-mentioned fourth aspect embodiment.
  • the thirteenth embodiment of the present application proposes a computer-readable storage medium for storing instructions that, when the instructions are executed, enable the sensing service acquisition method described in the first embodiment to be implemented, or The sensing service acquisition method described in the above embodiment of the third aspect is implemented.
  • the fourteenth embodiment of the present application provides a computer-readable storage medium for storing instructions.
  • the sensing service acquisition method described in the second embodiment is implemented, or The sensing service acquisition method described in the embodiment of the fourth aspect is implemented.
  • the fifteenth embodiment of the present application proposes a computer program that, when run on a computer, causes the computer to execute the perceptual service acquisition method described in the first embodiment, or causes the computer to perform the method described in the third embodiment. Perception service acquisition method.
  • the sixteenth embodiment of the present application proposes a computer program that, when run on a computer, causes the computer to execute the perceptual service acquisition method described in the embodiment of the second aspect, or causes the computer to perform the method described in the embodiment of the fourth aspect. Perception service acquisition method.
  • Embodiments of the present application provide a method and device for obtaining sensing services by receiving a first sensing request sent by a first terminal device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the first terminal device.
  • the real-time location of the device according to the real-time location of the first terminal device, sends a second sensing request to at least one second access network device, the second sensing request is used to request acquisition of real-time sensing information, and receives the at least one second access network device.
  • the real-time sensing information sent by the network access device is sent to the first terminal device, so that the first terminal device can obtain the sensing result of at least one other nearby communication device through communication with the core network device, and can obtain the sensing result of at least one other nearby communication device in the first terminal device.
  • the terminal device assists the first terminal device in sensing through the wireless communication system, which effectively improves the reliability of the first terminal device's perception of the surrounding environment and improves the quality of the sensing results.
  • Figure 1 is a schematic architectural diagram of a communication system provided by an embodiment of the present application.
  • Figure 2 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application
  • Figure 3 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 4 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 5 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 6 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 7 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 8 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 9 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 10 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 11 is a schematic architectural diagram of another communication system provided by an embodiment of the present application.
  • Figure 12 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application.
  • Figure 13 is a schematic flow chart of a perceptual registration method provided by an embodiment of the present application.
  • Figure 14 is a schematic flow chart of a perceptual registration method provided by an embodiment of the present application.
  • Figure 15 is a schematic structural diagram of a core network device provided by an embodiment of the present application.
  • Figure 16 is a schematic structural diagram of a first terminal device provided by an embodiment of the present application.
  • Figure 17 is a schematic structural diagram of a second access network device provided by an embodiment of the present application.
  • Figure 18 is a schematic structural diagram of a second terminal device provided by an embodiment of the present application.
  • Figure 19 is a schematic structural diagram of another sensory service acquisition device provided by an embodiment of the present application.
  • Figure 20 is a schematic structural diagram of a chip provided by an embodiment of the present application.
  • first, second, third, etc. may be used to describe various information in the embodiments of this application, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be called second information, and similarly, the second information may also be called first information.
  • the words "if” and “if” as used herein may be interpreted as "when” or "when” or “in response to determining.”
  • Figure 1 is a schematic architectural diagram of a communication system provided by an embodiment of the present application.
  • the communication system may include but is not limited to one network device and one terminal device.
  • the number and form of devices shown in Figure 1 are only for examples and do not constitute a limitation on the embodiments of the present application. In actual applications, two or more devices may be included. network equipment and two or more terminal devices.
  • the communication system shown in Figure 1 includes a network device 101 and a terminal device 102 as an example.
  • LTE Long Term Evolution
  • 5G new air interface system 5G new air interface system
  • other future new mobile communication systems 5G new air interface system
  • the network device 101 in the embodiment of this application is an entity on the network side that is used to transmit or receive signals.
  • the network device 101 may be an evolved base station (Evolved NodeB, eNB), a transmission point (Transmission Reception Point, TRP), a next generation base station (Next Generation NodeB, gNB) in an NR system, or other base stations in future mobile communication systems.
  • the embodiments of this application do not limit the specific technology and specific equipment form used by the network equipment.
  • the network equipment provided by the embodiments of this application may be composed of a centralized unit (Central Unit, CU) and a distributed unit (Distributed Unit, DU).
  • the CU may also be called a control unit (Control Unit), using CU-DU.
  • Control Unit Control Unit
  • the structure can separate the protocol layers of network equipment, such as base stations, and place some protocol layer functions under centralized control on the CU. The remaining part or all protocol layer functions are distributed in the DU, and the CU centrally controls the DU.
  • the terminal device 102 in the embodiment of this application is an entity on the user side that is used to receive or transmit signals, such as a mobile phone.
  • Terminal equipment can also be called terminal equipment (terminal), user equipment (user equipment, UE), mobile station (Mobile Station, MS), mobile terminal equipment (Mobile Terminal, MT), etc.
  • Terminal devices can be cars with communication functions, smart cars, mobile phones, Internet of Things (IoT) terminals, wearable devices, tablets (Pad), computers with wireless transceiver functions, virtual reality ( Virtual Reality (VR) terminal equipment, augmented reality (Augmented Reality, AR) terminal equipment, wireless terminal equipment in industrial control (Industrial Control), wireless terminal equipment in self-driving (Self-Driving), remote surgery (Remote Medical) Wireless terminal equipment in Surgery, wireless terminal equipment in Smart Grid, wireless terminal equipment in Transportation Safety, wireless terminal equipment in Smart City, Smart Home Wireless terminal equipment in etc.
  • the embodiments of this application do not limit the specific technology and specific equipment form used by the terminal equipment.
  • ADAS Advanced Driving Assistance System
  • vehicle wireless communication technology vehicle to everything, V2X
  • advanced driving assistance system Advanced Driving Assistance System
  • sensors installed on the vehicle such as millimeter wave radar, lidar, monocular/ Binocular cameras and satellite navigation, etc.
  • can sense the surrounding environment at any time during driving collect data, identify, detect and track static and dynamic objects, and can perform systematic calculations and analysis combined with navigation map data to make the driver aware in advance Possible dangers can effectively improve driving comfort and safety.
  • Integrated sensing and communication in the 3rd generation partnership project (3GPP) 5G system means that sensing capabilities are provided by 5G new radio (NR) wireless communication systems and infrastructure that can also be used for communication , and sensing information can come from RF and/or non-RF based sensors.
  • 3GPP 3rd generation partnership project
  • integrated sensing and communication can involve scenarios of perception-assisted communication.
  • the 5G communication system can provide perception services or perception-assisted communication.
  • sensing information related to the communication channel or environment can be used to improve the communication services of the 5G system itself.
  • sensing information can be used to assist wireless resource management, interference mitigation, beam management, mobility management, etc.
  • perception-assisted communication scenarios are:
  • 5G systems 5G systems, 5GS
  • 5G systems 5G systems, 5GS
  • the recently released 5G-automotive association (5GAA) technical report illustrates the role that operators can play in enhancing V2X-type services, especially in infrastructure-assisted environmental awareness, infrastructure-based remote driving, high-definition Map collection and sharing and remote driving support.
  • 3GPP-based perception technology (such as NR-based perception) can have the opportunity to enhance advanced driving assistance systems ADAS.
  • Figure 2 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the core network device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 2, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 201 Receive a first sensing request sent by the first terminal device through the first access network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device.
  • the core network device may be a Sensing Application Function (SAF).
  • SAF Sensing Application Function
  • the sensing application function SAF is a new network element located in the core network. This network element is used to manage functions related to sensing applications and can authenticate and authorize communication equipment to perform sensing services.
  • SAF can be either a physical device or a function implemented by software running in the physical device, which is not limited in the embodiments of the present application.
  • the core network device can receive a first sensing request sent by the first terminal device to request a real-time sensing result, where the first sensing request includes the real-time location of the first terminal device.
  • the core network device can obtain the sensing information (also called sensing result or sensing data) of the surrounding environment of the first terminal device based on the real-time location of the first terminal device.
  • the core network device communicates with the first terminal device through the first access network (Radio Access Network, RAN) device.
  • the first access network device is the access network device of the serving cell where the first terminal device is located, and the first terminal device can communicate with the core network device through the first access network device.
  • the core network device before receiving the first sensing request, can also receive a third sensing request sent by the first terminal device.
  • the third sensing request is used to request the core network device to perform authorization.
  • the third sensing request includes a movement route of the first terminal device.
  • the core network device can verify the third sensing request based on the moving route, and send a third sensing response to the first terminal device to notify the first terminal device whether it is authorized to obtain real-time sensing information on the moving route.
  • the core network device can also receive a first awareness registration request sent by the first terminal device, where the first awareness registration request is used for the first terminal device to register the awareness service.
  • the core network device can verify the first sensing registration request based on its own security policy to determine whether the first terminal device can be trusted to perform the sensing service.
  • the core network device sends a first sensing registration response to the first terminal device to notify the first terminal device whether the sensing service registration is successful.
  • the first awareness registration request includes: a first terminal device type and/or a first terminal device identification.
  • the first terminal device identification includes at least one of the following: subscriber permanent identifier (Subscriber Permanent Identifier, SUPI), mobile subscriber number (Mobile Subscriber International ISDN/PSTN number, MSISDN). Among them, ISDN (Integrated Service Digital Network), PSTN (Public Switched Telephone Network).
  • SUPI Subscriber Permanent Identifier
  • MSISDN Mobile Subscriber International ISDN/PSTN number
  • ISDN Integrated Service Digital Network
  • PSTN Public Switched Telephone Network
  • the first terminal device may be a vehicle, and the first terminal device type included in the first sensing registration request is a vehicle.
  • Step 202 Send a second sensing request to at least one second access network device according to the real-time location of the first terminal device, where the second sensing request is used to request acquisition of real-time sensing information.
  • the core network device can send a second sensing request to at least one second access network device located around the first terminal device according to the real-time location of the first terminal device included in the first sensing request, so as to Request for real-time perception information.
  • the second access network device is determined based on the real-time location of the first terminal device and is located around the first terminal device. It can be understood that the second access network device and the aforementioned first access network device may be the same or different, and this application does not limit this. That is, in some implementations, the core network device may also send the second sensing request to the first access network device.
  • the core network device can also send the second sensing request to at least one second terminal device through the second access network device, and receive the second sensing request sent by the at least one second terminal device through the second access network device. Perceive information in real time.
  • the second terminal device is also determined based on the real-time position of the first terminal device.
  • the second terminal device is a terminal device located around the first terminal device.
  • the second terminal device has sensing capabilities and can sense the surrounding environment and obtain sensing information (also can called sensory results, sensory data). After receiving the second sensing request, the second terminal device can perform sensing and obtain real-time sensing information.
  • the real-time sensing information is obtained by sensing the at least one second access network device and/or the at least one second terminal device.
  • the real-time sensing information is sensed by the at least one second terminal device.
  • the second terminal device senses the surrounding environment, and after obtaining the real-time sensing information, it can send it to the core network device through the second access network device.
  • the real-time sensing information is obtained by sensing by the at least one second access network device.
  • the second access network device can sense the surrounding environment, obtain real-time sensing information, and send the obtained real-time sensing information to the core network device.
  • the real-time sensing information is obtained by sensing the at least one second terminal device and the at least one second access network device. Both the second terminal device and the second access network device sense the surrounding environment, obtain real-time sensing information, and send it to the core network device.
  • the second access network device also has sensing capabilities and can sense the surrounding environment and obtain sensing information (which may also be called sensing results and sensing data).
  • the sensing information may include sensing the channel environment of the second terminal device and/or the second access network device, collecting surrounding environment data, identifying, detecting and tracking static and dynamic objects, and sensing the second terminal device and/or the second access network device.
  • the embodiments of the present application do not limit the position, speed, movement trajectory, etc. of the terminal device and/or the second access network device.
  • the core network device can receive a second awareness registration request sent by the second access network device, where the second awareness registration request is used for awareness service registration of the second access network device.
  • the core network device can verify the second awareness registration request based on its own security policy to determine whether the second access network device can be trusted to perform the awareness service.
  • the core network device sends a second sensing registration response to the second access network device to notify the second access network device whether the sensing service registration is successful.
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the sensing capability of the second access network device may include: the range, time, radio frequency, sensing result type, etc. sensed by the second access network device.
  • the core network device can receive a third awareness registration request sent by the second terminal device, where the third awareness registration request is used for awareness service registration of the second terminal device.
  • the core network device can verify the third sensing registration request based on its own security policy to determine whether the second terminal device can be trusted to perform the sensing service.
  • the core network device sends a third sensing registration response to the second terminal device to notify the second terminal device whether the sensing service registration is successful. It can be understood that in various embodiments of the present application, the core network device communicates with the second terminal device through the second access network device.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, sensing capability of the second terminal device.
  • the sensing capability of the second terminal device may include: the range, time, radio frequency, sensing result type, etc. sensed by the second terminal device.
  • Step 203 Receive real-time sensing information sent by the at least one second access network device.
  • the core network device can receive real-time sensing information sent by the at least one second access network device, and the real-time sensing information is the at least one second terminal device and/or the at least one second access network device. It is obtained after receiving the second sensing request sent by the core network device.
  • At least one second access network device performs sensing after receiving the second sensing request sent by the core network device to obtain real-time sensing information, and sends the real-time sensing information to the core network device.
  • At least one second terminal device senses and obtains real-time sensing information after receiving the second sensing request sent by the core network device through the second access network device, and sends it to the second sensing request through the second access network device.
  • Core network equipment
  • At least one second terminal device senses and obtains real-time sensing information after receiving the second sensing request sent by the core network device through the second access network device, and sends it to the second sensing request through the second access network device.
  • the core network device at the same time, at least one second access network device also senses to obtain real-time sensing information after receiving the second sensing request sent by the core network device, and sends it to the core network device.
  • Step 204 Send the real-time sensing information to the first terminal device through the first access network device.
  • the core network device can send real-time sensing information to the first terminal device, and the real-time sensing information is sent to the core network device by at least one second access network device. That is to say, in this embodiment of the present application, the core network device can collect the sensing information around the first terminal device and send it to the first terminal device. The sensing information is collected by at least one second terminal with sensing capabilities around the first terminal device. The terminal device and/or at least one second access network device generates and transmits it to the core network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device.
  • a real-time location sending a second sensing request to at least one second access network device, where the second sensing request is used to request acquisition of real-time sensing information, receiving the real-time sensing information sent by the at least one second access network device, and sending the second sensing request to the third access network device.
  • a terminal device sends the real-time sensing information, so that the first terminal device can obtain the sensing result of at least one other nearby communication device through communication with the core network device. Based on the first terminal device sensing through its own sensor, it can The wireless communication system assists the first terminal device in sensing, effectively improves the reliability of the first terminal device's perception of the surrounding environment, and effectively improves the quality of the sensing results.
  • Figure 3 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the core network device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 3, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 301 Receive a third sensing request sent by the first terminal device through the first access network device.
  • the third sensing request is used to request the core network device for authorization.
  • the third sensing request includes the movement of the first terminal device. route.
  • the core network device may be a sensing application function SAF.
  • the sensing application function SAF is a new network element located in the core network. This network element is used to manage functions related to sensing applications and can authenticate and authorize communication equipment to perform sensing services.
  • the SAF can be either a physical device or a function implemented by software running in the physical device, which is not limited in the embodiments of the present application.
  • the first terminal device may be a vehicle.
  • the core network device can receive a third sensing request sent by the first terminal device, where the third sensing request includes the movement route of the first terminal device.
  • the core network device can confirm whether the first terminal device is authorized to obtain sensing information according to the third sensing request.
  • the moving route may be a moving route planned by the first terminal device based on the starting point and the destination.
  • the third sensing request further includes the sensing mode of the first terminal device.
  • the sensing mode includes: self-transmitting and self-receiving, requiring sensing results from other sensing clients (sensing clients), etc.
  • the sensing client refers to a communication device that has successfully completed sensing registration to the core network device. It has sensing capabilities, can perform sensing services, and can transmit sensing results to the core network device.
  • Step 302 Verify the third sensing request according to the movement route.
  • the core network device can verify the third sensing request based on the movement route included in the third sensing request.
  • the core network device can verify whether it can accept the third sensing request and whether it can authorize the first terminal device to obtain real-time sensing information on the moving route according to the pre-configured security policy and based on the movement route included in the third sensing request. .
  • the core network device can also verify whether the third sensing request can be accepted based on the movement route and sensing mode included in the third sensing request, and whether the first terminal device can be authorized to obtain real-time information on the movement route. Perceive information.
  • Step 303 Send a third sensing response to the first terminal device through the first access network device.
  • the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing information on the movement route.
  • the core network device can send a third sensing response to the first terminal device to notify whether the first terminal device is authorized to obtain the real-time information on the moving route. Perceive information.
  • the core network device if the core network device passes the verification of the third sensing request, the core network device sends a third sensing response to the first terminal device.
  • the third sensing response includes the confirmation message of the movement route, and the first terminal device receives the third sensing response. After the third sensing response, it can be confirmed that the core network device authorizes the first terminal device to obtain real-time sensing information on the moving route.
  • the third sensing response includes a confirmation message of the movement route and sensing mode.
  • the core network device sends a third sensing response to the first terminal device.
  • the third sensing response is used to reject the third sensing request.
  • the first terminal device receives the third sensing request. After the third sensing response, it can be confirmed that the core network device does not authorize the first terminal device to obtain real-time sensing information on the moving route.
  • the third sensing response may include reasons for rejection, etc.
  • Step 304 Receive a first sensing request sent by the first terminal device through the first access network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device.
  • Step 305 Send a second sensing request to at least one second access network device according to the real-time location of the first terminal device, where the second sensing request is used to request acquisition of real-time sensing information.
  • Step 306 Receive real-time sensing information sent by the at least one second access network device.
  • Step 307 Send the real-time sensing information to the first terminal device through the first access network device.
  • steps 304 to 307 can be implemented in any manner in the embodiments of the present application.
  • the embodiment of the present application does not limit this and will not be described again.
  • the third sensing request is used to request the core network device for authorization.
  • the third sensing request includes the moving route of the first terminal device.
  • verify the third sensing request send a third sensing response to the first terminal device, the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing information on the moving route, receive the third sensing response
  • a first sensing request sent by a terminal device is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device.
  • At least one The second access network device sends a second sensing request, the second sensing request is used to request to obtain real-time sensing information, receives the real-time sensing information sent by the at least one second access network device, and sends the real-time sensing information to the first terminal device.
  • Sensing information enables the first terminal device to obtain the sensing results of at least one other nearby communication device through communication with the core network device, and can assist the first terminal device through the wireless communication system based on the first terminal device sensing through its own sensor.
  • the terminal device performs sensing, which effectively improves the reliability of the first terminal device's perception of the surrounding environment and effectively improves the quality of the sensing results.
  • Figure 4 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the core network device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 4, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 401 Receive a first awareness registration request sent by the first terminal device through the first access network device.
  • the first awareness registration request is used for awareness service registration of the first terminal device.
  • the core network device may be a sensing application function SAF.
  • the sensing application function SAF is a new network element located in the core network. This network element is used to manage functions related to sensing applications and can authenticate and authorize communication equipment to perform sensing services.
  • the SAF can be either a physical device or a function implemented by software running in the physical device, which is not limited in the embodiments of the present application.
  • the first terminal device may be a first terminal device, and the first terminal device is an entity on the user side that is used to receive or transmit signals.
  • the first terminal device may be a vehicle.
  • the first awareness registration request includes: a first terminal device type and/or a first terminal device identification.
  • the first awareness registration request includes a first terminal device type.
  • the first awareness registration request includes a first terminal device identification.
  • the first awareness registration request includes a first terminal device type and a first terminal device identification.
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the first terminal device may be a vehicle, and the first terminal device type included in the first sensing registration request is a vehicle.
  • the core network device can receive the first sensing registration request sent by the first terminal device and verify it to verify whether the first terminal device is a legal user and whether it can be authorized to perform sensing and obtain sensing. information to determine whether to accept the registration of the first terminal device.
  • Step 402 Verify the first awareness registration request according to the security policy of the core network device.
  • the core network device can verify the first sensing registration request according to its own pre-configured security policy, determine whether the first terminal device is a legitimate user, and whether it can be authorized to perform sensing and obtain sensing information. to determine whether to accept the registration of the first terminal device.
  • Step 403 Send a first awareness registration response to the first terminal device through the first access network device.
  • the first awareness registration response is used to confirm whether the awareness service registration of the first terminal device is successful.
  • the core network device can send a first awareness registration response to the first terminal device after verifying the first awareness registration request according to its own pre-configured security policy to notify the first terminal device of the awareness service. Whether the registration is successful.
  • the core network device sends a first sensing registration response to the first terminal device to notify the first terminal device that the sensing service registration is successful. If the verification of the first sensing request fails, the core network device sends a first sensing registration response to the first terminal device to notify the first terminal device that the sensing service registration has failed.
  • Step 404 Receive a second awareness registration request sent by the second access network device, where the second awareness registration request is used for awareness service registration of the second access network device.
  • the second access network device has sensing capabilities and can sense the surrounding environment and obtain sensing information (which may also be called sensing results and sensing data).
  • the sensing information may include sensing the channel environment of the second access network device, collecting surrounding environment data, identifying, detecting and tracking static and dynamic objects, as well as the location of the second access network device, Perception of speed, motion trajectory, etc. are not limited in the embodiments of this application.
  • the core network device can receive a second awareness registration request sent by the second access network device.
  • the second awareness registration request is used for awareness service registration of the third communication device.
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the sensing capability of the second access network device may include: the range, time, radio frequency, sensing result type, etc. sensed by the second access network device.
  • the core network device can receive the second sensing registration request sent by the second access network device and verify it to verify whether the second access network device is legal and whether it can be authorized to sense and Transmitting sensing information to determine whether to accept registration of the second access network device.
  • Step 405 Verify the second awareness registration request according to the security policy of the core network device.
  • the core network device can verify the second sensing registration request according to its own pre-configured security policy, determine whether the second access network device is legal, and whether it can be authorized to perform sensing and obtain sensing information. to determine whether to accept the registration of the second access network device.
  • Step 406 Send a second awareness registration response to the second access network device.
  • the second awareness registration response is used to confirm whether the awareness service registration of the second access network device is successful.
  • the core network device after the core network device verifies the second aware registration request according to its own pre-configured security policy, it can send a second aware registration response to the second access network device to notify the third communication device Detect whether the service registration is successful.
  • the core network device sends a second sensing registration response to the second access network device to notify the second access network device that the sensing service registration is successful. If the second sensing request verification fails, the core network device sends a second sensing registration response to the second access network device to notify the second access network device that the sensing service registration has failed.
  • Step 407 Receive a third sensing registration request sent by the second terminal device through the second access network device, where the third sensing registration request is used for sensing service registration of the second terminal device.
  • the second terminal device has sensing capabilities and can sense the surrounding environment and obtain sensing information (which may also be called sensing results and sensing data).
  • the sensing information may include sensing the channel environment of the second terminal device, collecting surrounding environment data, identifying, detecting, and tracking static and dynamic objects, as well as the position, speed, and motion trajectory of the second terminal device. perception, etc., the embodiments of this application do not limit this.
  • the core network device can receive a third awareness registration request sent by the second terminal device.
  • the third awareness registration request is used for awareness service registration of the third communication device. It can be understood that in this embodiment of the present application, the core network device can communicate with the second terminal device through the second access network device.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, and sensing capabilities of the second terminal device.
  • the sensing capability of the second terminal device may include: the range, time, radio frequency, sensing result type, etc. sensed by the second terminal device.
  • the core network device can receive the third sensing registration request sent by the second terminal device and verify it to verify whether the second terminal device is legal and whether it can be authorized to sense and transmit sensing information. To determine whether to accept the registration of the second terminal device.
  • Step 408 Verify the third awareness registration request according to the security policy of the core network device.
  • the core network device can verify the third sensing registration request according to its own pre-configured security policy, determine whether the second terminal device is legal, and whether it can be authorized to perform sensing and obtain sensing information, so as to Determine whether to accept the registration of the second terminal device.
  • Step 409 Send a third awareness registration response to the second terminal device through the second access network device.
  • the third awareness registration response is used to confirm whether the awareness service registration of the second terminal device is successful.
  • the core network device after the core network device verifies the third awareness registration request according to its own pre-configured security policy, it can send a third awareness registration response to the second terminal device through the second access network device, so as to Notify the third communication device whether the sensing service registration is successful.
  • the core network device sends a third sensing registration response to the second terminal device to notify the second terminal device that the sensing service registration is successful. If the third sensing request verification fails, the core network device sends a third sensing registration response to the second terminal device to notify the second terminal device that the sensing service registration has failed.
  • Step 410 Receive a third sensing request sent by the first terminal device through the first access network device.
  • the third sensing request is used to request the core network device for authorization.
  • the third sensing request includes the movement of the first terminal device. route.
  • Step 411 Verify the third sensing request according to the movement route.
  • Step 412 Send a third sensing response to the first terminal device through the first access network device.
  • the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing information on the movement route.
  • Step 413 Receive the first sensing request sent by the first terminal device through the first access network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device.
  • Step 414 Send a second sensing request to at least one second access network device according to the real-time location of the first terminal device, where the second sensing request is used to request acquisition of real-time sensing information.
  • Step 415 Receive real-time sensing information sent by the at least one second access network device.
  • Step 416 Send the real-time sensing information to the first terminal device through the first access network device.
  • steps 410 to 416 can be implemented in any manner in the embodiments of the present application.
  • the embodiment of the present application does not limit this and will not be described again.
  • the first awareness registration request is used for the awareness service registration of the first terminal device, and the first awareness registration request is processed according to the security policy of the core network device.
  • Perform verification send a first awareness registration response to the first terminal device, the first awareness registration response is used to confirm whether the awareness service registration of the first terminal device is successful, and receive a second awareness registration request sent by the second access network device , the second sensing registration request is used for sensing service registration of the second access network device, the second sensing registration request is verified according to the security policy of the core network device, and the second sensing registration request is sent to the second access network device.
  • the second sensing registration response is used to confirm whether the sensing service registration of the second access network device is successful, and receives a third sensing registration request sent by the second terminal device, the third sensing registration request is used for the second
  • the sensing service registration of the terminal device verifies the third sensing registration request according to the security policy of the core network device, and sends a third sensing registration response to the second terminal device.
  • the third sensing registration response is used to confirm the second terminal. Whether the sensing service registration of the device is successful, the sensing service registration of the first terminal device, the second terminal device and the second access network device can be completed.
  • the first terminal device can obtain the sensing result of at least one other nearby communication device through communication with the core network device, and based on the first terminal device sensing through its own sensor, Assisting the first terminal device in sensing through the wireless communication system effectively improves the reliability of the first terminal device's perception of the surrounding environment and effectively improves the quality of the sensing results.
  • Figure 5 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the first terminal device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 5, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 501 Send a first sensing request to the core network device through the first access network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device.
  • the real-time location of the first terminal device is used to determine at least one third communication device, and the at least one third communication device is used to sense the real-time sensing information.
  • the core network device may be a sensing application function SAF.
  • the sensing application function SAF is a new network element located in the core network. This network element is used to manage functions related to sensing applications and can authenticate and authorize communication equipment to perform sensing services.
  • the SAF can be either a physical device or a function implemented by software running in the physical device, which is not limited in the embodiments of the present application.
  • the first terminal device may be a first terminal device, and the first terminal device is an entity on the user side that is used to receive or transmit signals.
  • the first terminal device may be a vehicle.
  • the first terminal device when it needs to sense the surrounding environment, it can send a first sensing request for requesting a real-time sensing result to the core network device.
  • the first sensing request includes the real-time location of the first terminal device.
  • the core network device can determine at least one second terminal device and/or at least one second access network device based on the real-time location of the first terminal device, and obtain sensing information (also called sensing results, sensing data), the at least one second terminal device and/or the at least one second access network device is used to sense the real-time sensing information.
  • the first terminal device can communicate with the core network device through the first access network device.
  • the first terminal device before sending the first sensing request, can also send a third sensing request to the core network device.
  • the third sensing request is used to request the core network device to perform authorization.
  • the third sensing request Including the movement route of the first terminal device.
  • the core network device can verify the third sensing request based on the moving route, and send a third sensing response to the first terminal device to notify the first terminal device whether it is authorized to obtain real-time sensing information on the moving route.
  • the first terminal device can also send a first awareness registration request to the core network device, and the first awareness registration request is used for the first terminal device to register the awareness service.
  • the core network device can verify the first sensing registration request based on its own security policy to determine whether the first terminal device can be trusted to perform the sensing service.
  • the core network device sends a first sensing registration response to the first terminal device to notify the first terminal device whether the sensing service registration is successful.
  • the first awareness registration request includes: a first terminal device type and/or a first terminal device identification.
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the first terminal device type included in the first sensing registration request is a vehicle.
  • the first terminal device before sending the first awareness registration request to the core network device, can send a request to the access and mobility management function (Access and Mobility Management) through the first access network device.
  • Function, AMF sends a registration request and completes the registration, and can complete the establishment of a packet data unit (Packet Data Unit, PDU) session based on the AMF and session management function (Session Management function, SMF).
  • PDU Packet Data Unit
  • SMF Session Management function
  • Step 502 Receive the real-time sensing information sent by the core network device through the first access network device.
  • the real-time sensing information is sent by the at least one second access network device to the core network device.
  • the first terminal device can receive real-time sensing information sent by the core network device, and the real-time sensing information is sent by at least one second access network device to the core network device. That is to say, in this embodiment of the present application, the core network device can collect the sensing information around the first terminal device and send it to the first terminal device. The sensing information is collected by at least one second terminal with sensing capabilities around the first terminal device. The terminal device and/or at least one second access network device generates and transmits it to the core network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device, where the real-time location of the first terminal device is The location is used to determine at least one second terminal device and/or at least one second access network device, and the at least one second terminal device and/or at least one second access network device is used to sense the real-time sensing information, and receive the
  • the real-time sensing information sent by the core network device is sent by the at least one second access network device to the core network device, so that the first terminal device can obtain at least one nearby device through communication with the core network device.
  • the sensing results of other communication devices can be assisted by the first terminal device through the wireless communication system on the basis of the first terminal device sensing through its own sensors, which effectively improves the reliability of the first terminal device's perception of the surrounding environment. Improved quality of perceived results.
  • Figure 6 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the first terminal device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 6, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 601 Send a first awareness registration request to the core network device through the first access network device.
  • the first awareness registration request is used for awareness service registration of the first terminal device.
  • the core network device may be a sensing application function SAF.
  • the sensing application function SAF is a new network element located in the core network. This network element is used to manage functions related to sensing applications and can authenticate and authorize communication equipment to perform sensing services.
  • the SAF can be either a physical device or a function implemented by software running in the physical device, which is not limited in the embodiments of the present application.
  • the first terminal device may be a first terminal device, and the first terminal device is an entity on the user side that is used to receive or transmit signals.
  • the first terminal device may be a vehicle.
  • the first awareness registration request includes: a first terminal device type and/or a first terminal device identification.
  • the first awareness registration request includes a first terminal device type.
  • the first awareness registration request includes a first terminal device identification.
  • the first awareness registration request includes a first terminal device type and a first terminal device identification.
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the first terminal device may be a vehicle, and the first terminal device type included in the first sensing registration request is a vehicle.
  • the first terminal device can send the first awareness registration request to the core network device, and the core network device can verify it according to the preconfigured security policy to verify whether the first terminal device is a legitimate user. Whether it is authorized to perform sensing and obtain sensing information to determine whether to accept the registration of the first terminal device.
  • the first terminal device before sending the first awareness registration request to the core network device, can send a registration request to the AMF and complete the registration, and can complete the PDU session based on the AMF and SMF. Establish.
  • Step 602 Receive a first awareness registration response sent by the core network device through the first access network device.
  • the first awareness registration response is used to confirm whether the awareness service registration of the first terminal device is successful.
  • the core network device can verify the first awareness registration request according to its own pre-configured security policy, and send the first awareness registration response to the first terminal device, and the first terminal device can receive the first awareness registration response.
  • a sensing registration response to confirm whether the sensing service has been successfully registered.
  • the core network device sends a first sensing registration response to the first terminal device to notify the first terminal device that the sensing service registration is successful. If the verification of the first sensing request fails, the core network device sends a first sensing registration response to the first terminal device to notify the first terminal device that the sensing service registration has failed.
  • Step 603 Send a third sensing request to the core network device through the first access network device.
  • the third sensing request is used to request the core network device for authorization.
  • the third sensing request includes the movement route of the first terminal device.
  • the movement route is used to verify the third sensing request.
  • the first terminal device can send a third sensing request to the core network device, where the third sensing request includes the movement route of the first terminal device.
  • the core network device can confirm whether the first terminal device is authorized to obtain sensing information according to the third sensing request.
  • the moving route may be a moving route planned by the first terminal device based on the starting point and the destination.
  • the third sensing request further includes the sensing mode of the first terminal device.
  • the sensing mode includes: self-transmitting and self-receiving, requiring sensing results from other sensing clients (sensing clients), etc.
  • the sensing client refers to a communication device that has successfully completed sensing registration to the core network device. It has sensing capabilities, can perform sensing services, and can transmit sensing results to the core network device.
  • the core network device can verify the third sensing request based on the movement route included in the third sensing request.
  • the core network device can verify whether it can accept the third sensing request and whether it can authorize the first terminal device to obtain real-time sensing information on the moving route according to the pre-configured security policy and based on the movement route included in the third sensing request. .
  • the core network device can also verify whether the third sensing request can be accepted based on the movement route and sensing mode included in the third sensing request, and whether the first terminal device can be authorized to obtain real-time information on the movement route. Perceive information.
  • Step 604 Receive a third sensing response sent by the core network device through the first access network device.
  • the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing information on the movement route.
  • the first terminal device can receive the third sensing response sent by the core network device. After verifying the third sensing request, the core network device can send a third sensing response to the first terminal device to notify whether the first terminal device is authorized to obtain the real-time sensing information on the movement route.
  • the core network device if the core network device passes the verification of the third sensing request, the core network device sends a third sensing response to the first terminal device.
  • the third sensing response includes the confirmation message of the movement route, and the first terminal device receives the third sensing response. After the third sensing response, it can be confirmed that the core network device authorizes the first terminal device to obtain real-time sensing information on the moving route.
  • the third sensing response includes a confirmation message of the movement route and sensing mode.
  • the core network device sends a third sensing response to the first terminal device.
  • the third sensing response is used to reject the third sensing request.
  • the first terminal device receives the third sensing request. After the third sensing response, it can be confirmed that the core network device does not authorize the first terminal device to obtain real-time sensing information on the moving route.
  • the third sensing response may include reasons for rejection, etc.
  • Step 605 Send a first sensing request to the core network device through the first access network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device.
  • Step 606 Receive the real-time sensing information sent by the core network device through the first access network device.
  • the real-time sensing information is sent by the at least one second access network device to the core network device.
  • steps 605 to 606 can be implemented in any manner in the embodiments of the present application.
  • the embodiment of the present application does not limit this and will not be described again.
  • the first awareness registration request is used for the awareness service registration of the first terminal device, and receiving the first awareness registration response sent by the core network device, the first awareness registration The response is used to confirm whether the sensing service registration of the first terminal device is successful, and a third sensing request is sent to the core network device.
  • the third sensing request is used to request the core network device for authorization.
  • the third sensing request includes the first The moving route of the terminal device receives a third sensing response sent by the core network device.
  • the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing information on the moving route, and sends the first sensing response to the core network device.
  • the first perception request is used to request real-time perception information
  • the first perception request includes the real-time location of the first terminal device, wherein the real-time location of the first terminal device is used to determine at least one second terminal device and /or at least one second access network device, the at least one second terminal device and/or the at least one second access network device is used to sense the real-time sensing information and receive the real-time sensing information sent by the core network device, the The real-time sensing information is sent by the at least one second access network device to the core network device, so that the first terminal device can obtain the sensing result of at least one other nearby communication device through communication with the core network device, and can obtain the sensing result of at least one other nearby communication device in the first
  • the terminal device assists the first terminal device in sensing through the wireless communication system, which effectively improves the reliability of the first terminal device's perception of the surrounding environment and effectively improves the quality of the sensing results.
  • FIG. 7 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the second access network device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 7, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 701 Receive a second sensing request sent by the core network device, where the second sensing request is used to request acquisition of real-time sensing information.
  • the second access network device can receive the second sensing request sent by the core network device, and sense its surrounding environment to obtain real-time sensing information.
  • the second access network device can send the second sensing request to at least one second terminal device, and receive real-time sensing information sent by the at least one second terminal device.
  • the real-time sensing information is sent by the at least one second terminal device and is obtained by sensing the surroundings.
  • the real-time sensing information obtained by the second access network device is obtained by sensing by the second access network device and at least one second terminal device.
  • the core network device may be a sensing application function SAF.
  • the sensing application function SAF is a new network element located in the core network. This network element is used to manage functions related to sensing applications and can authenticate and authorize communication equipment to perform sensing services.
  • the SAF can be either a physical device or a function implemented by software running in the physical device, which is not limited in the embodiments of the present application.
  • the second terminal device has sensing capabilities and can sense the surrounding environment and obtain sensing information (which may also be called sensing results and sensing data).
  • the second access network device also has sensing capabilities and can sense the surrounding environment and obtain sensing information.
  • the second access network device can send a second awareness registration request to the core network device, where the second awareness registration request is used for awareness service registration of the second access network device.
  • the core network device can verify the second awareness registration request based on its own security policy to determine whether the second access network device can be trusted to perform the awareness service.
  • the core network device sends a second sensing registration response to the second access network device to notify the second access network device whether the sensing service registration is successful.
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the sensing capability of the second access network device may include: the range, time, radio frequency, sensing result type, etc. sensed by the second access network device.
  • Step 702 Send real-time sensing information to the core network device.
  • the second access network device can send real-time sensing information to the core network device.
  • the real-time sensing information is generated by the second access network and/or at least one second terminal device after receiving the information sent by the core network device. Obtained by sensing after the second sensing request.
  • the second sensing request is used to request the acquisition of real-time sensing information, and the real-time sensing information is sent to the core network device, so that the first terminal device can communicate with the core network device.
  • obtain the sensing result of at least one other nearby communication device and can assist the first terminal device to sense through the wireless communication system on the basis of the first terminal device sensing through its own sensor, which effectively improves the first terminal device's perception of the surrounding environment.
  • the reliability effectively improves the quality of perceived results.
  • Figure 8 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the second access network device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 8, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 801 Send a second sensing registration request to the core network device, where the second sensing registration request is used for sensing service registration of the second access network device.
  • the second access network device has sensing capabilities and can sense the surrounding environment and obtain sensing information (which may also be called sensing results and sensing data).
  • the second access network device can send a second awareness registration request to the core network device, and the second awareness registration request is used for awareness service registration of the second access network device.
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the sensing capability of the second access network device may include: the range, time, radio frequency, sensing result type, etc. sensed by the second access network device.
  • the core network device can receive the second awareness registration request sent by the second access network device, and verify it according to the pre-configured security policy to verify whether the third communication device is legal and can be authorized. It senses and transmits sensing information to determine whether to accept the registration of the third communication device.
  • Step 802 Receive a second awareness registration response sent by the core network device.
  • the second awareness registration response is used to confirm whether the awareness service registration of the second access network device is successful.
  • the second access network device can receive the second awareness registration response sent by the core network device.
  • the core network device verifies the second awareness registration request according to its own pre-configured security policy, and can send a second awareness registration response to the second access network device to notify the second access network device whether the awareness service registration is successful.
  • the core network device sends a second sensing registration response to the second access network device to notify the second access network device that the sensing service registration is successful. If the second sensing request verification fails, the core network device sends a second sensing registration response to the second access network device to notify the second access network device that the sensing service registration has failed.
  • Step 803 Receive a second sensing request sent by the core network device, where the second sensing request is used to request the third communication device to perform sensing.
  • Step 804 Send the real-time sensing information to the core network device.
  • steps 803 to 804 can be implemented in any manner in the embodiments of the present application.
  • the embodiment of the present application does not limit this and will not be described again.
  • the second sensing registration request is used for sensing service registration of the second access network device, and receiving the second sensing registration response sent by the core network device, the The second sensing registration response is used to confirm whether the sensing service registration of the second access network device is successful, and to receive the second sensing request sent by the core network device.
  • the second sensing request is used to request to obtain real-time sensing information and is sent to the core network device. This real-time sensing information enables the first terminal device to obtain the sensing results of at least one other nearby communication device through communication with the core network device, and can assist through the wireless communication system based on the first terminal device sensing through its own sensor.
  • the first terminal device performs sensing, which effectively improves the reliability of the first terminal device's perception of the surrounding environment and effectively improves the quality of the sensing results.
  • Figure 9 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the second terminal device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 9, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 901 Receive a second sensing request sent by the core network device through the second access network device, where the second sensing request is used to request acquisition of real-time sensing information.
  • the second terminal device can receive the second sensing request sent by the core network device through the second access network device, and sense its surrounding environment to obtain real-time sensing information.
  • the core network device may be a sensing application function SAF.
  • the sensing application function SAF is a new network element located in the core network. This network element is used to manage functions related to sensing applications and can authenticate and authorize communication equipment to perform sensing services.
  • the SAF can be either a physical device or a function implemented by software running in the physical device, which is not limited in the embodiments of the present application.
  • the second terminal device has sensing capabilities and can sense the surrounding environment and obtain sensing information (which may also be called sensing results and sensing data).
  • the core network device can receive a third awareness registration request sent by the second terminal device, where the third awareness registration request is used for awareness service registration of the second terminal device.
  • the core network device can verify the third sensing registration request based on its own security policy to determine whether the second terminal device can be trusted to perform the sensing service.
  • the core network device sends a third sensing registration response to the second terminal device to notify the second terminal device whether the sensing service registration is successful. It can be understood that in various embodiments of the present application, the core network device communicates with the second terminal device through the second access network device.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, sensing capability of the second terminal device.
  • the sensing capability of the second terminal device may include: the range, time, radio frequency, sensing result type, etc. sensed by the second terminal device.
  • the second terminal device can send a registration request to the AMF through the second access network device before sending the third awareness registration request to the core network device through the second access network device, And complete the registration, and can complete the establishment of PDU session based on AMF and SMF.
  • Step 902 Perceive the wireless communication environment around the second terminal device to obtain real-time sensing information.
  • the second terminal device can sense the surrounding wireless communication environment according to the received second sensing request, and obtain real-time sensing information.
  • the sensing information may include sensing the channel environment of the second terminal device, collecting surrounding environment data, identifying, detecting, and tracking static and dynamic objects, as well as the position, speed, and motion trajectory of the second terminal device. perception, etc., the embodiments of this application do not limit this.
  • Step 903 Send the real-time sensing information to the core network device through the second access network device.
  • the second access network device can send real-time sensing information to the core network device, and the real-time sensing information is obtained by sensing by the second terminal device after receiving the second sensing request.
  • the second sensing request is used to request the acquisition of real-time sensing information
  • the wireless communication environment around the second terminal device is sensed, the real-time sensing information is obtained, and the real-time sensing information is sent to the core network
  • the device sends the real-time sensing information, so that the first terminal device can obtain the sensing results of at least one other nearby communication device through communication with the core network device, and can obtain the sensing results of at least one other nearby communication device through wireless communication based on the first terminal device sensing through its own sensor.
  • the system assists the first terminal device in sensing, effectively improves the reliability of the first terminal device's perception of the surrounding environment, and effectively improves the quality of the sensing results.
  • Figure 10 is a schematic flowchart of a sensing service acquisition method provided by an embodiment of the present application. It should be noted that the sensing service acquisition method in the embodiment of the present application is executed by the second terminal device. This method can be executed independently or in conjunction with any other embodiment of the present application. As shown in Figure 10, the method may include the following steps:
  • the intermediate device may be omitted in the expression, and only the sending device and the receiving device are limited; however, those skilled in the art can understand that this expression does not necessarily mean that the sending device must directly sent to the receiving device.
  • Step 1001 Send a third sensing registration request to the core network device through the second access network device.
  • the third sensing registration request is used for sensing service registration of the second terminal device.
  • the core network device can receive a third awareness registration request sent by the second terminal device, where the third awareness registration request is used for awareness service registration of the second terminal device.
  • the core network device can verify the third sensing registration request based on its own security policy to determine whether the second terminal device can be trusted to perform the sensing service.
  • the core network device sends a third sensing registration response to the second terminal device to notify the second terminal device whether the sensing service registration is successful. It can be understood that in various embodiments of the present application, the core network device communicates with the second terminal device through the second access network device.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, sensing capability of the second terminal device.
  • the sensing capability of the second terminal device may include: the range, time, radio frequency, sensing result type, etc. sensed by the second terminal device.
  • the second terminal device can send a registration request to the AMF through the second access network device before sending the third awareness registration request to the core network device through the second access network device, And complete the registration, and can complete the establishment of PDU session based on AMF and SMF.
  • Step 1002 Receive a third awareness registration response sent by the core network device through the second access network device, where the third awareness registration response is used to confirm whether the awareness service registration of the second terminal device is successful.
  • the second terminal device can receive the third awareness registration response sent by the core network device.
  • the core network device verifies the third awareness registration request according to its own pre-configured security policy, and can send a third awareness registration response to the second terminal device to notify the second terminal device whether the awareness service registration is successful.
  • the core network device sends a third sensing registration response to the second terminal device to notify the second terminal device that the sensing service registration is successful. If the second sensing request verification fails, the second sensing registration response sent by the core network device to the second terminal device is used to notify the second access network that the sensing service registration of the third communication device has failed.
  • Step 1003 Receive a second sensing request sent by the core network device through the second access network device, where the second sensing request is used to request acquisition of real-time sensing information.
  • Step 1004 Perceive the wireless communication environment around the second terminal device to obtain real-time sensing information.
  • Step 1005 Send the real-time sensing information to the core network device through the second access network device.
  • steps 1003 to 1005 can be implemented in any manner in the embodiments of the present application.
  • the embodiment of the present application does not limit this and will not be described again.
  • the second sensing request is used to request the acquisition of real-time sensing information
  • the wireless communication environment around the second terminal device is sensed, the real-time sensing information is obtained, and the real-time sensing information is sent to the core network
  • the device sends the real-time sensing information, so that the first terminal device can obtain the sensing results of at least one other nearby communication device through communication with the core network device, and can obtain the sensing results of at least one other nearby communication device through wireless communication based on the first terminal device sensing through its own sensor.
  • the system assists the first terminal device in sensing, effectively improves the reliability of the first terminal device's perception of the surrounding environment, and effectively improves the quality of the sensing results.
  • FIG 11 is a schematic diagram of the architecture of another communication system provided by an embodiment of the present application, as shown in Fig.
  • SAF can communicate with AMF through UPF (the user plane function, user plane function) and SMF.
  • UPF the user plane function, user plane function
  • SMF the user plane function
  • the first terminal device in each embodiment of this application is the first terminal device in Figure 11
  • the second terminal device in each embodiment of this application is the second terminal device in Figure 11.
  • the first access network equipment and the second access network equipment are both included in the access network RAN in Figure 11. It can be understood that the RAN in Figure 11 may include multiple access network equipment.
  • the first terminal device and the second terminal device can communicate with the AMF and UPF through the access network device, further communicate with the SMF through the AMF, and communicate with the SAF through the UPF.
  • the SAF is owned or trusted by the mobile operator. For example, it senses that there is a reliable business and technical relationship between the application owner and the mobile operator.
  • SAF can also authenticate and authorize communication devices for sensing, and the sensing parameters (such as location, range, time, radio frequency) can also be configured by SAF.
  • the first terminal device is a vehicle, and the first terminal device may include an advanced driving assistance system ADAS, a 3GPP perception module, a 3GPP communication module and non-3GPP sensors.
  • the 3GPP sensing module uses 3GPP technology as a transmitter and/or receiver to perform sensing, and it can provide sensing data as input to ADAS.
  • the 3GPP sensing module is able to connect to the SAF for sensing control purposes.
  • ADAS requires sensing data from the 3GPP network as input, it can request sensing data from the SAF.
  • the 3GPP communication module is a module used to communicate with the 3GPP network, supporting at least registration, establishing a PDU session with the 3GPP network, and sending/receiving traffic to/from the network (such as IP data).
  • ADAS is the initiator and consumer of sensing. It sends sensing requests to the 3GPP sensing module, receives and consumes sensing data from the 3GPP sensing module.
  • Non-3GPP sensors include millimeter-wave radar, lidar, monocular/binocular cameras, and satellite navigation, which can provide sensory data input for ADAS.
  • this application implements The process of the sensing service acquisition method provided by the example can be shown in Figure 12, which may include the following steps:
  • ADAS When a vehicle needs to sense the surrounding environment, for example, when the vehicle is driving on the road, ADAS sends a sensing request to the 3GPP sensing module, requesting input of sensing data, where the sensing request includes the driving route.
  • the GPP sensing module sends a sensing request to the SAF, which includes sensing modes (such as self-transmitters and receivers, which require sensing results from other sensing clients) and driving routes.
  • sensing modes such as self-transmitters and receivers, which require sensing results from other sensing clients
  • the SAF authorizes the sensing request sent by the first terminal device according to the pre-configured security policy, sends confirmation of the sensing mode and driving route to the first terminal device, and authorizes the first terminal device to obtain sensing on the driving route. data.
  • the 3GPP communication module and 3GPP sensing module send a sensing response to ADAS.
  • the sensing response includes a request for the real-time location of the vehicle.
  • ADAS carries the real-time position of the vehicle to request real-time sensing results; the 3GPP sensing module sends a real-time sensing result request to the SAF, and the request contains the real-time position of the vehicle; SAF selects a second terminal device that can sense the location around the vehicle based on the real-time position of the vehicle.
  • the second access network device (such as gNB) then requests the real-time sensing result from the second terminal device and/or the second access network device.
  • the selected second terminal device and the second access network device send the real-time sensing results to the SAF, and to ADAS through the 3GPP communication module and 3GPP sensing module in the car; in addition, the 3GPP sensing module can also perform sensing, And send the sensing results to ADAS.
  • the core network device is a SAF
  • the first terminal device is a vehicle
  • the second terminal device and the second access network device (represented by RAN in the figure) all perform Taking sensing as an example, the flow of the sensing registration method for the second terminal device and the second access network device provided by the embodiment of the present application can be shown in Figure 13, and may specifically include the following steps:
  • the second terminal device sends a registration request to the AMF through the RAN, where the registration request includes registration parameters, such as: registration type, second terminal device identification (such as SUCI (Subscription Concealed Identifier, subscriber implicit identification) or 5G-GUTI (5G Globally Unique Temporary UE Identity, 5G Globally Unique Temporary User Equipment Identity) or PEI (Permanent Equipment Identifier, Permanent Equipment Identifier)) and security parameters, etc.
  • the AMF After authenticating and authorizing the second terminal device, the AMF sends a registration acceptance message (Registration Accept) to the second terminal device to complete the registration of the second terminal device.
  • Registration Accept Registration Accept
  • the second terminal device starts the PDU session establishment process requested by the second terminal device by transmitting a NAS (Non Access Stratum, non-access) message.
  • the NAS message includes an N1SM container containing a PDU session establishment request.
  • the AMF receives the PDU session establishment request from the second terminal device.
  • the AMF selects an SMF and sends an Nsmf_PDUSession_CreateSMContext request to the SMF, which includes: instructions for the second terminal device to request the IP address of a SAF, and/or protocol configuration options (Protocol Configuration) regarding the capabilities of the terminal device that supports the sensing function. Option, PCO); SMF receives the Nsmf_PDUSession_CreateSMContext request and responds to AMF.
  • Nsmf_PDUSession_CreateSMContext request to the SMF, which includes: instructions for the second terminal device to request the IP address of a SAF, and/or protocol configuration options (Protocol Configuration) regarding the capabilities of the terminal device that supports the sensing function. Option, PCO); SMF receives the Nsmf_PDUSession_CreateSMContext request and responds to AMF.
  • the SMF sends an N4 session establishment request to the UPF to establish a new PDU session for the second terminal device.
  • the SMF sends Namf_Communication_N1N2MessageTransfer to the AMF, which includes the IP address assigned to the second terminal device.
  • the AMF receives the Namf_Communication_N1N2MessageTransfer and sends an N2 PDU session request (NAS message) to the RAN (gNB), including the IP address assigned to the second terminal device.
  • NAS message N2 PDU session request
  • the gNB forwards the NAS message (PDU Session Establishment Accept) provided in step 6 to the second terminal device, which includes the IP address assigned to the second terminal device .
  • the second terminal device establishes acceptance based on the received PDU session, configures an IP address, and sends a perception registration (including the location of the second terminal device and the perception capability of the second terminal device) to the SAF.
  • the server domain name or IP address of the SAF can be Preconfigured in the second terminal device, the sensing capability of the second terminal device may include the sensing range of the second terminal device; the SAF accepts registration and responds to the second terminal device.
  • RAN sends awareness registration (including the location of RAN and the awareness capability of RAN) to SAF.
  • the server domain name or IP address of SAF can be pre-configured in the RAN.
  • the awareness capability of RAN can include the awareness range of RAN; SAF accepts Register and respond to RAN.
  • the second terminal device can send a registration request to the AMF through the second access network device before sending the third awareness registration request to the core network device through the second access network device.
  • Requesting and completing registration, as well as being able to complete the establishment of PDU sessions based on AMF and SMF, can be achieved through steps 1-7 in Figure 13.
  • the RAN in Figure 13 may include at least one second access network device.
  • the core network device is a SAF
  • the first terminal device (first terminal device) is a vehicle
  • both the second terminal device and the second access network device perform sensing
  • the process of the perceptual registration method of the first terminal device provided by the embodiment of the present application may be shown in Figure 14, and may specifically include the following steps:
  • the 3GPP communication module sends a registration request to the AMF through the first access network device (represented by RAN (gNB) in the figure).
  • the registration request includes registration parameters, such as: registration type, first terminal device identification (such as SUCI or 5G -GUTI or PEI) and security parameters, etc.
  • the AMF After authenticating and authorizing the first terminal device, the AMF sends a Registration Accept message (Registration Accept) to the first terminal device to complete the registration of the first terminal device to the 5G Core Network (5G Core, 5GC).
  • 5G Core Network 5G Core Network
  • the 3GPP communication module starts the PDU session establishment process requested by the first terminal device by transmitting the NAS message containing the PDU session establishment request in the N1SM container.
  • the AMF receives the PDU session establishment request from the first terminal device and sends it to the SMF.
  • the SMF sends an N4 session establishment request to the UPF to establish a new PDU session for the first terminal device.
  • the SMF allocates a new IP address to the first terminal device and sends it to the first terminal device through the AMF and RAN (gNB).
  • the 3GPP sensing module initiates a registration request to the SAF for sensing.
  • the registration request includes the first terminal device ID (such as SUPI or MSISDN).
  • the registration request may also include the terminal device type and reports that the first terminal device is a vehicle.
  • the SAF accepts the registration of the first terminal device and responds that the registration of the first terminal device is successful.
  • the first terminal device before sending the first sensing registration request to the core network device, can send a registration request to the AMF and complete the registration, and can complete the PDU based on the AMF and SMF.
  • the establishment of a session can be achieved through steps 1-2 in Figure 14.
  • this application also provides a device for perceptual service acquisition. Since the device for perceptual service acquisition provided by the embodiments of the present application is consistent with the methods provided by the above-mentioned embodiments, Correspondingly, therefore, the implementation of the perceptual service acquisition method is also applicable to the apparatus for perceptual service acquisition provided in the following embodiments, and will not be described in detail in the following embodiments.
  • Figure 15 is a schematic structural diagram of a core network device provided by an embodiment of the present application.
  • the core network device 1500 includes: a transceiver unit 1510 and a processing unit 1520, where:
  • the transceiver unit 1510 is configured to receive a first sensing request sent by the first terminal device through the first access network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes real-time sensing information of the first terminal device. Location;
  • the processing unit 1520 is configured to send a second sensing request to at least one second access network device according to the real-time location of the first terminal device, where the second sensing request is used to request acquisition of real-time sensing information;
  • the transceiver unit 1510 is also configured to receive real-time sensing information sent by the at least one second access network device;
  • the transceiver unit 1510 is also used to send the real-time sensing information to the first terminal device.
  • the transceiver unit 1510 is also used for:
  • Real-time sensing information sent by the at least one second terminal device is received through the second access network device.
  • the real-time sensing information is obtained by sensing the at least one second access network device and/or the at least one second terminal device.
  • the transceiver unit 1510 is also used for:
  • the first access network device receives a third sensing request sent by the first terminal device.
  • the third sensing request is used to request the core network device for authorization.
  • the third sensing request includes the movement route of the first terminal device. ;
  • the first access network device sends a third sensing response to the first terminal device, where the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing information on the movement route.
  • the transceiver unit 1510 is also used for:
  • the first access network device sends a first awareness registration response to the first terminal device, where the first awareness registration response is used to confirm whether the awareness service registration of the first terminal device is successful.
  • the first sensing registration request includes: the first terminal device type and/or the first terminal device identification;
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the transceiver unit 1510 is also used for:
  • a second awareness registration response is sent to the second access network device, where the second awareness registration response is used to confirm whether the awareness service registration of the second access network device is successful.
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the transceiver unit 1510 is also used for:
  • the second access network device sends a third awareness registration response to the second terminal device, where the third awareness registration response is used to confirm whether the awareness service registration of the second terminal device is successful.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, sensing capability of the second terminal device.
  • the core network device is a sensing application function SAF.
  • the core network device in this embodiment can receive a first sensing request sent by the first terminal device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device. According to The real-time location of the first terminal device, sending a second sensing request to at least one second access network device, the second sensing request is used to request acquisition of real-time sensing information, and receiving the real-time sensing information sent by the at least one second access network device.
  • Sensing information sending the real-time sensing information to the first terminal device, so that the first terminal device can obtain the sensing results of at least one other nearby communication device through communication with the core network device, and can perform the sensing on the first terminal device through its own sensor
  • the wireless communication system assists the first terminal device in sensing, which effectively improves the reliability of the first terminal device's perception of the surrounding environment and effectively improves the quality of the sensing results.
  • Figure 16 is a schematic structural diagram of a first terminal device provided by an embodiment of the present application.
  • the first terminal device 1600 includes: a transceiver unit 1610, wherein:
  • the transceiver unit 1610 is configured to send a first sensing request to the core network device through the first access network device, where the first sensing request is used to request real-time sensing information, where the first sensing request includes the real-time location of the first terminal device;
  • the real-time location of the first terminal device is used to determine at least one second access network device and/or at least one second terminal device, and the at least one second access network device and/or at least one second terminal device is used to sense This real-time perception information;
  • the transceiver unit 1610 is also configured to receive the real-time sensing information sent by the core network device through the first access network device, and the real-time sensing information is sent by the at least one second access network device to the core network device.
  • the transceiver unit 1610 is also used to:
  • the third sensing request is used to request the core network device for authorization, and the third sensing request includes the movement route of the first terminal device;
  • the movement route is used to verify the third sensing request
  • the first access network device receives a third sensing response sent by the core network device, and the third sensing response is used to confirm whether the first terminal device is authorized to obtain the real-time sensing information on the movement route.
  • the transceiver unit 1610 is also used to:
  • the first sensing registration response sent by the core network device is received through the first access network device, and the first sensing registration response is used to confirm whether the sensing service registration of the first terminal device is successful.
  • the first sensing registration request includes: the first terminal device type and/or the first terminal device identification;
  • the first terminal device identification includes at least one of the following: user permanent identifier SUPI, mobile subscriber number MSISDN.
  • the core network device is a sensing application function SAF.
  • the first terminal device in this embodiment can send a first sensing request to the core network device.
  • the first sensing request is used to request real-time sensing information.
  • the first sensing request includes the real-time location of the first terminal device, where, The real-time location of the first terminal device is used to determine at least one second terminal device and/or at least one second access network device, and the at least one second terminal device and/or at least one second access network device is used to sense
  • the real-time sensing information is received from the core network device, and the real-time sensing information is sent to the core network device by the at least one second access network device, so that the first terminal device can communicate with the core network device through Communication, obtaining the sensing results of at least one other nearby communication device, and assisting the first terminal device in sensing through the wireless communication system on the basis of the first terminal device sensing through its own sensor, effectively improving the first terminal device's awareness of the surroundings
  • the reliability of environmental perception effectively improves the quality of perception results.
  • Figure 17 is a schematic structural diagram of a second access network device provided by an embodiment of the present application.
  • the second access network device 1700 includes: a transceiver unit 1710, wherein:
  • the transceiver unit 1710 is configured to receive a second sensing request sent by the core network device, where the second sensing request is used to request acquisition of real-time sensing information;
  • the transceiver unit 1710 is also used to send the real-time sensing information to the core network device.
  • the transceiver unit 1710 is also used for:
  • the real-time sensing information is obtained by sensing the at least one second access network device and/or the at least one second terminal device.
  • the transceiver unit 1710 is also used for:
  • the second sensing registration request includes at least one of the following: location information of the second access network device, and sensing capabilities of the second access network device.
  • the core network device is a sensing application function SAF.
  • the second access network device in this embodiment can send the real-time sensing information to the core network device by receiving the second sensing request sent by the core network device.
  • the second sensing request is used to request to obtain real-time sensing information, so that the first terminal
  • the device can obtain the sensing results of at least one other nearby communication device through communication with the core network device.
  • the first terminal device sensing through its own sensor it can assist the first terminal device in sensing through the wireless communication system, effectively improving This improves the reliability of the first terminal device's perception of the surrounding environment and effectively improves the quality of the perception results.
  • Figure 18 is a schematic structural diagram of a second terminal device provided by an embodiment of the present application.
  • the second terminal device 1800 includes: a transceiver unit 1810 and a processing unit 1820, wherein:
  • the transceiver unit 1810 is configured to receive a second sensing request sent by the core network device through the second access network device, where the second sensing request is used to request acquisition of real-time sensing information;
  • the processing unit 1820 is used to sense the wireless communication environment around the second terminal device and obtain real-time sensing information
  • the transceiver unit 1810 is also configured to send the real-time sensing information to the core network device through the second access network device.
  • the transceiver unit 1810 is also used to:
  • the third sensing registration response sent by the core network device is received through the second access network device, and the third sensing registration response is used to confirm whether the sensing service registration of the second terminal device is successful.
  • the third sensing registration request includes at least one of the following: location information of the second terminal device, sensing capability of the second terminal device.
  • the core network device is a sensing application function SAF.
  • the second terminal device in this embodiment can sense the wireless communication environment around the second terminal device by receiving the second sensing request sent by the core network device.
  • the second sensing request is used to request to obtain real-time sensing information, and obtain Real-time sensing information, sending the real-time sensing information to the core network device, so that the first terminal device can obtain the sensing results of at least one other nearby communication device through communication with the core network device, and can sense the first terminal device through its own sensor
  • the reliability of the first terminal device's perception of the surrounding environment is effectively improved, and the quality of the sensing results is effectively improved.
  • embodiments of the present application also provide a communication device, including: a processor and a memory.
  • a computer program is stored in the memory.
  • the processor executes the computer program stored in the memory, so that the device executes the steps shown in Figure 2 to The method shown in the embodiment of Figure 4.
  • embodiments of the present application also provide a communication device, including: a processor and a memory.
  • a computer program is stored in the memory.
  • the processor executes the computer program stored in the memory, so that the device executes the steps shown in Figure 5 to The method shown in the embodiment of Figure 6.
  • embodiments of the present application also provide a communication device, including: a processor and a memory.
  • a computer program is stored in the memory.
  • the processor executes the computer program stored in the memory, so that the device executes the steps shown in Figure 7 to The method shown in the embodiment of Figure 8.
  • embodiments of the present application also provide a communication device, including: a processor and a memory.
  • a computer program is stored in the memory.
  • the processor executes the computer program stored in the memory, so that the device executes the steps shown in Figure 9 to The method shown in the embodiment of Figure 10.
  • embodiments of the present application also provide a communication device, including: a processor and an interface circuit.
  • the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is used to run the code instructions to The methods shown in the embodiments of Figures 2 to 4 are executed.
  • embodiments of the present application also provide a communication device, including: a processor and an interface circuit.
  • the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is used to run the code instructions to The method shown in the embodiment of FIG. 5 to FIG. 6 is executed.
  • embodiments of the present application also provide a communication device, including: a processor and an interface circuit.
  • the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is used to run the code instructions to The method shown in the embodiment of FIG. 7 to FIG. 8 is executed.
  • embodiments of the present application also provide a communication device, including: a processor and an interface circuit.
  • the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is used to run the code instructions to The method shown in the embodiment of FIG. 9 to FIG. 10 is executed.
  • Figure 19 is a schematic structural diagram of another device for obtaining sensory services provided by an embodiment of the present application.
  • the perceptual service acquisition device 1900 may be a network device, a terminal device, a chip, a chip system, or a processor that supports a network device to implement the above method, or a chip or a chip system that supports a terminal device to implement the above method. , or processor, etc.
  • the device can be used to implement the method described in the above method embodiment. For details, please refer to the description in the above method embodiment.
  • the sensing service obtaining device 1900 may include one or more processors 1901.
  • the processor 1901 may be a general-purpose processor or a special-purpose processor, or the like.
  • it can be a baseband processor or a central processing unit.
  • the baseband processor can be used to process communication protocols and communication data
  • the central processor can be used to control and execute sensing service acquisition devices (such as base stations, baseband chips, terminal equipment, terminal equipment chips, DU or CU, etc.)
  • sensing service acquisition devices such as base stations, baseband chips, terminal equipment, terminal equipment chips, DU or CU, etc.
  • a computer program processes data for a computer program.
  • the perceptual service acquisition device 1900 may also include one or more memories 1902, on which a computer program 1903 may be stored.
  • the processor 1901 executes the computer program 1903, so that the perceptual service acquisition device 1900 executes the above method embodiments. described method.
  • the computer program 1903 may be solidified in the processor 1901, in which case the processor 1901 may be implemented by hardware.
  • the memory 1902 may also store data.
  • the perceptual service acquisition device 1900 and the memory 1902 can be set up separately or integrated together.
  • the cognitive service acquisition device 1900 may also include a transceiver 1905 and an antenna 1906.
  • the transceiver 1905 may be called a transceiver unit, a transceiver, a transceiver circuit, etc., and is used to implement transceiver functions.
  • the transceiver 1905 may include a receiver and a transmitter.
  • the receiver may be called a receiver or a receiving circuit, etc., used to implement the receiving function;
  • the transmitter may be called a transmitter, a transmitting circuit, etc., used to implement the transmitting function.
  • the perceptual service acquisition device 1900 may also include one or more interface circuits 1907.
  • the interface circuit 1907 is used to receive code instructions and transmit them to the processor 1901 .
  • the processor 1901 executes code instructions to cause the sensory service acquisition device 1900 to execute the method described in the above method embodiment.
  • the processor 1901 may include a transceiver for implementing receiving and transmitting functions.
  • the transceiver may be a transceiver circuit, an interface, or an interface circuit.
  • the transceiver circuits, interfaces or interface circuits used to implement the receiving and transmitting functions can be separate or integrated together.
  • the above-mentioned transceiver circuit, interface or interface circuit can be used for reading and writing codes/data, or the above-mentioned transceiver circuit, interface or interface circuit can be used for signal transmission or transfer.
  • the perceptual service acquisition device 1900 may include a circuit, and the circuit may implement the sending or receiving or communication functions in the foregoing method embodiments.
  • the processor and transceiver described in this application can be implemented in integrated circuits (ICs), analog ICs, radio frequency integrated circuits RFICs, mixed signal ICs, application specific integrated circuits (ASICs), printed circuit boards ( printed circuit board (PCB), electronic equipment, etc.
  • the processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), n-type metal oxide-semiconductor (NMOS), P-type Metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.
  • CMOS complementary metal oxide semiconductor
  • NMOS n-type metal oxide-semiconductor
  • PMOS P-type Metal oxide semiconductor
  • BJT bipolar junction transistor
  • BiCMOS bipolar CMOS
  • SiGe silicon germanium
  • GaAs gallium arsenide
  • the perceptual service acquisition device described in the above embodiments may be a network device or a terminal device, but the scope of the perceptual service acquisition device described in this application is not limited thereto, and the structure of the perceptual service acquisition device may not be limited to Figures 15-18 limits.
  • the sensing service acquisition device may be a stand-alone device or may be part of a larger device.
  • the sensing service acquisition device can be:
  • the IC collection may also include storage components for storing data and computer programs;
  • the perceptual service acquisition device can be a chip or a chip system
  • the chip shown in Figure 20 includes a processor 2001 and an interface 2002.
  • the number of processors 2001 may be one or more, and the number of interfaces 2002 may be multiple.
  • Interface 2002 for code instructions and transmission to the processor
  • the processor 2001 is configured to run code instructions to perform the methods shown in Figures 2 to 4, or to perform the methods shown in Figures 7 to 8.
  • Interface 2002 for code instructions and transmission to the processor
  • the processor 2001 is configured to run code instructions to perform the methods shown in Figures 5 to 6, or to perform the methods shown in Figures 9 to 10.
  • the chip also includes a memory 2003, which is used to store necessary computer programs and data.
  • Embodiments of the present application also provide a communication system.
  • the system includes a perceptual service acquisition device as a terminal device and a perceptual service acquisition device as a network device in the foregoing embodiments of FIG. 15 to FIG. 18 .
  • the system includes the foregoing implementation of FIG. 16
  • the perceptual service acquisition device is a terminal device and the perceptual service acquisition device is a network device.
  • This application also provides a readable storage medium on which instructions are stored. When the instructions are executed by a computer, the functions of any of the above method embodiments are implemented.
  • This application also provides a computer program product, which, when executed by a computer, implements the functions of any of the above method embodiments.
  • a computer program product includes one or more computer programs.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • the computer program may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program may be transmitted from a website, computer, server or data center via a wireline (e.g.
  • Coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless means to transmit to another website, computer, server or data center.
  • Computer-readable storage media can be any available media that can be accessed by a computer or a data storage device such as a server, data center, or other integrated media that contains one or more available media. Available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., high-density digital video discs (DVD)), or semiconductor media (e.g., solid state disks (SSD) )wait.
  • magnetic media e.g., floppy disks, hard disks, tapes
  • optical media e.g., high-density digital video discs (DVD)
  • semiconductor media e.g., solid state disks (SSD)
  • At least one in this application can also be described as one or more, and the plurality can be two, three, four or more, which is not limited by this application.
  • the technical feature is distinguished by “first”, “second”, “third”, “A”, “B”, “C” and “D”, etc.
  • the technical features described in “first”, “second”, “third”, “A”, “B”, “C” and “D” are in no particular order or order.
  • the corresponding relationships shown in each table in this application can be configured or predefined.
  • the values of the information in each table are only examples and can be configured as other values, which are not limited by this application.
  • the corresponding relationships shown in some rows may not be configured.
  • appropriate deformation adjustments can be made based on the above table, such as splitting, merging, etc.
  • the names of the parameters shown in the titles of the above tables may also be other names understandable by the communication device, and the values or expressions of the parameters may also be other values or expressions understandable by the communication device.
  • other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables or hash tables. wait.
  • Predefinition in this application can be understood as definition, pre-definition, storage, pre-storage, pre-negotiation, pre-configuration, solidification, or pre-burning.

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Abstract

本申请实施例公开了一种感知服务获取方法及装置，通过接收第一终端设备发送的第一感知请求，该第一感知请求包括该第一终端设备的实时位置，根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，接收该至少一个第二接入网设备发送的实时感知信息，向该第一终端设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的质量和可靠性。

Description

感知服务获取方法及装置 技术领域
本申请涉及通信技术领域，特别涉及一种感知服务获取方法及装置。
背景技术
在车用无线通信技术(vehicle to everything，V2X)中，高级驾驶辅助系统(Advanced Driving Assistance System，ADAS)能够利用安装在车辆上的各种传感器(例如，毫米波雷达、激光雷达、单目/双目摄像头和卫星导航等)在驾驶过程中随时感知周围环境，收集数据、识别、检测以及跟踪静态和动态的物体，并能够结合导航地图数据进行系统的计算和分析，使驾驶员提前意识到可能存在的危险，有效提高驾驶的舒适性和安全性。
发明内容
本申请第一方面实施例提出了一种感知服务获取方法，所述方法由核心网设备执行，所述方法包括：
通过第一接入网设备接收第一终端设备发送的第一感知请求，所述第一感知请求用于请求实时感知信息，所述第一感知请求包括所述第一终端设备的实时位置；
根据所述第一终端设备的实时位置，向第二接入网设备发送第二感知请求，所述第二感知请求用于请求获取所述实时感知信息；
接收所述第二接入网设备发送的所述实时感知信息；
通过所述第一接入网设备向所述第一终端设备发送所述实时感知信息。
可选地，所述方法还包括：
通过所述第二接入网设备向第二终端设备发送所述第二感知请求；
通过所述第二接入网设备接收所述第二终端设备发送的实时感知信息。
可选地，所述实时感知信息为所述第二接入网设备和/或所述第二终端设备进行感知得到的。
可选地，所述方法还包括：
通过所述第一接入网设备接收所述第一终端设备发送的第三感知请求，所述第三感知请求用于请求所述核心网设备进行授权，所述第三感知请求包括所述第一终端设备的移动路线；
根据所述移动路线，对所述第三感知请求进行验证；
通过所述第一接入网设备向所述第一终端设备发送第三感知响应，所述第三感知响应用于确认是否授权所述第一终端设备在所述移动路线上获取所述实时感知信息。
可选地，所述方法还包括：
通过所述第一接入网设备接收所述第一终端设备发送的第一感知注册请求，所述第一感知注册请求用于所述第一终端设备的感知业务注册；
根据所述核心网设备的安全策略，对所述第一感知注册请求进行验证；
通过所述第一接入网设备向所述第一终端设备发送第一感知注册响应，所述第一感知注册响应用于确认所述第一终端设备的感知业务注册是否成功。
可选地，所述第一感知注册请求包括：所述第一终端设备类型和/或所述第一终端设备标识；
其中，所述第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，所述方法还包括：
接收所述第二接入网设备发送的第二感知注册请求，所述第二感知注册请求用于所述第二接入网设备的感知业务注册；
根据所述核心网设备的安全策略，对所述第二感知注册请求进行验证；
向所述第二接入网设备发送第二感知注册响应，所述第二感知注册响应用于确认所述第二接入网设备的感知业务注册是否成功。
可选地，所述第二感知注册请求包括以下至少一种：所述第二接入网设备的位置信息；所述第二接入网设备的感知能力。
可选地，所述方法还包括：
通过所述第二接入网设备接收所述第二终端设备发送的第三感知注册请求，所述第三感知注册请求用于所述第二终端设备的感知业务注册；
根据所述核心网设备的安全策略，对所述第三感知注册请求进行验证；
通过所述第二接入网设备向所述第二终端设备发送第三感知注册响应，所述第三感知注册响应用于确认所述第二终端设备的感知业务注册是否成功。
可选地，所述第三感知注册请求包括以下至少一种：所述第二终端设备的位置信息，所述第二终端设备的感知能力。
可选地，所述核心网设备为感知应用功能SAF。
本申请第二方面实施例提出了一种感知服务获取方法，所述方法由第一终端设备执行，所述方法包括：
通过第一接入网设备向核心网设备发送第一感知请求，所述第一感知请求用于请求实时感知信息，所述第一感知请求包括所述第一终端设备的实时位置；
通过所述第一接入网设备接收所述核心网设备发送的所述实时感知信息。
可选地，所述方法还包括：
通过所述第一接入网设备向所述核心网设备发送第三感知请求，所述第三感知请求用于请求所述核心网设备进行授权，所述第三感知请求包括所述第一终端设备的移动路线；
所述移动路线用于对所述第三感知请求进行验证；
通过所述第一接入网设备接收所述核心网设备发送的第三感知响应，所述第三感知响应用于确认是否授权所述第一终端设备在所述移动路线上获取所述实时感知信息。
可选地，所述方法还包括：
通过所述第一接入网设备向所述核心网设备发送第一感知注册请求，所述第一感知注册请求用于所述第一终端设备的感知业务注册；
通过所述第一接入网设备接收所述核心网设备发送的第一感知注册响应，所述第一感知注册响应用于确认所述第一终端设备的感知业务注册是否成功。
可选地，所述第一感知注册请求包括：所述第一终端设备类型和/或所述第一终端设备标识；
其中，所述第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，所述核心网设备为感知应用功能SAF。
本申请第三方面实施例提出了一种感知服务获取方法，所述方法由第二接入网设备执行，所述方法包括：
接收核心网设备发送的第二感知请求，所述第二感知请求用于请求获取实时感知信息；
向所述核心网设备发送实时感知信息。
可选地，所述方法还包括：
向第二终端设备发送所述第二感知请求；
接收所述第二终端设备发送的所述实时感知信息。
可选地，所述实时感知信息为所述第二接入网设备和/或所述第二终端设备进行感知得到的。
可选地，所述方法还包括：
向所述核心网设备发送第二感知注册请求，所述第二感知注册请求用于所述第二接入网设备的感知业务注册；
接收所述核心网设备发送的第二感知注册响应，所述第二感知注册响应用于确认所述第二接入网设备的感知业务注册是否成功。
可选地，所述第二感知注册请求包括以下至少一种：所述第二接入网设备的位置信息，所述第二接入网设备的感知能力。
可选地，所述核心网设备为感知应用功能SAF。
本申请第四方面实施例提出了一种感知服务获取方法，所述方法由第二终端设备执行，所述方法包括：
通过第二接入网设备接收核心网设备发送的第二感知请求，所述第二感知请求用于请求获取实时感知信息；
对所述第二终端设备周围的无线通信环境进行感知，得到实时感知信息；
通过所述第二接入网设备向所述核心网设备发送所述实时感知信息。
可选地，所述方法还包括：
通过所述第二接入网设备向所述核心网设备发送第三感知注册请求，所述第三感知注册请求用于所述第二终端设备的感知业务注册；
通过所述第二接入网设备接收所述核心网设备发送的第三感知注册响应，所述第三感知注册响应用于确认所述第二终端设备的感知业务注册是否成功。
可选地，所述第三感知注册请求包括以下至少一种：所述第二终端设备的位置信息，所述第二终端设备的感知能力。
可选地，所述核心网设备为感知应用功能SAF。
本申请第五方面实施例提出了一种核心网设备，所述核心网设备包括：
收发单元，用于通过第一接入网设备接收第一终端设备发送的第一感知请求，所述第一感知请求用于请求实时感知信息，所述第一感知请求包括所述第一终端设备的实时位置；
处理单元，用于根据所述第一终端设备的实时位置，向第二接入网设备发送第二感知请求，所述第二感知请求用于请求获取所述实时感知信息；
收发单元，还用于接收所述第二接入网设备发送的所述实时感知信息；
收发单元，还用于向所述第一终端设备发送所述实时感知信息。
可选地，该收发单元还用于：
通过所述第二接入网设备向第二终端设备发送所述第二感知请求；
通过所述第二接入网设备接收所述第二终端设备发送的实时感知信息。
可选地，所述实时感知信息为所述第二接入网设备和/或所述第二终端设备进行感知得到的。
可选地，该收发单元还用于：
通过所述第一接入网设备接收所述第一终端设备发送的第三感知请求，所述第三感知请求用于请求所述核心网设备进行授权，所述第三感知请求包括所述第一终端设备的移动路线；
根据所述移动路线，对所述第三感知请求进行验证；
通过所述第一接入网设备向所述第一终端设备发送第三感知响应，所述第三感知响应用于确认是否授权所述第一终端设备在所述移动路线上获取所述实时感知信息。
可选地，所述收发单元还用于：
通过所述第一接入网设备接收所述第一终端设备发送的第一感知注册请求，所述第一感知注册请求用于所述第一终端设备的感知业务注册；
根据所述核心网设备的安全策略，对所述第一感知注册请求进行验证；
通过所述第一接入网设备向所述第一终端设备发送第一感知注册响应，所述第一感知注册响应用于确认所述第一终端设备的感知业务注册是否成功。
可选地，所述第一感知注册请求包括：所述第一终端设备类型和/或所述第一终端设备标识；
其中，所述第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，所述收发单元还用于：
接收所述第二接入网设备发送的第二感知注册请求，所述第二感知注册请求用于所述第二接入网设备的感知业务注册；
根据所述核心网设备的安全策略，对所述第二感知注册请求进行验证；
向所述第二接入网设备发送第二感知注册响应，所述第二感知注册响应用于确认所述第二接入网设备的感知业务注册是否成功。
可选地，所述第二感知注册请求包括以下至少一种：所述第二接入网设备的位置信息，所述第二接入网设备的感知能力。
可选地，所述收发单元还用于：
通过所述第二接入网设备接收所述第二终端设备发送的第三感知注册请求，所述第三感知注册请求用于所述第二终端设备的感知业务注册；
根据所述核心网设备的安全策略，对所述第三感知注册请求进行验证；
通过所述第二接入网设备向所述第二终端设备发送第三感知注册响应，所述第三感知注册响应用于确认所述第二终端设备的感知业务注册是否成功。
可选地，所述第三感知注册请求包括以下至少一种：所述第二终端设备的位置信息，所述第二终端设备的感知能力。
可选地，所述核心网设备为感知应用功能SAF。
本申请第六方面实施例提出了一种第一终端设备，包括：
收发单元，用于通过第一接入网设备向核心网设备发送第一感知请求，所述第一感知请求用于请求实时感知信息，所述第一感知请求包括第一终端设备的实时位置；
所述收发单元，还用于通过所述第一接入网设备接收所述核心网设备发送的所述实时感知信息。
可选地，所述收发单元还用于：
通过所述第一接入网设备向所述核心网设备发送第三感知请求，所述第三感知请求用于请求所述核心网设备进行授权，所述第三感知请求包括所述第一终端设备的移动路线；
所述移动路线用于对所述第三感知请求进行验证；
通过所述第一接入网设备接收所述核心网设备发送的第三感知响应，所述第三感知响应用于确认是否授权所述第一终端设备在所述移动路线上获取所述实时感知信息。
可选地，所述收发单元还用于：
通过所述第一接入网设备向所述核心网设备发送第一感知注册请求，所述第一感知注册请求用于所述第一终端设备的感知业务注册；
通过所述第一接入网设备接收所述核心网设备发送的第一感知注册响应，所述第一感知注册响应用于确认所述第一终端设备的感知业务注册是否成功。
可选地，所述第一感知注册请求包括：所述第一终端设备类型和/或所述第一终端设备标识；
其中，所述第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，所述核心网设备为感知应用功能SAF。
本申请第七方面实施例提出了一种接入网设备，包括：
收发单元，用于接收核心网设备发送的第二感知请求，所述第二感知请求用于请求获取实时感知信息；
所述收发单元，还用于向所述核心网设备发送所述实时感知信息。
可选地，所述收发单元还用于：
向第二终端设备发送所述第二感知请求；
接收所述第二终端设备发送的所述实时感知信息。
可选地，所述实时感知信息为所述第二接入网设备和/或所述第二终端设备进行感知得到的。
可选地，所述收发单元还用于：
向所述核心网设备发送第二感知注册请求，所述第二感知注册请求用于所述第二接入网设备的感知业务注册；
接收所述核心网设备发送的第二感知注册响应，所述第二感知注册响应用于确认所述第二接入网设备的感知业务注册是否成功。
可选地，所述第二感知注册请求包括以下至少一种：所述第二接入网设备的位置信息，所述第二接入网设备的感知能力。
可选地，所述核心网设备为感知应用功能SAF。
本申请第八方面实施例提出了一种第二终端设备，包括：
收发单元，用于通过第二接入网设备接收核心网设备发送的第二感知请求，所述第二感知请求用于请求获取实时感知信息；
处理单元，用于对所述第二终端设备周围的无线通信环境进行感知，得到实时感知信息；
所述收发单元，还用于通过所述第二接入网设备向所述核心网设备发送所述实时感知信息。
可选地，所述收发单元还用于：
通过所述第二接入网设备向所述核心网设备发送第三感知注册请求，所述第三感知注册请求用于所述第二终端设备的感知业务注册；
通过所述第二接入网设备接收所述核心网设备发送的第三感知注册响应，所述第三感知注册响应用于确认所述第二终端设备的感知业务注册是否成功。
可选地，所述第三感知注册请求包括以下至少一种：所述第二终端设备的位置信息，所述第二终端设备的感知能力。
可选地，所述核心网设备为感知应用功能SAF。
本申请第九方面实施例提出了一种通信装置，所述装置包括处理器和存储器，所述存储器中存储有计算机程序，所述处理器执行所述存储器中存储的计算机程序，以使所述装置执行上述第一方面实施例所述的感知服务获取方法，或者执行上述第三方面实施例所述的感知服务获取方法。
本申请第十方面实施例提出了一种通信装置，所述装置包括处理器和存储器，所述存储器中存储有计算机程序，所述处理器执行所述存储器中存储的计算机程序，以使所述装置执行上述第二方面实施例所述的感知服务获取方法，或者执行上述第四方面实施例所述的感知服务获取方法。
本申请第十一方面实施例提出了一种通信装置，该装置包括处理器和接口电路，该接口电路用于接收代码指令并传输至该处理器，该处理器用于运行所述代码指令以使该装置执行上述第一方面实施例所述的感知服务获取方法，或者执行上述第三方面实施例所述的感知服务获取方法。
本申请第十二方面实施例提出了一种通信装置，该装置包括处理器和接口电路，该接口电路用于接收代码指令并传输至该处理器，该处理器用于运行所述代码指令以使该装置执行上述第二方面实施例所述的感知服务获取方法，或者执行上述第四方面实施例所述的感知服务获取方法。
本申请第十三方面实施例提出了一种计算机可读存储介质，用于存储有指令，当所述指令被执行时，使上述第一方面实施例所述的感知服务获取方法被实现，或者使上述第三方面实施例所述的感知服务获取方法被实现。
本申请第十四方面实施例提出了一种计算机可读存储介质，用于存储有指令，当所述指令被执行时，使上述第二方面实施例所述的感知服务获取方法被实现，或者使上述第四方面实施例所述的感知服务获取方法被实现。
本申请第十五方面实施例提出了一种计算机程序，当其在计算机上运行时，使得计算机执行第一方面实施例所述的感知服务获取方法，或者使得计算机执行第三方面实施例所述的感知服务获取方法。
本申请第十六方面实施例提出了一种计算机程序，当其在计算机上运行时，使得计算机执行第二方面实施例所述的感知服务获取方法，或者使得计算机执行第四方面实施例所述的感知服务获取方法。
本申请实施例提供的一种感知服务获取方法及装置，通过接收第一终端设备发送的第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置，根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，该第二感知请求用于请求获取实时感知信息，接收该至少一个第二接入网设备发送的实时感知信息，向该第一终端设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，提高了感知结果的质量。
本申请附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
为了更清楚地说明本申请实施例或背景技术中的技术方案，下面将对本申请实施例或背景技术中所需要使用的附图进行说明。
图1为本申请实施例提供的一种通信系统的架构示意图；
图2是本申请实施例提供的一种感知服务获取方法的流程示意图；
图3是本申请实施例提供的一种感知服务获取方法的流程示意图；
图4是本申请实施例提供的一种感知服务获取方法的流程示意图；
图5是本申请实施例提供的一种感知服务获取方法的流程示意图；
图6是本申请实施例提供的一种感知服务获取方法的流程示意图；
图7是本申请实施例提供的一种感知服务获取方法的流程示意图；
图8是本申请实施例提供的一种感知服务获取方法的流程示意图；
图9是本申请实施例提供的一种感知服务获取方法的流程示意图；
图10是本申请实施例提供的一种感知服务获取方法的流程示意图；
图11是本申请实施例提供的另一种通信系统的架构示意图；
图12是本申请实施例提供的一种感知服务获取方法的流程示意图；
图13是本申请实施例提供的一种感知注册方法的流程示意图；
图14是本申请实施例提供的一种感知注册方法的流程示意图；
图15是本申请实施例提供的一种核心网设备的结构示意图；
图16是本申请实施例提供的一种第一终端设备的结构示意图；
图17是本申请实施例提供的一种第二接入网设备的结构示意图；
图18是本申请实施例提供的一种第二终端设备的结构示意图；
图19是本申请实施例提供的另一种感知服务获取装置的结构示意图；
图20是本申请实施例提供的一种芯片的结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请实施例相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请实施例的一些方面相一致的装置和方法的例子。
在本申请实施例使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请实施例。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请实施例可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请实施例范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”及“若”可以被解释成为“在……时”或“当……时”或“响应于确定”。
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的要素。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
为了更好的理解本申请实施例公开的一种感知服务获取方法，下面首先对本申请实施例适用的通信系统进行描述。
请参见图1，图1为本申请实施例提供的一种通信系统的架构示意图。该通信系统可包括但不限于一个网络设备和一个终端设备，图1所示的设备数量和形态仅用于举例并不构成对本申请实施例的限定，实际应用中可以包括两个或两个以上的网络设备和两个或两个以上的终端设备。图1所示的通信系统以包括一个网络设备101和一个终端设备102为例。
需要说明的是，本申请实施例的技术方案可以应用于各种通信系统。例如：长期演进(Long Term Evolution，LTE)系统、第五代移动通信系统、5G新空口系统，或者其他未来的新型移动通信系统等。
本申请实施例中的网络设备101是网络侧的一种用于发射或接收信号的实体。例如，网络设备101和可以为演进型基站(Evolved NodeB，eNB)、传输点(Transmission Reception Point，TRP)、NR系统中的下一代基站(Next Generation NodeB，gNB)、其他未来移动通信系统中的基站或无线保真(Wireless Fidelity，WiFi)系统中的接入节点等。本申请的实施例对网络设备所采用的具体技术和具体设备形态不做限定。本申请实施例提供的网络设备可以是由集中单元(Central Unit，CU)与分布式单元(Distributed Unit，DU)组成的，其中，CU也可以称为控制单元(Control Unit)，采用CU-DU的结构可以将网络设备，例如基站的协议层拆分开，部分协议层的功能放在CU集中控制，剩下部分或全部协议层的功能分布在DU中，由CU集中控制DU。
本申请实施例中的终端设备102是用户侧的一种用于接收或发射信号的实体，如手机。终端设备也 可以称为终端设备(terminal)、用户设备(user equipment，UE)、移动台(Mobile Station，MS)、移动终端设备(Mobile Terminal，MT)等。终端设备可以是具备通信功能的汽车、智能汽车、手机(Mobile Phone)、物联网(Internet of Things，IoT)终端、穿戴式设备、平板电脑(Pad)、带无线收发功能的电脑、虚拟现实(Virtual Reality，VR)终端设备、增强现实(Augmented Reality，AR)终端设备、工业控制(Industrial Control)中的无线终端设备、无人驾驶(Self-Driving)中的无线终端设备、远程手术(Remote Medical Surgery)中的无线终端设备、智能电网(Smart Grid)中的无线终端设备、运输安全(Transportation Safety)中的无线终端设备、智慧城市(Smart City)中的无线终端设备、智慧家庭(Smart Home)中的无线终端设备等等。本申请的实施例对终端设备所采用的具体技术和具体设备形态不做限定。
在车用无线通信技术(vehicle to everything，V2X)中，高级驾驶辅助系统(Advanced Driving Assistance System，ADAS)能够利用安装在车辆上的各种传感器(例如，毫米波雷达、激光雷达、单目/双目摄像头和卫星导航等)在驾驶过程中随时感知周围环境，收集数据、识别、检测以及跟踪静态和动态的物体，并能够结合导航地图数据进行系统的计算和分析，使驾驶员提前意识到可能存在的危险，有效提高驾驶的舒适性和安全性。
第三代合作伙伴计划(3rd generation partnership project，3GPP)5G系统中的集成感知和通信，意味着感知能力由同样可以用于通信的5G新空口(new radio，NR)无线通信系统和基础设施提供，并且感知信息可以来自基于射频和/或非射频的传感器。一般来说，集成感知和通信可以涉及感知辅助通信的场景，例如，5G通信系统可以提供感知服务或感知辅助通信。例如，与通信信道或环境相关的感知信息能够用于改善5G系统本身的通信服务。作为一种示例，感知信息可以用于辅助无线资源管理、干扰缓解、波束管理、移动性管理等。
对无线通信信道和环境的感知可以进一步提高通信系统的性能。感知辅助通信场景的一些示例是：
(1)感知终端设备的位置和信道环境，缩小波束扫描范围，缩短波束训练时间。
(2)感知终端设备的位置、速度、运动轨迹和信道环境进行波束预测，减少波束测量的开销和波束跟踪的延迟。
(3)感知终端设备的属性和信道环境以提高信道估计的性能。
移动运营商可以在向客户提供基于5G系统(5G system，5GS)的集成感知和通信方面发挥重要作用，包括基于5G的感知业务的管理和控制。最近发布的5G汽车协会(5G-automotive association，5GAA)技术报告，举例说明了运营商在增强V2X类型服务方面可以发挥的作用，特别是在基础设施辅助环境感知、基于基础设施的远程驾驶、高清地图收集和共享以及远程驾驶支持方面。
基于上述分析，研究基于3GPP的感知技术(例如基于NR的感知)能够有机会增强高级驾驶辅助系统ADAS。
可以理解的是，本申请实施例描述的通信系统是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，本领域普通技术人员可知，随着系统架构的演变和新业务场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。
下面结合附图对本申请所提供的感知服务获取方法及其装置进行详细地介绍。
请参见图2，图2是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是，本申请实施例的感知服务获取方法由核心网设备执行。该方法可以独立执行，也可以结合本申请任意一个其他实施例一起被执行。如图2所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤201，通过第一接入网设备接收第一终端设备发送的第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置。
在本申请实施例中，该核心网设备可以为感知应用功能(Sensing Application Function，SAF)。其中，感知应用功能SAF为位于核心网的一个新增网元，该网元用于管理感知应用相关的功能，能够认证和授权通信设备进行感知业务。需要说明的是，该SAF既可以是一个实体设备，也可以是运行在实体设备中的软件实现的功能，本申请实施例并不对此作出限定。
在本申请实施例中，核心网设备能够接收第一终端设备发送的用于请求实时感知结果的第一感知请求，该第一感知请求包括该第一终端设备的实时位置。核心网设备能够基于第一终端设备的实时位置，获取第一终端设备周围环境的感知信息(也可称为感知结果、感知数据)。
可以理解，在本申请各实施例中，核心网设备是通过第一接入网(Radio Access Network，RAN)设备与第一终端设备进行通信的。其中，第一接入网设备是第一终端设备所在的服务小区的接入网设备，第一终端设备能够通过该第一接入网设备与核心网设备进行通信。
在一些实施方式中，核心网设备在接收第一感知请求之前，还能够接收第一终端设备发送的第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括第一终端设备的移动路线。核心网设备能够基于该移动路线，对该第三感知请求进行验证，并向第一终端设备发送第三感知响应，以通知第一终端设备是否授权其在该移动路线上获取实时感知信息。
在一些实施方式中，核心网设备还能够接收第一终端设备发送的第一感知注册请求，该第一感知注册请求用于第一终端设备进行感知业务注册。核心网设备能够基于自身的安全策略，对该第一感知注册请求进行验证，确定第一终端设备是否能够被信任执行感知业务。核心网设备向第一终端设备发送第一感知注册响应，以通知第一终端设备的感知业务注册是否成功。
可选地，该第一感知注册请求包括：第一终端设备类型和/或第一终端设备标识。
其中，第一终端设备标识包括以下至少一种：用户永久标识符(Subscriber Permanent Identifier，SUPI)，移动用户号码(Mobile Subscriber International ISDN/PSTN number，MSISDN)。其中，ISDN(Integrated Service Digital Network，综合业务数字网)，PSTN(Public Switched Telephone Network，公用电话交换网)。
可选地，该第一终端设备可以为车辆(vehicle)，该第一感知注册请求包括的该第一终端设备类型为车辆。
步骤202，根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，该第二感知请求用于请求获取实时感知信息。
在本申请实施例中，核心网设备能够根据第一感知请求中包括的第一终端设备的实时位置，向位于第一终端设备周围的至少一个第二接入网设备发送第二感知请求，以请求获取实时感知信息。
需要说明的是，在本申请实施例中，第二接入网设备是根据第一终端设备的实时位置确定的，位于第一终端设备周围的接入网设备。可以理解，第二接入网设备与前述第一接入网设备可以是相同的，也可以是不同的，本申请对此不进行限定。也就是，在一些实施方式中，核心网设备也可以向第一接入网设备发送该第二感知请求。
在一些实施方式中，核心网设备还能够通过第二接入网设备向至少一个第二终端设备发送该第二感知请求，并通过第二接入网设备接收该至少一个第二终端设备发送的实时感知信息。其中，第二终端设备也是根据该第一终端设备的实时位置确定的，位于第一终端设备周围的终端设备，第二终端设备具有感知能力，能够对周围环境进行感知，获取感知信息(也可称为感知结果、感知数据)。第二终端设备在接收到该第二感知请求后，能够进行感知，获取实时感知信息。
在本申请实施例中，该实时感知信息为，该至少一个第二接入网设备和/或至少一个第二终端设备进行感知得到的。
也就是，作为一种可能的实现方式，该实时感知信息是该至少一个第二终端设备进行感知得到的。第二终端设备对周围环境进行感知，获取到实时感知信息之后，能够通过第二接入网设备发送给该核心网设备。
作为另一种可能的实现方式，该实时感知信息是该至少一个第二接入网设备进行感知得到的。第二接入网设备能够对周围环境进行感知，获取实时感知信息，并将获取到的实时感知信息发送给核心网设备。
作为又一种可能的实现方式，该实时感知信息是该至少一个第二终端设备和至少一个第二接入网设备进行感知得到的。第二终端设备和第二接入网设备均对周围环境进行感知，获取实时感知信息，并发送给核心网设备。
可以理解的是，在本申请实施例的一些实施方式中，第二接入网设备也具有感知能力，能够对周围环境进行感知，获取感知信息(也可称为感知结果、感知数据)。
在本申请实施例中，感知信息可以包括对第二终端设备和/或第二接入网设备的信道环境的感知，收集周围环境数据、识别、检测以及跟踪静态和动态物体，以及对第二终端设备和/或第二接入网设备的位置、速度、运动轨迹的感知等等，本申请实施例对此不进行限定。
在一些实施方式中，核心网设备能够接收第二接入网设备发送的第二感知注册请求，该第二感知注册请求用于第二接入网设备的感知业务注册。核心网设备能够基于自身的安全策略，对该第二感知注册请求进行验证，确定第二接入网设备是否能够被信任执行感知业务。核心网设备向第二接入网设备发送第二感知注册响应，以通知第二接入网设备的感知业务注册是否成功。
可选地，该第二感知注册请求包括以下至少一种：第二接入网设备的位置信息，第二接入网设备的感知能力。
其中，第二接入网设备的感知能力可以包括：第二接入网设备感知的范围、时间、射频以及感知结果类型等等。
在一些实施方式中，核心网设备能够接收第二终端设备发送的第三感知注册请求，该第三感知注册请求用于第二终端设备的感知业务注册。核心网设备能够基于自身的安全策略，对该第三感知注册请求进行验证，确定第二终端设备是否能够被信任执行感知业务。核心网设备向第二终端设备发送第三感知注册响应，以通知第二终端设备的感知业务注册是否成功。可以理解，在本申请各实施例中，核心网设备是通过第二接入网设备与第二终端设备进行通信的。
可选地，该第三感知注册请求包括以下至少一种：第二终端设备的位置信息，第二终端设备的感知能力。
其中，第二终端设备的感知能力可以包括：第二终端设备感知的范围、时间、射频以及感知结果类型等等。
步骤203，接收该至少一个第二接入网设备发送的实时感知信息。
在本申请实施例中，核心网设备能够接收该至少一个第二接入网设备发送的实时感知信息，该实时感知信息为该至少一个第二终端设备和/或至少一个第二接入网设备在接收到核心网设备发送的第二感知请求后进行感知得到的。
也就是，在一些实施方式中，至少一个第二接入网设备在接收到核心网设备发送的第二感知请求后进行感知得到实时感知信息，并发送给该核心网设备。
在一些实施方式中，至少一个第二终端设备在通过第二接入网设备接收到核心网设备发送的第二感知请求后进行感知得到实时感知信息，并通过第二接入网设备发送给该核心网设备。
在一些实施方式中，至少一个第二终端设备在通过第二接入网设备接收到核心网设备发送的第二感知请求后进行感知得到实时感知信息，并通过第二接入网设备发送给该核心网设备，同时，至少一个第二接入网设备在接收到核心网设备发送的第二感知请求后也进行感知得到实时感知信息，并发送给该核心网设备。
步骤204，通过第一接入网设备向该第一终端设备发送该实时感知信息。
在本申请实施例中，核心网设备能够向第一终端设备发送实时感知信息，该实时感知信息是至少一个第二接入网设备发送给该核心网设备的。也就是，在本申请实施例中，核心网设备能够收集第一终端设备周围的感知信息，并发送给第一终端设备，该感知信息由第一终端设备周围的具有感知能力的至少一个第二终端设备和/或至少一个第二接入网设备生成并传输给核心网设备。
综上，通过接收第一终端设备发送的第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置，根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，该第二感知请求用于请求获取实时感知信息，接收该至少一个第二接入网设备发送的实时感知信息，向该第一终端设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图3，图3是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是，本申请实施例的感知服务获取方法由核心网设备执行。该方法可以独立执行，也可以结合本申请任意一个 其他实施例一起被执行。如图3所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤301，通过第一接入网设备接收第一终端设备发送的第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括该第一终端设备的移动路线。
在本申请实施例中，该核心网设备可以为感知应用功能SAF。其中，感知应用功能SAF为位于核心网的一个新增网元，该网元用于管理感知应用相关的功能，能够认证和授权通信设备进行感知业务。需要说明的是，该SAF既可以是一个实体设备，也可以是运行在实体设备中的软件实现的功能，本申请实施例并不对此作出限定。
可选地，该第一终端设备可以为车辆(vehicle)。
在本申请实施例中，核心网设备能够接收第一终端设备发送的第三感知请求，该第三感知请求包括该第一终端设备的移动路线。核心网设备能够根据该第三感知请求，确认是否授权该第一终端设备获取感知信息。
可以理解，该移动路线可以为第一终端设备根据起始地和目的地所规划的移动路线。
在一些实施方式中，该第三感知请求还包括该第一终端设备的感知模式。
可选地，该感知模式包括：自发射自接收，需要其他感知客户端(sensing client)的感知结果等等。其中，感知客户端是指，已经成功完成到该核心网设备的感知注册的通信设备，其具有感知能力、能够进行感知业务，并能够将感知结果传输给该核心网设备。
步骤302，根据该移动路线，对该第三感知请求进行验证。
在本申请实施例中，核心网设备能够基于第三感知请求中包括的移动路线，对第三感知请求进行验证。核心网设备能够根据其中预先配置的安全策略，基于第三感知请求中包括的移动路线，验证是否能够接受该第三感知请求，是否能够授权该第一终端设备在该移动路线上获取实时感知信息。
在一些实施方式中，核心网设备还能够基于第三感知请求中包括的移动路线和感知模式，验证是否能够接受该第三感知请求，是否能够授权该第一终端设备在该移动路线上获取实时感知信息。
步骤303，通过第一接入网设备向该第一终端设备发送第三感知响应，该第三感知响应用于确认是否授权该第一终端设备在该移动路线上获取该实时感知信息。
在本申请实施例中，核心网设备在对该第三感知请求进行验证之后，能够向第一终端设备发送第三感知响应，以通知是否授权该第一终端设备在该移动路线上获取该实时感知信息。
也就是，如果核心网设备对该第三感知请求验证通过，核心网设备向第一终端设备发送第三感知响应，该第三感知响应包括该移动路线的确认消息，第一终端设备接收到该第三感知响应后，能够确认该核心网设备授权该第一终端设备获取该移动路线上的实时感知信息。
在一些实施方式中，该第三感知响应包括该移动路线和感知模式的确认消息。
如果核心网设备对该第三感知请求的验证未通过，核心网设备向第一终端设备发送第三感知响应，该第三感知响应用于拒绝该第三感知请求，第一终端设备接收到该第三感知响应后，能够确认该核心网设备未授权该第一终端设备获取该移动路线上的实时感知信息。可选地，该第三感知响应中可以包括拒绝的原因等。
步骤304，通过第一接入网设备接收第一终端设备发送的第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置。
步骤305，根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，该第二感知请求用于请求获取实时感知信息。
步骤306，接收该至少一个第二接入网设备发送的实时感知信息。
步骤307，通过第一接入网设备向该第一终端设备发送该实时感知信息。
在本申请实施例中，步骤304至307可以分别采用本申请的各实施例中的任一种方式实现，本申请实施例并不对此作出限定，也不再赘述。
综上，通过接收第一终端设备发送的第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括该第一终端设备的移动路线，根据该移动路线，对该第三感知请求进行验证，向该第一终端设备发送第三感知响应，该第三感知响应用于确认是否授权该第一终端设备在该移动路线 上获取该实时感知信息，接收第一终端设备发送的第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置，根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，该第二感知请求用于请求获取实时感知信息，接收该至少一个第二接入网设备发送的实时感知信息，向该第一终端设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图4，图4是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是，本申请实施例的感知服务获取方法由核心网设备执行。该方法可以独立执行，也可以结合本申请任意一个其他实施例一起被执行。如图4所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤401，通过第一接入网设备接收第一终端设备发送的第一感知注册请求，该第一感知注册请求用于该第一终端设备的感知业务注册。
在本申请实施例中，该核心网设备可以为感知应用功能SAF。其中，感知应用功能SAF为位于核心网的一个新增网元，该网元用于管理感知应用相关的功能，能够认证和授权通信设备进行感知业务。需要说明的是，该SAF既可以是一个实体设备，也可以是运行在实体设备中的软件实现的功能，本申请实施例并不对此作出限定。第一终端设备可以为第一终端设备，第一终端设备是用户侧的一种用于接收或发射信号的实体。
可选地，该第一终端设备可以为车辆(vehicle)。
在一些实施方式中，该第一感知注册请求包括：第一终端设备类型和/或第一终端设备标识。
作为一种可能的实现方式，该第一感知注册请求包括第一终端设备类型。
作为另一种可能的实现方式，该第一感知注册请求包括第一终端设备标识。
作为又一种可能的实现方式，该第一感知注册请求包括第一终端设备类型和第一终端设备标识。
其中，第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，该第一终端设备可以为车辆(vehicle)，该第一感知注册请求包括的该第一终端设备类型为车辆。
在本申请实施例中，核心网设备能够接收第一终端设备发送的第一感知注册请求，并对其进行验证，验证该第一终端设备是否为合法用户，能否授权其进行感知以及获取感知信息，以确定是否接受该第一终端设备的注册。
步骤402，根据核心网设备的安全策略，对该第一感知注册请求进行验证。
在本申请实施例中，核心网设备能够根据自身预先配置的安全策略，对该第一感知注册请求进行验证，判断该第一终端设备是否为合法用户，能否授权其进行感知以及获取感知信息，以确定是否接受该第一终端设备的注册。
步骤403，通过第一接入网设备向第一终端设备发送第一感知注册响应，该第一感知注册响应用于确认该第一终端设备的感知业务注册是否成功。
在本申请实施例中，核心网设备根据自身预先配置的安全策略，对该第一感知注册请求进行验证之后，能够向第一终端设备发送第一感知注册响应，以通知第一终端设备感知业务是否注册成功。
如果对该第一感知请求验证通过，核心网设备向第一终端设备发送的第一感知注册响应，用于通知该第一终端设备的感知业务注册成功。如果对该第一感知请求验证未通过，核心网设备向第一终端设备发送的第一感知注册响应，用于通知该第一终端设备的感知业务注册失败。
步骤404，接收第二接入网设备发送的第二感知注册请求，该第二感知注册请求用于该第二接入网设备的感知业务注册。
可以理解的是，在本申请实施例中，第二接入网设备具有感知能力，能够对周围环境进行感知，获取感知信息(也可称为感知结果、感知数据)。
在本申请实施例中，感知信息可以包括对第二接入网设备的信道环境的感知，收集周围环境数据、 识别、检测以及跟踪静态和动态物体，以及对第二接入网设备的位置、速度、运动轨迹的感知等等，本申请实施例对此不进行限定。
在本申请实施例中，核心网设备能够接收第二接入网设备发送的第二感知注册请求，该第二感知注册请求用于第三通信设备的感知业务注册。
在一些实施方式中，该第二感知注册请求包括以下至少一种：第二接入网设备的位置信息，第二接入网设备的感知能力。
其中，第二接入网设备的感知能力可以包括：第二接入网设备感知的范围、时间、射频以及感知结果类型等等。
在本申请实施例中，核心网设备能够接收第二接入网设备发送的第二感知注册请求，并对其进行验证，验证该第二接入网设备是否合法，能否授权其进行感知以及传输感知信息，以确定是否接受该第二接入网设备的注册。
步骤405，根据核心网设备的安全策略，对该第二感知注册请求进行验证。
在本申请实施例中，核心网设备能够根据自身预先配置的安全策略，对该第二感知注册请求进行验证，判断该第二接入网设备是否合法，能否授权其进行感知以及获取感知信息，以确定是否接受该第二接入网备的注册。
步骤406，向第二接入网设备发送第二感知注册响应，该第二感知注册响应用于确认该第二接入网设备的感知业务注册是否成功。
在本申请实施例中，核心网设备根据自身预先配置的安全策略，对该第二感知注册请求进行验证之后，能够向第二接入网设备发送第二感知注册响应，以通知第三通信设备感知业务是否注册成功。
如果该第二感知请求验证通过，核心网设备向第二接入网设备发送的第二感知注册响应，用于通知该第二接入网设备的感知业务注册成功。如果该第二感知请求验证未通过，核心网设备向第二接入网设备发送的第二感知注册响应，用于通知该第二接入网设备的感知业务注册失败。
步骤407，通过第二接入网设备接收第二终端设备发送的第三感知注册请求，该第三感知注册请求用于该第二终端设备的感知业务注册。
可以理解的是，在本申请实施例中，第二终端设备具有感知能力，能够对周围环境进行感知，获取感知信息(也可称为感知结果、感知数据)。
在本申请实施例中，感知信息可以包括对第二终端设备的信道环境的感知，收集周围环境数据、识别、检测以及跟踪静态和动态物体，以及对第二终端设备的位置、速度、运动轨迹的感知等等，本申请实施例对此不进行限定。
在本申请实施例中，核心网设备能够接收第二终端设备发送的第三感知注册请求，该第三感知注册请求用于第三通信设备的感知业务注册。可以理解，在本申请实施例中，核心网设备可以通过第二接入网设备与第二终端设备进行通信。
在一些实施方式中，该第三感知注册请求包括以下至少一种：第二终端设备的位置信息，第二终端设备的感知能力。
其中，第二终端设备的感知能力可以包括：第二终端设备感知的范围、时间、射频以及感知结果类型等等。
在本申请实施例中，核心网设备能够接收第二终端设备发送的第三感知注册请求，并对其进行验证，验证该第二终端设备是否合法，能否授权其进行感知以及传输感知信息，以确定是否接受该第二终端设备的注册。
步骤408，根据核心网设备的安全策略，对该第三感知注册请求进行验证。
在本申请实施例中，核心网设备能够根据自身预先配置的安全策略，对该第三感知注册请求进行验证，判断该第二终端设备是否合法，能否授权其进行感知以及获取感知信息，以确定是否接受该第二终端备的注册。
步骤409，通过第二接入网设备向第二终端设备发送第三感知注册响应，该第三感知注册响应用于确认该第二终端设备的感知业务注册是否成功。
在本申请实施例中，核心网设备根据自身预先配置的安全策略，对该第三感知注册请求进行验证之后，能够通过第二接入网设备向第二终端设备发送第三感知注册响应，以通知第三通信设备感知业务是 否注册成功。
如果该第三感知请求验证通过，核心网设备向第二终端设备发送的第三感知注册响应，用于通知该第二终端设备的感知业务注册成功。如果该第三感知请求验证未通过，核心网设备向第二终端设备发送的第三感知注册响应，用于通知该第二终端设备的感知业务注册失败。
步骤410，通过第一接入网设备接收第一终端设备发送的第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括该第一终端设备的移动路线。
步骤411，根据该移动路线，对该第三感知请求进行验证。
步骤412，通过第一接入网设备向该第一终端设备发送第三感知响应，该第三感知响应用于确认是否授权该第一终端设备在该移动路线上获取该实时感知信息。
步骤413，通过第一接入网设备接收第一终端设备发送的第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置。
步骤414，根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，该第二感知请求用于请求获取实时感知信息。
步骤415，接收该至少一个第二接入网设备发送的实时感知信息。
步骤416，通过第一接入网设备向该第一终端设备发送该实时感知信息。
在本申请实施例中，步骤410至416可以分别采用本申请的各实施例中的任一种方式实现，本申请实施例并不对此作出限定，也不再赘述。
综上，通过接收第一终端设备发送的第一感知注册请求，该第一感知注册请求用于该第一终端设备的感知业务注册，根据核心网设备的安全策略，对该第一感知注册请求进行验证，向第一终端设备发送第一感知注册响应，该第一感知注册响应用于确认该第一终端设备的感知业务注册是否成功，接收第二接入网设备发送的第二感知注册请求，该第二感知注册请求用于该第二接入网设备的感知业务注册，根据核心网设备的安全策略，对该第二感知注册请求进行验证，向第二接入网设备发送第二感知注册响应，该第二感知注册响应用于确认该第二接入网设备的感知业务注册是否成功，接收第二终端设备发送的第三感知注册请求，该第三感知注册请求用于该第二终端设备的感知业务注册，根据核心网设备的安全策略，对该第三感知注册请求进行验证，向第二终端设备发送第三感知注册响应，该第三感知注册响应用于确认该第二终端设备的感知业务注册是否成功，能够完成第一终端设备，第二终端设备以及第二接入网设备的感知业务注册。进一步地，通过步骤410至步骤416，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图5，图5是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是，本申请实施例的感知服务获取方法由第一终端设备执行。该方法可以独立执行，也可以结合本申请任意一个其他实施例一起被执行。如图5所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤501，通过第一接入网设备向核心网设备发送第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置。
其中，该第一终端设备的实时位置用于确定至少一个第三通信设备，该至少一个第三通信设备用于感知该实时感知信息。
在本申请实施例中，该核心网设备可以为感知应用功能SAF。其中，感知应用功能SAF为位于核心网的一个新增网元，该网元用于管理感知应用相关的功能，能够认证和授权通信设备进行感知业务。需要说明的是，该SAF既可以是一个实体设备，也可以是运行在实体设备中的软件实现的功能，本申请实施例并不对此作出限定。第一终端设备可以为第一终端设备，第一终端设备是用户侧的一种用于接收或发射信号的实体。
可选地，该第一终端设备可以为车辆(vehicle)。
在本申请实施例中，当第一终端设备需要感知周围环境时，能够向核心网设备发送用于请求实时感 知结果的第一感知请求，该第一感知请求包括该第一终端设备的实时位置。核心网设备能够基于第一终端设备的实时位置，确定至少一个第二终端设备和/或至少一个第二接入网设备，获取第一终端设备周围环境的感知信息(也可称为感知结果、感知数据)，该至少一个第二终端设备和/或至少一个第二接入网设备用于感知该实时感知信息。可以理解，在本申请各实施例中，第一终端设备能够通过第一接入网设备与核心网设备进行通信。
在一些实施方式中，第一终端设备在发送第一感知请求之前，还能够向核心网设备发送第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括第一终端设备的移动路线。核心网设备能够基于该移动路线，对该第三感知请求进行验证，并向第一终端设备发送第三感知响应，以通知第一终端设备是否授权其在该移动路线上获取实时感知信息。
在一些实施方式中，第一终端设备还能够向核心网设备发送第一感知注册请求，该第一感知注册请求用于第一终端设备进行感知业务注册。核心网设备能够基于自身的安全策略，对该第一感知注册请求进行验证，确定第一终端设备是否能够被信任执行感知业务。核心网设备向第一终端设备发送第一感知注册响应，以通知第一终端设备的感知业务注册是否成功。
可选地，该第一感知注册请求包括：第一终端设备类型和/或第一终端设备标识。
其中，第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，当该第一终端设备(第一终端设备)为车辆时，该第一感知注册请求包括的该第一终端设备类型为车辆。
可选地，在本申请实施例中，该第一终端设备在向核心网设备发送第一感知注册请求之前，能够通过第一接入网设备向接入和移动性管理功能(Access and Mobility Management Function，AMF)发送注册请求，并完成注册，以及能够基于AMF和会话管理功能(Session Management function，SMF)完成分组数据单元(Packet Data Unit，PDU)会话的建立。
步骤502，通过第一接入网设备接收该核心网设备发送的该实时感知信息，该实时感知信息为该至少一个第二接入网设备发送给该核心网设备的。
在本申请实施例中，第一终端设备能够接收核心网设备发送的实时感知信息，该实时感知信息是至少一个第二接入网设备发送给该核心网设备的。也就是，在本申请实施例中，核心网设备能够收集第一终端设备周围的感知信息，并发送给第一终端设备，该感知信息由第一终端设备周围的具有感知能力的至少一个第二终端设备和/或至少一个第二接入网设备生成并传输给核心网设备。
综上，通过向核心网设备发送第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置，其中，该第一终端设备的实时位置用于确定至少一个第二终端设备和/或至少一个第二接入网设备，该至少一个第二终端设备和/或至少一个第二接入网设备用于感知该实时感知信息，接收该核心网设备发送的该实时感知信息，该实时感知信息为该至少一个第二接入网设备发送给该核心网设备的，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图6，图6是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是，本申请实施例的感知服务获取方法由第一终端设备执行。该方法可以独立执行，也可以结合本申请任意一个其他实施例一起被执行。如图6所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤601，通过第一接入网设备向核心网设备发送第一感知注册请求，该第一感知注册请求用于该第一终端设备的感知业务注册。
在本申请实施例中，该核心网设备可以为感知应用功能SAF。其中，感知应用功能SAF为位于核心网的一个新增网元，该网元用于管理感知应用相关的功能，能够认证和授权通信设备进行感知业务。需要说明的是，该SAF既可以是一个实体设备，也可以是运行在实体设备中的软件实现的功能，本申请实施例并不对此作出限定。第一终端设备可以为第一终端设备，第一终端设备是用户侧的一种用于接收或发射信号的实体。
可选地，该第一终端设备可以为车辆(vehicle)。
在一些实施方式中，该第一感知注册请求包括：第一终端设备类型和/或第一终端设备标识。
作为一种可能的实现方式，该第一感知注册请求包括第一终端设备类型。
作为另一种可能的实现方式，该第一感知注册请求包括第一终端设备标识。
作为又一种可能的实现方式，该第一感知注册请求包括第一终端设备类型和第一终端设备标识。
其中，第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，该第一终端设备可以为车辆(vehicle)，该第一感知注册请求包括的该第一终端设备类型为车辆。
在本申请实施例中，第一终端设备能够向核心网设备发送第一感知注册请求，核心网设备能够根据预先配置的安全策略对其进行验证，验证该第一终端设备是否为合法用户，能否授权其进行感知以及获取感知信息，以确定是否接受该第一终端设备的注册。
可选地，在本申请实施例中，该第一终端设备在向核心网设备发送第一感知注册请求之前，能够向AMF发送注册请求，并完成注册，以及能够基于AMF和SMF完成PDU会话的建立。
步骤602，通过第一接入网设备接收核心网设备发送的第一感知注册响应，该第一感知注册响应用于确认该第一终端设备的感知业务注册是否成功。
在本申请实施例中，核心网设备能够根据自身预先配置的安全策略，对该第一感知注册请求进行验，并向第一终端设备发送第一感知注册响应，第一终端设备能够接收该第一感知注册响应，确认感知业务是否注册成功。
如果对该第一感知请求验证通过，核心网设备向第一终端设备发送的第一感知注册响应，用于通知该第一终端设备的感知业务注册成功。如果对该第一感知请求验证未通过，核心网设备向第一终端设备发送的第一感知注册响应，用于通知该第一终端设备的感知业务注册失败。
步骤603，通过第一接入网设备向核心网设备发送第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括该第一终端设备的移动路线。
其中，该移动路线用于对该第三感知请求进行验证。
在本申请实施例中，第一终端设备能够向核心网设备发送第三感知请求，该第三感知请求包括该第一终端设备的移动路线。核心网设备能够根据该第三感知请求，确认是否授权该第一终端设备获取感知信息。
可以理解，该移动路线可以为第一终端设备根据起始地和目的地所规划的移动路线。
在一些实施方式中，该第三感知请求还包括该第一终端设备的感知模式。
可选地，该感知模式包括：自发射自接收，需要其他感知客户端(sensing client)的感知结果等等。其中，感知客户端是指，已经成功完成到该核心网设备的感知注册的通信设备，其具有感知能力、能够进行感知业务，并能够将感知结果传输给该核心网设备。
在本申请实施例中，核心网设备能够基于第三感知请求中包括的移动路线，对第三感知请求进行验证。核心网设备能够根据其中预先配置的安全策略，基于第三感知请求中包括的移动路线，验证是否能够接受该第三感知请求，是否能够授权该第一终端设备在该移动路线上获取实时感知信息。
在一些实施方式中，核心网设备还能够基于第三感知请求中包括的移动路线和感知模式，验证是否能够接受该第三感知请求，是否能够授权该第一终端设备在该移动路线上获取实时感知信息。
步骤604，通过第一接入网设备接收核心网设备发送的第三感知响应，该第三感知响应用于确认是否授权该第一终端设备在该移动路线上获取该实时感知信息。
在本申请实施例中，第一终端设备能够接收核心网设备发送的第三感知响应。核心网设备在对该第三感知请求进行验证之后，能够向第一终端设备发送第三感知响应，以通知是否授权该第一终端设备在该移动路线上获取该实时感知信息。
也就是，如果核心网设备对该第三感知请求验证通过，核心网设备向第一终端设备发送第三感知响应，该第三感知响应包括该移动路线的确认消息，第一终端设备接收到该第三感知响应后，能够确认该核心网设备授权该第一终端设备获取该移动路线上的实时感知信息。
在一些实施方式中，该第三感知响应包括该移动路线和感知模式的确认消息。
如果核心网设备对该第三感知请求的验证未通过，核心网设备向第一终端设备发送第三感知响应， 该第三感知响应用于拒绝该第三感知请求，第一终端设备接收到该第三感知响应后，能够确认该核心网设备未授权该第一终端设备获取该移动路线上的实时感知信息。可选地，该第三感知响应中可以包括拒绝的原因等。
步骤605，通过第一接入网设备向核心网设备发送第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置。
步骤606，通过第一接入网设备接收该核心网设备发送的该实时感知信息，该实时感知信息为该至少一个第二接入网设备设备发送给该核心网设备的。
在本申请实施例中，步骤605至606可以分别采用本申请的各实施例中的任一种方式实现，本申请实施例并不对此作出限定，也不再赘述。
综上，通过向核心网设备发送第一感知注册请求，该第一感知注册请求用于该第一终端设备的感知业务注册，接收核心网设备发送的第一感知注册响应，该第一感知注册响应用于确认该第一终端设备的感知业务注册是否成功，向核心网设备发送第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括该第一终端设备的移动路线，接收核心网设备发送的第三感知响应，该第三感知响应用于确认是否授权该第一终端设备在该移动路线上获取该实时感知信息，向核心网设备发送第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置，其中，该第一终端设备的实时位置用于确定至少一个第二终端设备和/或至少一个第二接入网设备，该至少一个第二终端设备和/或至少一个第二接入网设备用于感知该实时感知信息，接收该核心网设备发送的该实时感知信息，该实时感知信息为该至少一个第二接入网设备发送给该核心网设备的，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图7，图7是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是，本申请实施例的感知服务获取方法由第二接入网设备执行。该方法可以独立执行，也可以结合本申请任意一个其他实施例一起被执行。如图7所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤701，接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息。
在一些实施方式中，第二接入网设备能够接收核心网设备发送的第二感知请求，并对其周围环境进行感知，得到实时感知信息。
在一些实施方式中，第二接入网设备在接收到第二感知请求后，能够向至少一个第二终端设备发送该第二感知请求，并接收该至少一个第二终端设备发送的实时感知信息。该实时感知信息是该至少一个第二终端设备发送的对周围进行感知得到的。
在一些实施方式中，第二接入网设备获取的实时感知信息，是该第二接入网设备和至少一个第二终端设备进行感知得到的。
在本申请实施例中，该核心网设备可以为感知应用功能SAF。其中，感知应用功能SAF为位于核心网的一个新增网元，该网元用于管理感知应用相关的功能，能够认证和授权通信设备进行感知业务。需要说明的是，该SAF既可以是一个实体设备，也可以是运行在实体设备中的软件实现的功能，本申请实施例并不对此作出限定。可以理解的是，在本申请实施例中，第二终端设备具有感知能力，能够对周围环境进行感知，获取感知信息(也可称为感知结果、感知数据)。在一些实施方式中，第二接入网设备也具有感知能力，能够对周围环境进行感知，获取感知信息。
在一些实施方式中，第二接入网设备能够向核心网设备发送第二感知注册请求，该第二感知注册请求用于第二接入网设备的感知业务注册。核心网设备能够基于自身的安全策略，对该第二感知注册请求进行验证，确定第二接入网设备是否能够被信任执行感知业务。核心网设备向第二接入网设备发送第二感知注册响应，以通知第二接入网设备的感知业务注册是否成功。
可选地，该第二感知注册请求包括以下至少一种：第二接入网设备的位置信息，第二接入网设备的感知能力。
其中，第二接入网设备的感知能力可以包括：第二接入网设备感知的范围、时间、射频以及感知结果类型等等。
步骤702，向核心网设备发送实时感知信息。
在本申请实施例中，第二接入网设备能够向核心网设备发送实时感知信息，该实时感知信息为第二接入网和/或至少一个第二终端设备在接收到核心网设备发送的第二感知请求后进行感知得到的。
可以理解，在本申请实施例中，该第二接入网设备可以有至少一个。
综上，通过接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息，向核心网设备发送实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图8，图8是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是，本申请实施例的感知服务获取方法由第二接入网设备执行。该方法可以独立执行，也可以结合本申请任意一个其他实施例一起被执行。如图8所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤801，向核心网设备发送第二感知注册请求，所述第二感知注册请求用于该第二接入网设备的感知业务注册。
可以理解的是，在本申请实施例中，第二接入网设备具有感知能力，能够对周围环境进行感知，获取感知信息(也可称为感知结果、感知数据)。
在本申请实施例中，第二接入网设备能够向核心网设备发送第二感知注册请求，该第二感知注册请求用于第二接入网设备的感知业务注册。
在一些实施方式中，该第二感知注册请求包括以下至少一种：第二接入网设备的位置信息，第二接入网设备的感知能力。
其中，第二接入网设备的感知能力可以包括：第二接入网设备感知的范围、时间、射频以及感知结果类型等等。
在本申请实施例中，核心网设备能够接收第二接入网设备发送的第二感知注册请求，并根据预先配置的安全策略对其进行验证，验证该第三通信设备是否合法，能否授权其进行感知以及传输感知信息，以确定是否接受该第三通信设备的注册。
步骤802，接收核心网设备发送的第二感知注册响应，该第二感知注册响应用于确认该第二接入网设备的感知业务注册是否成功。
在本申请实施例中，第二接入网设备能够接收核心网设备发送的第二感知注册响应。核心网设备根据自身预先配置的安全策略，对该第二感知注册请求进行验证，能够向第二接入网设备发送第二感知注册响应，以通知第二接入网设备感知业务是否注册成功。
如果该第二感知请求验证通过，核心网设备向第二接入网设备发送的第二感知注册响应，用于通知该第二接入网设备的感知业务注册成功。如果该第二感知请求验证未通过，核心网设备向第二接入网设备发送的第二感知注册响应，用于通知该第二接入网设备的感知业务注册失败。
步骤803，接收核心网设备发送的第二感知请求，该第二感知请求用于请求该第三通信设备进行感知。
步骤804，向核心网设备发送该实时感知信息。
在本申请实施例中，步骤803至804可以分别采用本申请的各实施例中的任一种方式实现，本申请实施例并不对此作出限定，也不再赘述。
综上，通过向核心网设备发送第二感知注册请求，所述第二感知注册请求用于该第二接入网设备的感知业务注册，接收核心网设备发送的第二感知注册响应，所述第二感知注册响应用于确认第二接入网设备的感知业务注册是否成功，接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息，向核心网设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获 取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图9，图9是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是，本申请实施例的感知服务获取方法由第二终端设备执行。该方法可以独立执行，也可以结合本申请任意一个其他实施例一起被执行。如图9所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤901，通过第二接入网设备接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息。
在本申请实施例中，第二终端设备能够通过第二接入网设备接收核心网设备发送的第二感知请求，并对其周围环境进行感知，得到实时感知信息。
在本申请实施例中，该核心网设备可以为感知应用功能SAF。其中，感知应用功能SAF为位于核心网的一个新增网元，该网元用于管理感知应用相关的功能，能够认证和授权通信设备进行感知业务。需要说明的是，该SAF既可以是一个实体设备，也可以是运行在实体设备中的软件实现的功能，本申请实施例并不对此作出限定。可以理解的是，在本申请实施例中，第二终端设备具有感知能力，能够对周围环境进行感知，获取感知信息(也可称为感知结果、感知数据)。
在一些实施方式中，核心网设备能够接收第二终端设备发送的第三感知注册请求，该第三感知注册请求用于第二终端设备的感知业务注册。核心网设备能够基于自身的安全策略，对该第三感知注册请求进行验证，确定第二终端设备是否能够被信任执行感知业务。核心网设备向第二终端设备发送第三感知注册响应，以通知第二终端设备的感知业务注册是否成功。可以理解，在本申请各实施例中，核心网设备是通过第二接入网设备与第二终端设备进行通信的。
可选地，该第三感知注册请求包括以下至少一种：第二终端设备的位置信息，第二终端设备的感知能力。
其中，第二终端设备的感知能力可以包括：第二终端设备感知的范围、时间、射频以及感知结果类型等等。
可选地，在本申请实施例中，该第二终端设备在通过第二接入网设备向核心网设备发送第三感知注册请求之前，能够通过第二接入网设备向AMF发送注册请求，并完成注册，以及能够基于AMF和SMF完成PDU会话的建立。
步骤902，对该第二终端设备周围的无线通信环境进行感知，得到实时感知信息。
在本申请实施例中，第二终端设备能够根据接收到的第二感知请求，对周围的无线通信环境进行感知，得到实时感知信息。
在本申请实施例中，感知信息可以包括对第二终端设备的信道环境的感知，收集周围环境数据、识别、检测以及跟踪静态和动态物体，以及对第二终端设备的位置、速度、运动轨迹的感知等等，本申请实施例对此不进行限定。
步骤903，通过第二接入网设备向核心网设备发送该实时感知信息。
在本申请实施例中，第二接入网设备能够向核心网设备发送实时感知信息，该实时感知信息为第二终端设备在接收到第二感知请求后进行感知得到的。
可以理解，在本申请实施例中，该第二终端设备可以有至少一个。
综上，通过接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息，对该第二终端设备周围的无线通信环境进行感知，得到实时感知信息，向核心网设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图10，图10是本申请实施例提供的一种感知服务获取方法的流程示意图。需要说明的是， 本申请实施例的感知服务获取方法由第二终端设备执行。该方法可以独立执行，也可以结合本申请任意一个其他实施例一起被执行。如图10所示，该方法可以包括如下步骤：
需要说明的是，本申请实施例中，在表述中可能省略了中间设备，而只限定了发送设备和接收设备；但是本领域内技术人员可以理解，这种表述并不代表必须是发送设备直接发送给接收设备。
步骤1001，通过第二接入网设备向核心网设备发送第三感知注册请求，该第三感知注册请求用于第二终端设备的感知业务注册。
在一些实施方式中，核心网设备能够接收第二终端设备发送的第三感知注册请求，该第三感知注册请求用于第二终端设备的感知业务注册。核心网设备能够基于自身的安全策略，对该第三感知注册请求进行验证，确定第二终端设备是否能够被信任执行感知业务。核心网设备向第二终端设备发送第三感知注册响应，以通知第二终端设备的感知业务注册是否成功。可以理解，在本申请各实施例中，核心网设备是通过第二接入网设备与第二终端设备进行通信的。
可选地，该第三感知注册请求包括以下至少一种：第二终端设备的位置信息，第二终端设备的感知能力。
其中，第二终端设备的感知能力可以包括：第二终端设备感知的范围、时间、射频以及感知结果类型等等。
可选地，在本申请实施例中，该第二终端设备在通过第二接入网设备向核心网设备发送第三感知注册请求之前，能够通过第二接入网设备向AMF发送注册请求，并完成注册，以及能够基于AMF和SMF完成PDU会话的建立。
步骤1002，通过所述第二接入网设备接收所述核心网设备发送的第三感知注册响应，所述第三感知注册响应用于确认所述第二终端设备的感知业务注册是否成功。
在本申请实施例中，第二终端设备能够接收核心网设备发送的第三感知注册响应。核心网设备根据自身预先配置的安全策略，对该第三感知注册请求进行验证，能够向第二终端设备发送第三感知注册响应，以通知第二终端设备感知业务是否注册成功。
如果该第二感知请求验证通过，核心网设备向第二终端设备发送的第三感知注册响应，用于通知该第二终端设备的感知业务注册成功。如果该第二感知请求验证未通过，核心网设备向第二终端设备发送的第二感知注册响应，用于通知该第二接入网第三通信设备的感知业务注册失败。
步骤1003，通过第二接入网设备接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息。
步骤1004，对该第二终端设备周围的无线通信环境进行感知，得到实时感知信息。
步骤1005，通过第二接入网设备向核心网设备发送该实时感知信息。
在本申请实施例中，步骤1003至1005可以分别采用本申请的各实施例中的任一种方式实现，本申请实施例并不对此作出限定，也不再赘述。
综上，通过接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息，对该第二终端设备周围的无线通信环境进行感知，得到实时感知信息，向核心网设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
作为一种示例，在本申请的任意一个实施例之中，本申请所涉及的通信系统的架构可以参见图11，图11为本申请实施例提供的另一种通信系统的架构示意图，如图11所示，其中，SAF可以通过UPF(the user plane function，用户面功能)和SMF，与AMF进行通信。其中，本申请各实施例中的第一终端设备为图11中的第一终端设备，本申请各实施例中的第二终端设备为图11中的第二终端设备，本申请各实施例中的第一接入网设备和第二接入网设备均包含在图11中的接入网RAN中，可以理解的是，图11中的RAN可以包括多个接入网设备。第一终端设备和第二终端设备能够通过接入网设备与AMF和UPF进行通信，进一步通过AMF与SMF进行通信，通过UPF与SAF进行通信。其中，SAF由移动运营商拥有或信任，比如，感知应用所有者与移动运营商之间具有可靠的业务和技术关系。SAF还可以认证和授权通信设备进行感知，其中的感知参数(例如位置、范围、时间、射频)也可以由SAF 进行配置。
作为又一种示例，进一步地，第一终端设备为车辆(vehicle)，该第一终端设备中可以包括高级驾驶辅助系统ADAS，3GPP感知模块，3GPP通信模块以及非3GPP传感器。其中，3GPP感知模块使用3GPP技术作为发射器和/或接收器执行感知，它可以为ADAS提供作为输入的感知数据。3GPP感知模块能够连接到SAF，用于感知控制的目的，当ADAS需要来自3GPP网络的感知数据作为输入时，它可以向SAF请求感知数据。3GPP通信模块是用于与3GPP网络进行通信的模块，至少支持注册、与3GPP网络建立PDU会话以及向网络发送流量/从网络接收流量(例如IP数据)。ADAS是感知的发起者和消费者，它向3GPP感知模块发送感知请求，接收并消费来自3GPP感知模块的感知数据。非3GPP传感器包括毫米波雷达、激光雷达、单目/双目相机和卫星导航等，它可以为ADAS提供感知数据输入。
作为一种示例，在本申请的任意一个实施例之中，以核心网设备为SAF，第一终端设备为车辆，第二终端设备和第二接入网设备均进行感知为例，本申请实施例提供的感知服务获取方法的流程可以如图12所示，具体可以包括以下步骤：
1.当车辆需要感知周围环境时，例如：车辆在路上行驶，ADAS向3GPP感知模块发送感知请求，请求输入感知数据，其中该感知请求包括行驶路线。
2.3GPP感知模块向SAF发送感知请求，其中包括感知模式(例如自发射机和接收机，需要其他感知客户端的感知结果)和行驶路线。
3.SAF根据其中预先配置的安全策略，对第一终端设备发送的感知请求进行授权，并向第一终端设备发送感知模式和行驶路线的确认，授权第一终端设备在该行驶路线上获取感知数据。
4.3GPP通信模块和3GPP感知模块接收到确认后，向ADAS发送感知响应，该感知响应中包括对车辆实时位置的请求。
5.ADAS携带车辆实时位置请求实时感知结果；3GPP感知模块向SAF发送实时感知结果请求，请求中包含车辆的实时位置；SAF根据该车辆的实时位置选择可以感知该位置周围的第二终端设备和第二接入网设备(比如gNB)，然后向第二终端设备和/或第二接入网设备请求实时感知结果。
6.被选中的第二终端设备和第二接入网设备将实时感知结果发送给SAF，以及通过车内的3GPP通信模块和3GPP感知模块发送给ADAS；此外，3GPP感知模块也可以进行感知，并将感知结果发送给ADAS。
作为一种示例，在本申请的任意一个实施例之中，以核心网设备为SAF，第一终端设备为车辆，第二终端设备和第二接入网设备(图中用RAN表示)均进行感知为例，本申请实施例提供的第二终端设备和第二接入网设备的感知注册方法的流程可以如图13所示，具体可以包括以下步骤：
1.第二终端设备通过RAN向AMF发送注册请求，其中该注册请求包括注册参数，例如：注册类型、第二终端设备标识(比如SUCI(Subscription Concealed Identifier，签约用户隐式标识)或5G-GUTI(5G Globally Unique Temporary UE Identity，5G全球唯一临时用户设备标识)或PEI(Permanent Equipment Identifier，永久设备标识))以及安全参数等。对第二终端设备鉴权授权后，AMF向第二终端设备发送注册接受消息(Registration Accept)，完成第二终端设备的注册。
2.第二终端设备通过传输NAS(Non Access Stratum，非接入)消息来启动第二终端设备请求的PDU会话建立过程，该NAS消息包括包含PDU会话建立请求的N1SM容器。AMF接收来自第二终端设备的PDU会话建立请求。
3.AMF选择一个SMF并向该SMF发送Nsmf_PDUSession_CreateSMContext请求，其中包括：第二终端设备请求一个SAF的IP地址的指示信息，和/或，关于支持感知功能的终端设备能力的协议配置选项(Protocol Configuration Option，PCO)；SMF收到Nsmf_PDUSession_CreateSMContext请求并响应AMF。
4.SMF向UPF发送N4会话建立请求，为第二终端设备建立新的PDU会话。
5.SMF向AMF发送Namf_Communication_N1N2MessageTransfer，其中包括分配给第二终端设备的IP地址。
6.AMF接收到Namf_Communication_N1N2MessageTransfer并向RAN(gNB)发送N2 PDU会话请 求(NAS消息)，其中包括分配给第二终端设备的IP地址。
7.在接入网特定的(AN-Specific)资源设置期间，gNB将步骤6中提供的NAS消息(PDU会话建立接受)转发给第二终端设备，其中包括分配给第二终端设备的IP地址。
8.第二终端设备根据收到的PDU会话建立接受，配置IP地址并向SAF发送感知注册(包括第二终端设备的位置和第二终端设备的感知能力)，SAF的服务器域名或者IP地址可以预先配置在第二终端设备中，第二终端设备的感知能力可以包括第二终端设备的感知范围；SAF接受注册并响应第二终端设备。
9.RAN(gNB)向SAF发送感知注册(包括RAN的位置和RAN的感知能力)，SAF的服务器域名或者IP地址可以预先配置在RAN中，RAN的感知能力可以包括RAN的感知范围；SAF接受注册并响应RAN。
可以理解，本申请图9至图10实施例中，第二终端设备在通过第二接入网设备向核心网设备发送第三感知注册请求之前，能够通过第二接入网设备向AMF发送注册请求，并完成注册，以及能够基于AMF和SMF完成PDU会话的建立，可以通过图13中的步骤1-7实现。
同样可以理解的是，图13中的RAN可以包括至少一个第二接入网设备。
作为一种示例，在本申请的任意一个实施例之中，以核心网设备为SAF，第一终端设备(第一终端设备)为车辆，第二终端设备和第二接入网设备均进行感知为例，本申请实施例提供的第一终端设备的感知注册方法的流程可以如图14所示，具体可以包括以下步骤：
1. 3GPP通信模块通过第一接入网设备(图中RAN(gNB)表示)向AMF发送注册请求，该注册请求中包括注册参数，例如：注册类型，第一终端设备标识(比如SUCI或5G-GUTI或PEI)以及安全参数等。对第一终端设备鉴权授权后，AMF向第一终端设备发送注册接受消息(Registration Accept)，完成第一终端设备到5G核心网(5G Core，5GC)的注册。
2. 3GPP通信模块通过在N1SM容器内传输包含PDU会话建立请求的NAS消息来启动第一终端设备请求的PDU会话建立过程。AMF接收到来自第一终端设备的PDU会话建立请求并发送给SMF。SMF向UPF发送N4会话建立请求，为第一终端设备建立一个新的PDU会话。SMF为第一终端设备分配一个新的IP地址，并通过AMF和RAN(gNB)发送给第一终端设备。
3. 3GPP感知模块向SAF发起注册请求以进行感知，注册请求中包括第一终端设备ID(例如SUPI或MSISDN)，该注册请求中还可以包括终端设备类型，上报该第一终端设备为车辆。
4.根据运营商在SAF中预先配置的安全策略，SAF接受第一终端设备的注册，并响应第一终端设备注册成功。
可以理解，本申请图5至图6实施例中，第一终端设备在向核心网设备发送第一感知注册请求之前，能够向AMF发送注册请求，并完成注册，以及能够基于AMF和SMF完成PDU会话的建立，可以通过图14中的步骤1-2实现。
与上述几种实施例提供的感知服务获取方法相对应，本申请还提供用于感知服务获取的装置，由于本申请实施例提供的用于感知服务获取的装置与上述几种实施例提供的方法相对应，因此在感知服务获取方法的实施方式也适用于下述实施例提供的用于感知服务获取的装置，在下述实施例中不再详细描述。
请参见图15，图15为本申请实施例提供的一种核心网设备的结构示意图。
如图15所示，该核心网设备1500包括：收发单元1510和处理单元1520，其中：
收发单元1510，用于通过第一接入网设备接收第一终端设备发送的第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置；
处理单元1520，用于根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，该第二感知请求用于请求获取实时感知信息；
收发单元1510，还用于接收该至少一个第二接入网设备发送的实时感知信息；
收发单元1510，还用于向该第一终端设备发送该实时感知信息。
可选地，该收发单元1510还用于：
通过该第二接入网设备向至少一个第二终端设备发送该第二感知请求；
通过该第二接入网设备接收该至少一个第二终端设备发送的实时感知信息。
可选地，该实时感知信息为该至少一个第二接入网设备和/或该至少一个第二终端设备进行感知得到的。
可选地，该收发单元1510还用于：
通过该第一接入网设备接收该第一终端设备发送的第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括该第一终端设备的移动路线；
根据该移动路线，对该第三感知请求进行验证；
通过该第一接入网设备向该第一终端设备发送第三感知响应，该第三感知响应用于确认是否授权该第一终端设备在该移动路线上获取该实时感知信息。
可选地，该收发单元1510还用于：
通过该第一接入网设备接收该第一终端设备发送的第一感知注册请求，该第一感知注册请求用于该第一终端设备的感知业务注册；
根据该核心网设备的安全策略，对该第一感知注册请求进行验证；
通过该第一接入网设备向该第一终端设备发送第一感知注册响应，该第一感知注册响应用于确认该第一终端设备的感知业务注册是否成功。
可选地，该第一感知注册请求包括：该第一终端设备类型和/或该第一终端设备标识；
其中，该第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，该收发单元1510还用于：
接收该第二接入网设备发送的第二感知注册请求，该第二感知注册请求用于该第二接入网设备的感知业务注册；
根据该核心网设备的安全策略，对该第二感知注册请求进行验证；
向该第二接入网设备发送第二感知注册响应，该第二感知注册响应用于确认该第二接入网设备的感知业务注册是否成功。
可选地，该第二感知注册请求包括以下至少一种：该第二接入网设备的位置信息，该第二接入网设备的感知能力。
可选地，该收发单元1510还用于：
通过该第二接入网设备接收该第二终端设备发送的第三感知注册请求，该第三感知注册请求用于该第二终端设备的感知业务注册；
根据该核心网设备的安全策略，对该第三感知注册请求进行验证；
通过该第二接入网设备向该第二终端设备发送第三感知注册响应，该第三感知注册响应用于确认该第二终端设备的感知业务注册是否成功。
可选地，该第三感知注册请求包括以下至少一种：该第二终端设备的位置信息，该第二终端设备的感知能力。
可选地，该核心网设备为感知应用功能SAF。
本实施例的核心网设备，可以通过接收第一终端设备发送的第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置，根据该第一终端设备的实时位置，向至少一个第二接入网设备发送第二感知请求，该第二感知请求用于请求获取实时感知信息，接收该至少一个第二接入网设备发送的实时感知信息，向该第一终端设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图16，图16为本申请实施例提供的一种第一终端设备的结构示意图。
如图16所示，该第一终端设备1600包括：收发单元1610，其中：
收发单元1610，用于通过第一接入网设备向核心网设备发送第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括第一终端设备的实时位置；
该第一终端设备的实时位置用于确定至少一个第二接入网设备和/或至少一个第二终端设备，该至 少一个第二接入网设备和/或至少一个第二终端设备用于感知该实时感知信息；
该收发单元1610，还用于通过该第一接入网设备接收该核心网设备发送的该实时感知信息，该实时感知信息为该至少一个第二接入网设备发送给该核心网设备的。
可选地，该收发单元1610还用于：
通过该第一接入网设备向该核心网设备发送第三感知请求，该第三感知请求用于请求该核心网设备进行授权，该第三感知请求包括该第一终端设备的移动路线；
该移动路线用于对该第三感知请求进行验证；
通过该第一接入网设备接收该核心网设备发送的第三感知响应，该第三感知响应用于确认是否授权该第一终端设备在该移动路线上获取该实时感知信息。
可选地，该收发单元1610还用于：
通过该第一接入网设备向该核心网设备发送第一感知注册请求，该第一感知注册请求用于该第一终端设备的感知业务注册；
通过该第一接入网设备接收该核心网设备发送的第一感知注册响应，该第一感知注册响应用于确认该第一终端设备的感知业务注册是否成功。
可选地，该第一感知注册请求包括：该第一终端设备类型和/或该第一终端设备标识；
其中，该第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
可选地，该核心网设备为感知应用功能SAF。
本实施例的第一终端设备，可以通过向核心网设备发送第一感知请求，该第一感知请求用于请求实时感知信息，该第一感知请求包括该第一终端设备的实时位置，其中，该第一终端设备的实时位置用于确定至少一个第二终端设备和/或至少一个第二接入网设备，该至少一个第二终端设备和/或至少一个第二接入网设备用于感知该实时感知信息，接收该核心网设备发送的该实时感知信息，该实时感知信息为该至少一个第二接入网设备发送给该核心网设备的，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图17，图17为本申请实施例提供的一种第二接入网设备的结构示意图。
如图17所示，该第二接入网设备1700包括：收发单元1710，其中：
收发单元1710，用于接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息；
该收发单元1710，还用于向该核心网设备发送该实时感知信息。
可选地，该收发单元1710还用于：
向至少一个第二终端设备发送该第二感知请求；
接收该至少一个第二终端设备发送的该实时感知信息。
可选地，该实时感知信息为该至少一个第二接入网设备和/或该至少一个第二终端设备进行感知得到的。
可选地，该收发单元1710还用于：
向该核心网设备发送第二感知注册请求，该第二感知注册请求用于该第二接入网设备的感知业务注册；
接收该核心网设备发送的第二感知注册响应，该第二感知注册响应用于确认该第二接入网设备的感知业务注册是否成功。
可选地，该第二感知注册请求包括以下至少一种：该第二接入网设备的位置信息，该第二接入网设备的感知能力。
可选地，该核心网设备为感知应用功能SAF。
本实施例的第二接入网设备，可以通过接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息，向核心网设备发送实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基 础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
请参见图18，图18为本申请实施例提供的一种第二终端设备的结构示意图。
如图18所示，该第二终端设备1800包括：收发单元1810和处理单元1820，其中：
收发单元1810，用于通过第二接入网设备接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息；
处理单元1820，用于对该第二终端设备周围的无线通信环境进行感知，得到实时感知信息；
该收发单元1810，还用于通过该第二接入网设备向该核心网设备发送该实时感知信息。
可选地，该收发单元1810还用于：
通过该第二接入网设备向该核心网设备发送第三感知注册请求，该第三感知注册请求用于该第二终端设备的感知业务注册；
通过该第二接入网设备接收该核心网设备发送的第三感知注册响应，该第三感知注册响应用于确认该第二终端设备的感知业务注册是否成功。
可选地，该第三感知注册请求包括以下至少一种：该第二终端设备的位置信息，该第二终端设备的感知能力。
可选地，该核心网设备为感知应用功能SAF。
本实施例的第二终端设备，可以通过接收核心网设备发送的第二感知请求，该第二感知请求用于请求获取实时感知信息，对该第二终端设备周围的无线通信环境进行感知，得到实时感知信息，向核心网设备发送该实时感知信息，使得第一终端设备能够通过与核心网设备的通信，获取附近至少一个其他通信设备的感知结果，能够在第一终端设备通过自身传感器进行感知的基础上，通过无线通信系统辅助第一终端设备进行感知，有效提高了第一终端设备对周围环境感知的可靠性，有效提升了感知结果的质量。
为了实现上述实施例，本申请实施例还提出一种通信装置，包括：处理器和存储器，存储器中存储有计算机程序，处理器执行所述存储器中存储的计算机程序，以使装置执行图2至图4实施例所示的方法。
为了实现上述实施例，本申请实施例还提出一种通信装置，包括：处理器和存储器，存储器中存储有计算机程序，处理器执行所述存储器中存储的计算机程序，以使装置执行图5至图6实施例所示的方法。
为了实现上述实施例，本申请实施例还提出一种通信装置，包括：处理器和存储器，存储器中存储有计算机程序，处理器执行所述存储器中存储的计算机程序，以使装置执行图7至图8实施例所示的方法。
为了实现上述实施例，本申请实施例还提出一种通信装置，包括：处理器和存储器，存储器中存储有计算机程序，处理器执行所述存储器中存储的计算机程序，以使装置执行图9至图10实施例所示的方法。
为了实现上述实施例，本申请实施例还提出一种通信装置，包括：处理器和接口电路，接口电路，用于接收代码指令并传输至处理器，处理器，用于运行所述代码指令以执行图2至图4实施例所示的方法。
为了实现上述实施例，本申请实施例还提出一种通信装置，包括：处理器和接口电路，接口电路，用于接收代码指令并传输至处理器，处理器，用于运行所述代码指令以执行图5至图6实施例所示的方法。
为了实现上述实施例，本申请实施例还提出一种通信装置，包括：处理器和接口电路，接口电路，用于接收代码指令并传输至处理器，处理器，用于运行所述代码指令以执行图7至图8实施例所示的方法。
为了实现上述实施例，本申请实施例还提出一种通信装置，包括：处理器和接口电路，接口电路，用于接收代码指令并传输至处理器，处理器，用于运行所述代码指令以执行图9至图10实施例所示的方法。
请参见图19，图19是本申请实施例提供的另一种感知服务获取装置的结构示意图。感知服务获取装置1900可以是网络设备，也可以是终端设备，也可以是支持网络设备实现上述方法的芯片、芯片系统、或处理器等，还可以是支持终端设备实现上述方法的芯片、芯片系统、或处理器等。该装置可用于实现上述方法实施例中描述的方法，具体可以参见上述方法实施例中的说明。
感知服务获取装置1900可以包括一个或多个处理器1901。处理器1901可以是通用处理器或者专用处理器等。例如可以是基带处理器或中央处理器。基带处理器可以用于对通信协议以及通信数据进行处理，中央处理器可以用于对感知服务获取装置(如，基站、基带芯片，终端设备、终端设备芯片，DU或CU等)进行控制，执行计算机程序，处理计算机程序的数据。
可选的，感知服务获取装置1900中还可以包括一个或多个存储器1902，其上可以存有计算机程序1903，处理器1901执行计算机程序1903，以使得感知服务获取装置1900执行上述方法实施例中描述的方法。计算机程序1903可能固化在处理器1901中，该种情况下，处理器1901可能由硬件实现。
可选的，存储器1902中还可以存储有数据。感知服务获取装置1900和存储器1902可以单独设置，也可以集成在一起。
可选的，感知服务获取装置1900还可以包括收发器1905、天线1906。收发器1905可以称为收发单元、收发机、或收发电路等，用于实现收发功能。收发器1905可以包括接收器和发送器，接收器可以称为接收机或接收电路等，用于实现接收功能；发送器可以称为发送机或发送电路等，用于实现发送功能。
可选的，感知服务获取装置1900中还可以包括一个或多个接口电路1907。接口电路1907用于接收代码指令并传输至处理器1901。处理器1901运行代码指令以使感知服务获取装置1900执行上述方法实施例中描述的方法。
在一种实现方式中，处理器1901中可以包括用于实现接收和发送功能的收发器。例如该收发器可以是收发电路，或者是接口，或者是接口电路。用于实现接收和发送功能的收发电路、接口或接口电路可以是分开的，也可以集成在一起。上述收发电路、接口或接口电路可以用于代码/数据的读写，或者，上述收发电路、接口或接口电路可以用于信号的传输或传递。
在一种实现方式中，感知服务获取装置1900可以包括电路，电路可以实现前述方法实施例中发送或接收或者通信的功能。本申请中描述的处理器和收发器可实现在集成电路(integrated circuit，IC)、模拟IC、射频集成电路RFIC、混合信号IC、专用集成电路(application specific integrated circuit，ASIC)、印刷电路板(printed circuit board，PCB)、电子设备等上。该处理器和收发器也可以用各种IC工艺技术来制造，例如互补金属氧化物半导体(complementary metal oxide semiconductor，CMOS)、N型金属氧化物半导体(nMetal-oxide-semiconductor，NMOS)、P型金属氧化物半导体(positive channel metal oxide semiconductor，PMOS)、双极结型晶体管(bipolar junction transistor，BJT)、双极CMOS(BiCMOS)、硅锗(SiGe)、砷化镓(GaAs)等。
以上实施例描述中的感知服务获取装置可以是网络设备或者终端设备，但本申请中描述的感知服务获取装置的范围并不限于此，而且感知服务获取装置的结构可以不受图15-图18的限制。感知服务获取装置可以是独立的设备或者可以是较大设备的一部分。例如感知服务获取装置可以是：
(1)独立的集成电路IC，或芯片，或，芯片系统或子系统；
(2)具有一个或多个IC的集合，可选的，该IC集合也可以包括用于存储数据，计算机程序的存储部件；
(3)ASIC，例如调制解调器(Modem)；
(4)可嵌入在其他设备内的模块；
(5)接收机、终端设备、智能终端设备、蜂窝电话、无线设备、手持机、移动单元、车载设备、网络设备、云设备、人工智能设备等等；
(6)其他等等。
对于感知服务获取装置可以是芯片或芯片系统的情况，可参见图20所示的芯片的结构示意图。图20所示的芯片包括处理器2001和接口2002。其中，处理器2001的数量可以是一个或多个，接口2002的数量可以是多个。
对于芯片用于实现本申请实施例中网络设备的功能的情况：
接口2002，用于代码指令并传输至处理器；
处理器2001，用于运行代码指令以执行如图2至图4的方法，或者执行如图7至图8的方法。
对于芯片用于实现本申请实施例中终端设备的功能的情况：
接口2002，用于代码指令并传输至处理器；
处理器2001，用于运行代码指令以执行如图5至图6的方法，或者执行如图9至图10的方法。
可选的，芯片还包括存储器2003，存储器2003用于存储必要的计算机程序和数据。
本领域技术人员还可以了解到本申请实施例列出的各种说明性逻辑块(illustrative logical block)和步骤(step)可以通过电子硬件、电脑软件，或两者的结合进行实现。这样的功能是通过硬件还是软件来实现取决于特定的应用和整个系统的设计要求。本领域技术人员可以对于每种特定的应用，可以使用各种方法实现的功能，但这种实现不应被理解为超出本申请实施例保护的范围。
本申请实施例还提供一种通信系统，该系统包括前述图15-图18实施例中作为终端设备的感知服务获取装置和作为网络设备的感知服务获取装置，或者，该系统包括前述图16实施例中作为终端设备的感知服务获取装置和作为网络设备的感知服务获取装置。
本申请还提供一种可读存储介质，其上存储有指令，该指令被计算机执行时实现上述任一方法实施例的功能。
本申请还提供一种计算机程序产品，该计算机程序产品被计算机执行时实现上述任一方法实施例的功能。
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。计算机程序产品包括一个或多个计算机程序。在计算机上加载和执行计算机程序时，全部或部分地产生按照本申请实施例的流程或功能。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。计算机程序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，例如，计算机程序可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。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含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。可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD))、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。
本领域普通技术人员可以理解：本申请中涉及的第一、第二等各种数字编号仅为描述方便进行的区分，并不用来限制本申请实施例的范围，也表示先后顺序。
本申请中的至少一个还可以描述为一个或多个，多个可以是两个、三个、四个或者更多个，本申请不做限制。在本申请实施例中，对于一种技术特征，通过“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”等区分该种技术特征中的技术特征，该“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”描述的技术特征间无先后顺序或者大小顺序。
本申请中各表所示的对应关系可以被配置，也可以是预定义的。各表中的信息的取值仅仅是举例，可以配置为其他值，本申请并不限定。在配置信息与各参数的对应关系时，并不一定要求必须配置各表中示意出的所有对应关系。例如，本申请中的表格中，某些行示出的对应关系也可以不配置。又例如，可以基于上述表格做适当的变形调整，例如，拆分，合并等等。上述各表中标题示出参数的名称也可以采用通信装置可理解的其他名称，其参数的取值或表示方式也可以通信装置可理解的其他取值或表示方式。上述各表在实现时，也可以采用其他的数据结构，例如可以采用数组、队列、容器、栈、线性表、指针、链表、树、图、结构体、类、堆、散列表或哈希表等。
本申请中的预定义可以理解为定义、预先定义、存储、预存储、预协商、预配置、固化、或预烧制。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
应当理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本申请实施例中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本发明公开的技术方案所期望的结果，本文在此不进行限制。
上述具体实施方式，并不构成对本发明保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本发明的精神和原则之内所作的修改、等同替换和改进等，均应包含在本发明保护范围之内。

Claims (33)

  1. 一种感知服务获取方法，其特征在于，所述方法由核心网设备执行，所述方法包括：
    通过第一接入网设备接收第一终端设备发送的第一感知请求，所述第一感知请求用于请求实时感知信息，所述第一感知请求包括所述第一终端设备的实时位置；
    根据所述第一终端设备的实时位置，向第二接入网设备发送第二感知请求，所述第二感知请求用于请求获取所述实时感知信息；
    接收所述第二接入网设备发送的所述实时感知信息；
    通过所述第一接入网设备向所述第一终端设备发送所述实时感知信息。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    通过所述第二接入网设备向第二终端设备发送所述第二感知请求；
    通过所述第二接入网设备接收所述第二终端设备发送的实时感知信息。
  3. 根据权利要求1或2所述的方法，其特征在于，
    所述实时感知信息为所述第二接入网设备和/或所述第二终端设备进行感知得到的。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    通过所述第一接入网设备接收所述第一终端设备发送的第三感知请求，所述第三感知请求用于请求所述核心网设备进行授权，所述第三感知请求包括所述第一终端设备的移动路线；
    根据所述移动路线，对所述第三感知请求进行验证；
    通过所述第一接入网设备向所述第一终端设备发送第三感知响应，所述第三感知响应用于确认是否授权所述第一终端设备在所述移动路线上获取所述实时感知信息。
  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：
    通过所述第一接入网设备接收所述第一终端设备发送的第一感知注册请求，所述第一感知注册请求用于所述第一终端设备的感知业务注册；
    根据所述核心网设备的安全策略，对所述第一感知注册请求进行验证；
    通过所述第一接入网设备向所述第一终端设备发送第一感知注册响应，所述第一感知注册响应用于确认所述第一终端设备的感知业务注册是否成功。
  6. 根据权利要求5所述的方法，其特征在于，所述第一感知注册请求包括：所述第一终端设备类型和/或所述第一终端设备标识；
    其中，所述第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
  7. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    接收所述第二接入网设备发送的第二感知注册请求，所述第二感知注册请求用于所述第二接入网设备的感知业务注册；
    根据所述核心网设备的安全策略，对所述第二感知注册请求进行验证；
    向所述第二接入网设备发送第二感知注册响应，所述第二感知注册响应用于确认所述第二接入网设备的感知业务注册是否成功。
  8. 根据权利要求7所述的方法，其特征在于，所述第二感知注册请求包括以下至少一种：所述第二接入网设备的位置信息，所述第二接入网设备的感知能力。
  9. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    通过所述第二接入网设备接收所述第二终端设备发送的第三感知注册请求，所述第三感知注册请求用于所述第二终端设备的感知业务注册；
    根据所述核心网设备的安全策略，对所述第三感知注册请求进行验证；
    通过所述第二接入网设备向所述第二终端设备发送第三感知注册响应，所述第三感知注册响应用于确认所述第二终端设备的感知业务注册是否成功。
  10. 根据权利要求9所述的方法，其特征在于，所述第三感知注册请求包括以下至少一种：所述第二终端设备的位置信息，所述第二终端设备的感知能力。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述核心网设备为感知应用功能SAF。
  12. 一种感知服务获取方法，其特征在于，所述方法由第一终端设备执行，所述方法包括：
    通过第一接入网设备向核心网设备发送第一感知请求，所述第一感知请求用于请求实时感知信息，所述第一感知请求包括所述第一终端设备的实时位置；
    通过所述第一接入网设备接收所述核心网设备发送的所述实时感知信息。
  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：
    通过所述第一接入网设备向所述核心网设备发送第三感知请求，所述第三感知请求用于请求所述核心网设备进行授权，所述第三感知请求包括所述第一终端设备的移动路线；
    所述移动路线用于对所述第三感知请求进行验证；
    通过所述第一接入网设备接收所述核心网设备发送的第三感知响应，所述第三感知响应用于确认是否授权所述第一终端设备在所述移动路线上获取所述实时感知信息。
  14. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    通过所述第一接入网设备向所述核心网设备发送第一感知注册请求，所述第一感知注册请求用于所述第一终端设备的感知业务注册；
    通过所述第一接入网设备接收所述核心网设备发送的第一感知注册响应，所述第一感知注册响应用于确认所述第一终端设备的感知业务注册是否成功。
  15. 根据权利要求14所述的方法，其特征在于，所述第一感知注册请求包括：所述第一终端设备类型和/或所述第一终端设备标识；
    其中，所述第一终端设备标识包括以下至少一种：用户永久标识符SUPI，移动用户号码MSISDN。
  16. 根据权利要求12-15任一项所述的方法，其特征在于，所述核心网设备为感知应用功能SAF。
  17. 一种感知服务获取方法，其特征在于，所述方法由第二接入网设备执行，所述方法包括：
    接收核心网设备发送的第二感知请求，所述第二感知请求用于请求获取实时感知信息；
    向所述核心网设备发送实时感知信息。
  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：
    向第二终端设备发送所述第二感知请求；
    接收所述第二终端设备发送的所述实时感知信息。
  19. 根据权利要求17或18所述的方法，其特征在于，
    所述实时感知信息为所述第二接入网设备和/或所述第二终端设备进行感知得到的。
  20. 根据权利要求19所述的方法，其特征在于，所述方法还包括：
    向所述核心网设备发送第二感知注册请求，所述第二感知注册请求用于所述第二接入网设备的感知业务注册；
    接收所述核心网设备发送的第二感知注册响应，所述第二感知注册响应用于确认所述第二接入网设备的感知业务注册是否成功。
  21. 根据权利要求20所述的方法，其特征在于，所述第二感知注册请求包括以下至少一种：所述第二接入网设备的位置信息，所述第二接入网设备的感知能力。
  22. 根据权利要求17-21任一项所述的方法，其特征在于，所述核心网设备为感知应用功能SAF。
  23. 一种感知服务获取方法，其特征在于，所述方法由第二终端设备执行，所述方法包括：
    通过第二接入网设备接收核心网设备发送的第二感知请求，所述第二感知请求用于请求获取实时感知信息；
    对所述第二终端设备周围的无线通信环境进行感知，得到实时感知信息；
    通过所述第二接入网设备向所述核心网设备发送所述实时感知信息。
  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：
    通过所述第二接入网设备向所述核心网设备发送第三感知注册请求，所述第三感知注册请求用于所述第二终端设备的感知业务注册；
    通过所述第二接入网设备接收所述核心网设备发送的第三感知注册响应，所述第三感知注册响应用于确认所述第二终端设备的感知业务注册是否成功。
  25. 根据权利要求24所述的方法，其特征在于，所述第三感知注册请求包括以下至少一种：所述第二终端设备的位置信息，所述第二终端设备的感知能力。
  26. 根据权利要求23-25任一项所述的方法，其特征在于，所述核心网设备为感知应用功能SAF。
  27. 一种核心网设备，其特征在于，所述核心网设备包括：
    收发单元，用于通过第一接入网设备接收第一终端设备发送的第一感知请求，所述第一感知请求用于请求实时感知信息，所述第一感知请求包括所述第一终端设备的实时位置；
    处理单元，用于根据所述第一终端设备的实时位置，向第二接入网设备发送第二感知请求，所述第二感知请求用于请求获取所述实时感知信息；
    收发单元，还用于接收所述第二接入网设备发送的所述实时感知信息；
    收发单元，还用于向所述第一终端设备发送所述实时感知信息。
  28. 一种第一终端设备，包括：
    收发单元，用于通过第一接入网设备向核心网设备发送第一感知请求，所述第一感知请求用于请求实时感知信息，所述第一感知请求包括第一终端设备的实时位置；
    所述收发单元，还用于通过所述第一接入网设备接收所述核心网设备发送的所述实时感知信息。
  29. 一种接入网设备，包括：
    收发单元，用于接收核心网设备发送的第二感知请求，所述第二感知请求用于请求获取实时感知信息；
    所述收发单元，还用于向所述核心网设备发送所述实时感知信息。
  30. 一种第二终端设备，包括：
    收发单元，用于通过第二接入网设备接收核心网设备发送的第二感知请求，所述第二感知请求用于请求获取实时感知信息；
    处理单元，用于对所述第二终端设备周围的无线通信环境进行感知，得到实时感知信息；
    所述收发单元，还用于通过所述第二接入网设备向所述核心网设备发送所述实时感知信息。
  31. 一种通信装置，其特征在于，所述装置包括处理器和存储器，所述存储器中存储有计算机程序，所述处理器执行所述存储器中存储的计算机程序，以使所述装置执行如权利要求1至11中任一项所述的方法，或者执行如权利要求12至16中任一项所述的方法，或者执行如权利要求17至22中任一项所述的方法，或者执行如权利要求23至26中任一项所述的方法。
  32. 一种通信装置，其特征在于，包括：处理器和接口电路；
    所述接口电路，用于接收代码指令并传输至所述处理器；
    所述处理器，用于运行所述代码指令以执行如权利要求1至11中任一项所述的方法，或者执行如权利要求12至16中任一项所述的方法，或者执行如权利要求17至22中任一项所述的方法，或者执行如权利要求23至26中任一项所述的方法。
  33. 一种计算机可读存储介质，用于存储有指令，当所述指令被执行时，使如权利要求1至11任一项所述的方法被实现，或者如权利要求12至16任一项所述的方法被实现，或者如权利要求17至22任一项所述的方法被实现，或者如权利要求23至26任一项所述的方法被实现。
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