WO2025175567A1

WO2025175567A1 - Devices and methods for sensing coordination and fusion

Info

Publication number: WO2025175567A1
Application number: PCT/CN2024/078402
Authority: WO
Inventors: Gang Wang
Original assignee: NEC Corp
Current assignee: NEC Corp
Priority date: 2024-02-23
Filing date: 2024-02-23
Publication date: 2025-08-28
Anticipated expiration: 2026-08-23

Abstract

Embodiments of the present disclosure provide a solution for sensing coordination and fusion. In a solution, a terminal device receives, from a first network device, a sensing request comprising a sensing type aligned with at least one capability of the terminal device, and transmits, to the first network device, a sensing result obtained based on the sensing type.

Description

DEVICES AND METHODS FOR SENSING COORDINATION AND FUSION

FIELDS

Example embodiments of the present disclosure generally relate to the field of communication techniques and in particular, to devices and methods for sensing coordination and fusion.

BACKGROUND

Integrated Sensing and Communication (ISAC) is considered as a promising topic for future wireless network extension. ISAC involves the simultaneous use of radio frequency (RF) signals for both sensing and communication purposes. This integration can lead to improved spectrum efficiency, reduced latency, and enhanced reliability in various applications.

SUMMARY

In a first aspect, there is provided a terminal device comprising: a processor configured to cause the terminal device to: receive, from a first network device, a sensing request comprising a sensing type aligned with at least one capability of the terminal device; and transmit, to the first network device, a sensing result obtained based on the sensing type.

In a second aspect, there is provided a first network device comprising: a processor configured to cause the first network device to: receive, from a third network device, a first sensing request indicating a first event for sensing; transmit, to a terminal device, a second sensing request based on the first sensing request, the second sensing request comprising a sensing type aligned with at least one capability of the terminal device; and receive, from the terminal device, a sensing result obtained based on the sensing type.

In a third aspect, there is provided a second network device comprising: a processor configured to cause the second network device to: receive, from a terminal device, at least one supported sensing capability via a first network device; and transmit, to the terminal device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device.

In a fourth aspect, there is provided a third network device comprising: a processor configured to cause the first network device to: receive, from a fifth network device, a third sensing request indicating a first event for sensing; transmit, to a first network device, a first sensing request indicating the first event for sensing; and receive, from the first network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.

In a fifth aspect, there is provided a fourth network device comprising: a processor configured to cause the fourth network device to: receive, from a second network device, a request for at least one subscribed sensing capability of the terminal device; and transmit, to the second network device, a response comprising the at least one subscribed sensing capability.

In a sixth aspect, there is provided a fifth network device comprising: a processor configured to cause the fifth network device to: transmit, to a third network device, a third sensing request indicating a first event for sensing; and receive, from the third network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.

In a seventh aspect, there is provided a communication method performed by a terminal device. The method comprises: receiving, from a first network device, a sensing request comprising a sensing type aligned with at least one capability of the terminal device; and transmitting, to the first network device, a sensing result obtained based on the sensing type.

In an eighth aspect, there is provided a communication method performed by a first network device. The method comprises: receiving, from a third network device, a first sensing request indicating a first event for sensing; transmitting, to a terminal device, a second sensing request based on the first sensing request, the second sensing request comprising a sensing type aligned with at least one capability of the terminal device; and receiving, from the terminal device, a sensing result obtained based on the sensing type.

In a ninth aspect, there is provided a communication method performed by a second network device. The method comprises: receiving, from a terminal device, at least one supported sensing capability via a first network device; and transmitting, to the terminal device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device.

In a tenth aspect, there is provided a communication method performed by a third network device. The method comprises: receiving, from a fifth network device, a third sensing request indicating a first event for sensing; transmitting, to a first network device, a first sensing request indicating the first event for sensing; and receiving, from the first network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.

In an eleventh aspect, there is provided a communication method performed by a fourth network device. The method comprises: receiving, from a second network device, a request for at least one subscribed sensing capability of the terminal device; and transmitting, to the second network device, a response comprising the at least one subscribed sensing capability.

In a twelfth aspect, there is provided a communication method performed by a fifth network device. The method comprises: transmitting, to a third network device, a third sensing request indicating a first event for sensing; and receiving, from the third network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.

In a thirteenth aspect, there is provided a computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor, causing the at least one processor to carry out the method according to the seventh, eighth, ninth, tenth, eleventh, or twelfth aspect.

Other features of the present disclosure will become easily comprehensible through the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

Through the more detailed description of some example embodiments of the present disclosure in the accompanying drawings, the above and other objects, features and advantages of the present disclosure will become more apparent, wherein:

FIG. 1 illustrates an example communication environment in which example embodiments of the present disclosure can be implemented;

FIG. 2 illustrate a schematic diagram of example sensing modes in accordance with some embodiments of the present disclosure;

FIG. 3 illustrates a signaling flow of a procedure of sensing coordination and fusion in accordance with some embodiments of the present disclosure;

FIG. 4 illustrates a signaling flow of an authorizing procedure of sensing capability in accordance with some embodiments of the present disclosure;

FIG. 5A illustrates a signaling flow of an example authorizing procedure of sensing capability in accordance with some embodiments of the present disclosure;

FIG. 5B illustrates a signaling flow of an example authorizing procedure of sensing capability in accordance with some embodiments of the present disclosure;

FIG. 5C illustrates a signaling flow of an example authorizing procedure of sensing capability in accordance with some embodiments of the present disclosure;

FIG. 6 illustrates a signaling flow of an example procedure of sensing coordination and fusion in accordance with some embodiments of the present disclosure;

FIG. 7 illustrates a flowchart of a method implemented at a terminal device according to some example embodiments of the present disclosure;

FIG. 8 illustrates a flowchart of a method implemented at a first network device according to some example embodiments of the present disclosure;

FIG. 9 illustrates a flowchart of a method implemented at a second network device according to some example embodiments of the present disclosure;

FIG. 10 illustrates a flowchart of a method implemented at a third network device according to some example embodiments of the present disclosure;

FIG. 11 illustrates a flowchart of a method implemented at a fourth network device according to some example embodiments of the present disclosure;

FIG. 12 illustrates a flowchart of a method implemented at a fifth network device according to some example embodiments of the present disclosure; and

FIG. 13 illustrates a simplified block diagram of an apparatus that is suitable for implementing example embodiments of the present disclosure.

Throughout the drawings, the same or similar reference numerals represent the same or similar element.

DETAILED DESCRIPTION

Principle of the present disclosure will now be described with reference to some example embodiments. It is to be understood that these embodiments are described only for the purpose of illustration and help those skilled in the art to understand and implement the present disclosure, without suggesting any limitation as to the scope of the disclosure. Embodiments described herein can be implemented in various manners other than the ones described below.

In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skills in the art to which this disclosure belongs.

As used herein, the term ‘terminal device’ refers to any device having wireless or wired communication capabilities. Examples of the terminal device include, but not limited to, user equipment (UE) , personal computers, desktops, mobile phones, cellular phones, smart phones, personal digital assistants (PDAs) , portable computers, tablets, wearable devices, internet of things (IoT) devices, Ultra-reliable and Low Latency Communications (URLLC) devices, Internet of Everything (IoE) devices, machine type communication (MTC) devices, devices on vehicle for V2X communication where X means pedestrian, vehicle, or infrastructure/network, devices for Integrated Access and Backhaul (IAB) , Space borne vehicles or Air borne vehicles in Non-terrestrial networks (NTN) including Satellites and High Altitude Platforms (HAPs) encompassing Unmanned Aircraft Systems (UAS) , eXtended Reality (XR) devices including different types of realities such as Augmented Reality (AR) , Mixed Reality (MR) and Virtual Reality (VR) , the unmanned aerial vehicle (UAV) commonly known as a drone which is an aircraft without any human pilot, devices on high speed train (HST) , or image capture devices such as digital cameras, sensors, gaming devices, music storage and playback appliances, or Internet appliances enabling wireless or wired Internet access and browsing and the like. The ‘terminal device’ can further has ‘multicast/broadcast’ feature, to support public safety and mission critical, V2X applications, transparent IPv4/IPv6 multicast delivery, IPTV, smart TV, radio services, software delivery over wireless, group communications and IoT applications. It may also incorporate one or multiple Subscriber Identity Module (SIM) as known as Multi-SIM. The term “terminal device” can be used interchangeably with a UE, a mobile station, a subscriber station, a mobile terminal, a user terminal or a wireless device.

The term “network device” refers to a device which is capable of providing or hosting a cell or coverage where terminal devices can communicate. Examples of a network device include, but not limited to, a Node B (NodeB or NB) , an evolved NodeB (eNodeB or eNB) , a next generation NodeB (gNB) , a transmission reception point (TRP) , a remote radio unit (RRU) , a radio head (RH) , a remote radio head (RRH) , an IAB node, a low power node such as a femto node, a pico node, a reconfigurable intelligent surface (RIS) , and the like.

The terminal device or the network device may have Artificial intelligence (AI) or Machine learning capability. It generally includes a model which has been trained from numerous collected data for a specific function, and can be used to predict some information.

The terminal or the network device may work on several frequency ranges, e.g., FR1 (e.g., 450 MHz to 6000 MHz) , FR2 (e.g., 24.25GHz to 52.6GHz) , frequency band larger than 100 GHz as well as Tera Hertz (THz) . It can further work on licensed/unlicensed/shared spectrum. The terminal device may have more than one connection with the network devices under Multi-Radio Dual Connectivity (MR-DC) application scenario. The terminal device or the network device can work on full duplex, flexible duplex and cross division duplex modes.

The embodiments of the present disclosure may be performed in test equipment, e.g., signal generator, signal analyzer, spectrum analyzer, network analyzer, test terminal device, test network device, channel emulator. In some embodiments, the terminal device may be connected with a first network device and a second network device. One of the first network device and the second network device may be a master node and the other one may be a secondary node. The first network device and the second network device may use different radio access technologies (RATs) . In some embodiments, the first network device may be a first RAT device and the second network device may be a second RAT device. In some embodiments, the first RAT device is eNB and the second RAT device is gNB. Information related with different RATs may be transmitted to the terminal device from at least one of the first network device or the second network device. In some embodiments, first information may be transmitted to the terminal device from the first network device and second information may be transmitted to the terminal device from the second network device directly or via the first network device. In some embodiments, information related with configuration for the terminal device configured by the second network device may be transmitted from the second network device via the first network device. Information related with reconfiguration for the terminal device configured by the second network device may be transmitted to the terminal device from the second network device directly or via the first network device.

As used herein, the singular forms ‘a’ , ‘an’ and ‘the’ are intended to include the plural forms as well, unless the context clearly indicates otherwise. The term ‘includes’ and its variants are to be read as open terms that mean ‘includes, but is not limited to. ’ The term ‘based on’ is to be read as ‘at least in part based on. ’ The term ‘one embodiment’ and ‘an embodiment’ are to be read as ‘at least one embodiment. ’ The term ‘another embodiment’ is to be read as ‘at least one other embodiment. ’ The terms ‘first, ’ ‘second, ’ and the like may refer to different or same objects. Other definitions, explicit and implicit, may be included below.

In some examples, values, procedures, or apparatus are referred to as ‘best, ’ ‘lowest, ’ ‘highest, ’ ‘minimum, ’ ‘maximum, ’ or the like. It will be appreciated that such descriptions are intended to indicate that a selection among many used functional alternatives can be made, and such selections need not be better, smaller, higher, or otherwise preferable to other selections.

As used herein, the term “resource, ” “transmission resource, ” “uplink resource, ” or “downlink resource” may refer to any resource for performing a communication, such as a resource in time domain, a resource in frequency domain, a resource in space domain, a resource in code domain, or any other resource enabling a communication, and the like. In the following, unless explicitly stated, a resource in both frequency domain and time domain will be used as an example of a transmission resource for describing some example embodiments of the present disclosure. It is noted that example embodiments of the present disclosure are equally applicable to other resources in other domains.

As used herein, unless stated explicitly, performing a step “in response to A” does not indicate that the step is performed immediately after “A” occurs and one or more intervening steps may be included.

As used herein, the term “3rd Generation Partnership Project (3GPP) sensing data” may refer to data derived from 3GPP radio signals that are impacted (e.g., reflected, refracted, diffracted) by an object or environment of interest for sensing purposes, and optionally processed within the 5th Generation Mobile Communication Technology (5G) system.

As used herein, the term “3GPP sensing” or “3GPP-based sensing” may refer to a type of sensing which is performed based on 3GPP radio signals that are impacted (e.g., reflected, refracted, diffracted) by an object or environment of interest for sensing purposes, and optionally processed within the 5th Generation Mobile Communication Technology (5G) system.

As used herein, the term “5G Wireless sensing” may refer to 5G System (5GS) feature providing capabilities to get information about characteristics of an environment and/or objects within the environment (e.g., shape, size, orientation, speed, location, distances or relative motion between objects, etc. ) using New Radio (NR) radio frequency signals, which, in some cases, can be extended by information created via previously specified functionalities in Evolved Packet Core (EPC) and/or Evolved UMTS Terrestrial Radio Access Network (E-UTRAN) .

As used herein, the term “non-3GPP sensing data” may refer to data provided by non-3GPP sensors (e.g., video, LiDAR, sonar, WiFi) about an object or environment of interest for sensing purposes.

As used herein, the term “non-3GPP sensing” or “non-3GPP-based sensing” may refer to a type of sensing which is performed using non-3GPP sensors (e.g., video, LiDAR, sonar, WiFi) about an object or environment of interest for sensing purposes.

The term “sensing assistance information” may refer to information that is provided to 5G system and can be used to derive sensing result. The sensing assistance information may be, for example, map information, area information, a user equipment (UE) Identity (ID) attached to or in the proximity of the sensing target, UE position information, UE velocity information etc.

The term “sensing contextual information” may refer to information that is exposed with the sensing results by 5G system to a trusted third party which provides context to the conditions under which the sensing results were derived. The sensing contextual information may include, for example, map information, area information, time of capture, UE location and ID. The sensing contextual information can be required in scenarios where the sensing result is to be combined with data from other sources outside the 5GS.

The term “sensing group” may refer to a set of sensing transmitters and sensing receivers whose locations are known and whose sensing data can be collected synchronously.

The term “sensing transmitter” may be the entity that sends out the sensing signal which the sensing service will use in its operation. A Sensing transmitter is an NR RAN node or a UE. A Sensing transmitter can be located in the same or different entity as the Sensing receiver.

The term “sensing receiver” may be an entity that receives the sensing signal which the sensing service will use in its operation. A sensing receiver is an NR RAN node or a UE. A Sensing receiver can be located in the same or different entity as the Sensing transmitter.

The term “sensing signals” may refer to transmissions on the 3GPP radio interface that can be used for sensing purposes. The sensing signals may refer to NR radio frequency signals which, in some cases, may be extended by information created via previously specified functionalities in EPC and/or E-UTRAN.

The term “sensing result” is also referred to as a result of a sensing, which may refer to processed 3GPP sensing data requested by a service consumer.

The term “target sensing service area” may refer to a cartesian location area that needs to be sensed by deriving characteristics of an environment and/or objects within the environment with certain sensing service quality from the impacted (e.g., reflected, refracted, diffracted) 3GPP radio signals. This includes both indoor and outdoor environments.

As used herein, a sensing function (SF) device is a device having a core network function to trigger sensing, collect sensing result/report, and expose the sensing result/report to the 3rd party which is in or out of 3GPP scope.

As used herein, a sensing management function (SEMF) device is a device having a new RAN function between sensing function device and a network device to manage the sensing operation, including selecting a suitable network device, relaying the sensing request from the sensing function device to the network device, relaying the sensing result/report from the network device to the sensing function device.

As discussed above, ISAC is considered as a promising topic for future wireless network extension. According to the requirements of ISAC communication/sensing, how to identify and report a target in the network need to be resolved.

Principles and implementations of the present disclosure will be described in detail below with reference to the figures.

FIG. 1 illustrates another example communication environment 100 in which embodiments of the present disclosure can be implemented. In the communication environment 100, a plurality of communication devices communicate with each other. As shown, in the communication environment 100, a communication may be performed among a terminal device 101, a network device 110, a sensing management function (SEMF) device 130 and a sensing function (SF) device 150. Meanwhile, a further communication may be performed among the terminal device 101, the network device 110, an Access and Mobility Management Function (AMF) device 120 and a Unified Data Management (UDM) device 140.

The terminal device 101 may be terminal device as discussed above, for example, a UE. The network device 110 may be a base station or node serving the terminal device 101, which may be, for example, discussed as a gNB in some embodiments of the present disclosure.

The AMF device 120, also referred to as an AMF node, is a device implementing AMF and plays a pivotal role in managing the control plane functions related to user access and mobility. Specifically, the AMF node acts as an anchor point for a control plane signaling for connected communication devices (e.g., UEs) in the environment 100, ensuring smooth and secure user access while managing their mobility throughout the network.

The UDM device 140 may refer to a device implementing UDM, which plays a role in managing subscriber and service data. In the aspect of subscriber data management, the UDM device 140 may store and manage all essential subscriber-related information, such as user profiles, authentication credentials, subscription details, and access rights. This includes both permanent and temporary data required for services across various network slices. The UDM device 140 may also play important roles in aspects such as authentication and security, network slice selection assistance, privacy and consent management. The UDM device 140 may interact with other Network Functions (NFs) like the AMF, Policy Control Function (PCF) , and Session Management Function (SMF) to facilitate smooth operation and efficient management of data services.

In example embodiments of the present disclosure, the SEMF device 130 is a device implementing a new RAN function between sensing function device and a network device to manage the sensing operation, including selecting a suitable network device, relaying the sensing request from the sensing function device to the network device, relaying the sensing result/report from the network device to the sensing function device.

The SF device 150 is a device having a core network function to trigger sensing, collect sensing result/report, and expose the sensing result/report to the 3rd party which is in or out of 3GPP scope.

The network device 110 and the terminal device 101 are in a radio access network (RAN) . The terminal device 101 may communicate with the network device 110. The network device 110 may communicatively connect with the SEMF device 130. The sensing management function device 130 may be connected to the SF device 150. The SEMF device 130 may be for example implemented at an Operation Administration and Maintenance (OAM) device or the AMF device 120.

It is to be noted that the OAM device or the AMF device 120 is just one option for acting as the SEMF device 130. In another option, the SEMF device 130 may be implemented as a node or device with a new function. In the following embodiments, OAM is indicative while SEMF can replace OAM as another option in the cases, although SEMF is not indicative in the embodiments.

In the following, for the purpose of illustration, some example embodiments are described with the terminal device 101 operating as a UE and the network device 110 operating as a base station. However, in some example embodiments, operations described in connection with a terminal device may be implemented at a network device or other device, and operations described in connection with a network device may be implemented at a terminal device or other device.

In some example embodiments, if the terminal device 101 is a UE and the network device 110 is a gNB, a link from the network device 110 to the terminal device 101 is referred to as a downlink (DL) , while a link from the terminal device 101 to the network device 110 is referred to as an uplink (UL) . In DL, the network device 110 is a transmitting (TX) device (or a transmitter) and the terminal device 101 is a receiving (RX) device (or a receiver) . In UL, the terminal device 101 is a TX device (or a transmitter) and the network device 110 is a RX device (or a receiver) .

The communications in the communication environment 100 may conform to any suitable standards including, but not limited to, Global System for Mobile Communications (GSM) , Long Term Evolution (LTE) , LTE-Evolution, LTE-Advanced (LTE-A) , New Radio (NR) , Wideband Code Division Multiple Access (WCDMA) , Code Division Multiple Access (CDMA) , GSM EDGE Radio Access Network (GERAN) , Machine Type Communication (MTC) and the like. The embodiments of the present disclosure may be performed according to any generation communication protocols either currently known or to be developed in the future. Examples of the communication protocols include, but not limited to, the first generation (1G) , the second generation (2G) , 2.5G, 2.75G, the third generation (3G) , the fourth generation (4G) , 4.5G, the fifth generation (5G) communication protocols, 5.5G, 5G-Advanced networks, or the sixth generation (6G) networks.

It is to be understood that the number of devices and their connections shown in FIG. 1 is only for the purpose of illustration without suggesting any limitation. The communication environment 100 may include any suitable number of devices configured to implementing example embodiments of the present disclosure. Although not shown, it is to be understood that one or more additional devices may be located in the cell, and one or more additional cells may be deployed in the communication environment.

There are generally two types of sensing modes defined based on Tx/Rx node of sensing signal, namely, monostatic and bi-static. These types of sensing modes include 6 specific modes, namely, Sensing Mode 1 which is a gNB mono-static sensing, Sensing Mode 2 which is gNB-to-UE bi-static sensing, Sensing Mode 3 which is gNB-to-gNB bi-static sensing, Sensing Mode 4 which is UE mono-static sensing, Sensing Mode 5 which is UE-to-gNB bi-static sensing, and Sensing Mode 6 which is UE-to-UE bi-static sensing.

FIG. 2 illustrates schematic diagrams of six example sensing modes in accordance with some example embodiments of the present disclosure. As shown in FIG. 2, in Sensing Mode 1, as indicated by 201, a sensing signal for sensing a target 230 is transmitted by a network device 210 and received or measured by the network device 210 itself. In Sensing Mode 2, as indicated by 202, a sensing signal for sensing the target 230 is transmitted by the network device 210 and received or measured by a terminal device 220. In Sensing Mode 3, as indicated by 203, a sensing signal for sensing the target 230 is transmitted by the network device 210 and received or measured by another network device 212.

In Sensing Mode 4, as indicated by 204, a sensing signal for sensing the target 230 is transmitted by the terminal device 220 and received or measured by the network device 210. In Sensing Mode 5, as indicated by 205, a sensing signal for sensing the target 230 is transmitted by the terminal device 220 and received or measured by the terminal device 220 itself. In Sensing Mode 6, as indicated by 206, a sensing signal for sensing the target 230 is transmitted by the terminal device 220 and received or measured by another terminal device 222.

It would be appreciated that the sensing modes illustrated in FIG. 2 are examples only and there may be many other sensing modes. It would be appreciated that more than one second communication device may be involved in a sensing service. It can be seen from the sensing modes in FIG. 2 that there may be various combinations of the devices which are to measure a sensing signal.

Regarding the study on channel modelling for Integrated Sensing And Communication (ISAC) for NR, the focus of the study is to define channel modelling aspects to support object detection and/or tracking. The study may aim at a common modelling framework capable of detecting and/or tracking the following example objects and to enable them to be distinguished from unintended objects: UAVs, humans indoors and outdoors, automotive vehicles (at least outdoors) , automated guided vehicles (e.g. in indoor factories) , and objects creating hazards on roads/railways, with a minimum size dependent on frequency.

All of the six sensing modes, as discussed with respect to FIG. 2, may be considered (i.e. TRP-TRP bistatic, TRP monostatic, TRP-UE bistatic, UE-TRP bistatic, UE-UE bistatic, UE monostatic) .

FIG. 3 illustrates a signaling flow 300 of a procedure of sensing coordination and fusion in accordance with some embodiments of the present disclosure. As shown in FIG. 3, the signaling flow 300 involves a terminal device 301, a first network device 302, a third network device 303 and a fifth network device 304.

The terminal device 301 may be implemented as the terminal device 101 in the communication environment 100 of FIG. 1, which may be a UE for example. The first network device 302 may be implemented as the network device 110 in FIG. 1, which may be a gNB for example. The third network device 303 may be implemented as the SEMF device 130 in FIG. 1. The fifth network device 304 may be implemented as the SF device 150 in FIG. 1.

In the signaling flow 300, the fifth network device 304 transmits (305) , to the third network device 303, a third sensing request indicating a first event for sensing. The first event may be an event causing the sensing, such as intrusion detection, target monitoring, and so on.

The third network device 303 receives (310) a third sensing request indicating a first event for sensing from the fifth network device 304. Then, the third network device 303 transmits (305) , to the first network device 302, a first sensing request indicating the first event for sensing. In some embodiments, the first sensing request may further include, for example, but not limited to, a requirement of sensing quality (such as Resolution Ratio, Error Rate etc. ) , information of a sensing target, environment information of a location to be sensed, an area scope of the location to be sensed, an altitude of the location to be sensed, and/or the like. In some examples, For example, the information of a sensing target may include a size of the target, a shape of the target, a speed range of the target, material characteristics of the target, and/or the like.

The first network device 302 receives (320) , from the third network device 303, the first sensing request indicating a first event for sensing. Then, the first network device 302 transmits (325) , to the terminal device 301, a second sensing request based on the first sensing request, the second sensing request comprising a sensing type aligned with at least one capability of the terminal device. In some implementations, the first network device 302 may perform a sensing procedure based on the first sensing request and in response that a result of the performed sensing procedure indicates the first event occurs, transmit the second sensing request to the terminal device 301.

In some example embodiments, the at least one capability of the terminal device 301 may include at least one supported sensing capability which is supported by the terminal device. In addition, or alternatively, the at least one capability of the terminal device 301 may include at least one subscribed sensing capability which is subscribed by the terminal device. Additionally, or as a further alternative, the at least one capability of the terminal device 301 may include at least one authorized sensing capability which is authorized to the terminal device.

In some example embodiments, a supported sensing capability may include, for example, a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, a requirement of sensing quality (such as Resolution Ratio, Error Rate etc. ) , and/or the like.

The first sensing type may indicate a type of sensing which is performed based on 3GPP radio signals that are impacted (e.g., reflected, refracted, diffracted) by an object or environment of interest for sensing purposes, and optionally processed within the 5th Generation Mobile Communication Technology (5G) system. The sensing of the first sensing type may be also referred to as the 3GPP-based sensing.

The second sensing type may indicate a type of sensing which is performed using non-3GPP sensors (e.g., video, LiDAR, sonar, WiFi) about an object or environment of interest for sensing purposes. The sensing of the second sensing type may be also referred to as non-3GPP-based sensing.

In some example embodiments, a subscribed sensing capability may include, for example, a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, a requirement of sensing quality, and/or the like.

In some example embodiments, an authorized sensing capability may include, for example, a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, a requirement of sensing quality, and/or the like.

The terminal device 301 receives (330) the second sensing request from the first network device 302. The second sensing request may include, for example, but not limited to a first event for sensing, a requirement of sensing quality (such as Resolution Ratio, Error Rate etc. ) , information of a sensing target, environment information of a location to be sensed, an area scope of the location to be sensed, an altitude of the location to be sensed, and/or the like. In some examples, For example, the information of a sensing target may include a size of the target, a shape of the target, a speed range of the target, material characteristics of the target, and/or the like.

Then, the terminal device 301 may perform a sensing procedure based on the sensing type and thus may obtain the sensing result accordingly. The terminal device 301 transmits (335) the sensing result to the first network device 302.

In some example embodiments, the terminal device 301 may have a capability related to sensing data format alignment. For example, the terminal device 310 may, in response to that the at least one authorized capability comprises a sensing data format alignment capability and a sensing result obtained based on the sensing request has a data format of a second sensing type, change the data format of the sensing result from the second sensing type to the first sensing type.

The first network device 302 receives (340) , from the terminal device 301, a sensing result obtained based on the sensing type. In some embodiments, the first network device 302 directly transmits (345) the received sensing result to the third network device 303. Alternative, in some embodiments, the first network device 302 may perform a sensing procedure based on the first sensing request. In addition, the first network device 302 may perform a fusion of the received sensing result and the result of the performed sensing procedure and transmits (345) a result of the fusion to the third network device 303.

The third network device 303 receives (350) , from the first network device 302, the sensing response. The sensing response may include a sensing result obtained by the terminal device 301, and/or a result of a fusion performed by the first network device 302 based on the first sensing request.

Then, the third network device 303 transmits (355) the received information to the fifth network device 304. Specifically, the third network device 303 transmits (355) a further sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request. The fifth network device 304 thus receives (360) the further sensing response from the third network device 303.

As such, the fifth network device 304 may have the knowledge of a sensing result obtained by a terminal device, and/or a result of a fusion performed by the first network device based on the first sensing request. More details will be discussed with FIG. 6 below.

FIG. 4 illustrates a signaling flow 400 of an authorizing procedure of sensing capability in accordance with some embodiments of the present disclosure. As shown in FIG. 4, the signaling flow 400 involves a terminal device 401, a first network device 402, a second network device 403 and a fourth network device 404. The authorizing procedure discussed with the signaling flow 400 may be performed before the signaling flow300 shown in FIG. 3.

The terminal device 401 may be implemented as the terminal device 101 in the communication environment 100 of FIG. 1, which may be a UE for example. The first network device 402 may be implemented as the network device 110 in FIG. 1, which may be a gNB for example. The second network device 403 may be implemented as the AMF device 120 in FIG. 1. The fourth network device 404 may be implemented as the UDM device 140 in FIG. 1.

In the signaling flow 400, the terminal device 401 may transmit (405) , to a second network device 403, at least one supported sensing capability via the first network device 401. The at least one supported sensing capability may be transmitted from the terminal device 401 to the second network device 403 in a Non-Access Stratum (NAS) content. The NAS content may be forwarded by the first network device 402 to the second network device 403 in a suitable message.

The second network device 403 may receive (410) , from the terminal device 401, the at least one supported sensing capability via a first network device. Then, the second network device 403 may transmit (415) , to the fourth network device 404, a request for at least one subscribed sensing capability of the terminal device. The fourth network device 404, upon receiving (420) the request, transmits (425) a response comprising the at least one subscribed sensing capability to the second network device 403. The second network device 403 receives (430) the at least one subscribed sensing capability and may determine the at least one authorized sensing capability based on the at least one supported sensing capability and the at least one subscribed sensing capability.

Then, the second network device 403 may transmit (435) , to the terminal device 401, a sensing authorization result via the first network device 110. The sensing authorization result indicates at least one authorized sensing capability of the terminal device 401.

In some example embodiments, the terminal device 401 may initiate an update procedure of the authorized sensing capability of the terminal device 401. For instance, the terminal device 401 may transmit, to the second network device 402, first updated information about at least one supported sensing capability via the first network device. Then, the terminal device 401 may receive, from the second network device 402, an updated sensing authorization result via the first network device. The updated sensing authorization result indicates at least one authorized sensing capability of the terminal device which is authorized based on the first updated information about the at least one supported sensing capability.

As to the second network device 402, it may receive, from the terminal device, first updated information about at least one supported sensing capability via the first network device. Then, the second network device 402 may transmit, to the terminal device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the first updated information about the at least one supported sensing capability.

Alternatively, the update procedure of the authorized sensing capability of the terminal device 401 may be initiated by network (NW) . In some example embodiments, the terminal device 401 is further caused to: receive, from the second network device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on second updated information about at least one subscribed sensing capability of the terminal device.

In this case, the fourth network device 404 may transmit, to the second network device 402, updated information about at least one subscribed sensing capability of the terminal device 401. the second network device 402 may, upon receiving, from the fourth network device 404, second updated information about at least one subscribed sensing capability of the terminal device, transmit, to the terminal device 401, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the second updated information about the at least one subscribed sensing capability.

The first network device 402 may receive (440) a message comprising at least of a sensing authorization result from the second network device 403 and an updated sensing authorization result. The sensing authorization result may indicate at least one authorized sensing capability of the terminal device. The updated sensing authorization result may indicate at least one authorized sensing capability of the terminal device which is authorized based on first updated information about the at least one supported sensing capability or is authorized based on second updated information about at least one subscribed sensing capability of the terminal device.

In some embodiments, the terminal device 401 may receive a sensing authorization result from the second network device 403 via the first network device 402. The sensing authorization result may indicate at least one authorized sensing capability of the terminal device. As shown in the signaling flow 400 receives (450) the sensing authorization result from the first network device 402 while the first network device 402 receives the same from the second network device 403. In some embodiments, the sensing authorization result is transmitted from the second network device 403 to the terminal device 401 in a Non-Access Stratum (NAS) content. The NAS content may be forwarded by the first network device 402 to the terminal device 401 in a suitable message.

In the signaling flow 400, the message received (440) by the first network device 402 may comprise a Non-Access Stratum (NAS) content comprising at least of a sensing authorization result from a second network device and an updated sensing authorization result. In this case, the first network device 402 may transmit (445) the NAS content to the terminal device 401. Thus, the terminal device 401 may receive (450) the at least of a sensing authorization result from a second network device and an updated sensing authorization result from the NAS content.

Now more detailed embodiments will be further discussed blow.

FIG. 5A illustrates a signaling flow 500A of an example authorizing procedure of sensing capability in accordance with some embodiments of the present disclosure.

As shown in FIGS. 5A-5C, the signaling flows 500A-500C involve UE 501, gNB 502, an AMF device 503 and a UDM device 504.

The UE 501 may be implemented as the terminal device 101 in the communication environment 100 of FIG. 1 or the terminal device 401 in FIG. 4. The gNB 502 may be implemented as the network device 110 in FIG. 1 or the first network device 402. The AMF device 503 may be implemented as the AMF device 120 in FIG. 1 or the second network device 403. The UDM device 504 (also referred to UDM 504 for short) may be implemented as the UDM device 140 in FIG. 1 or the fourth network device 404.

In the signaling flow 500A, at 511, the UE 501 sends a Registration Request to the AMF device 503 (also referred to AMF 503 for short) via the gNB 502, which includes the UE ID and other parameters. If the UE 501 supports Sensing and intends to perform sensing, the UE 501 includes its supported sensing capability (s) in the Registration Request. The supported sensing capability (s) may be 3GPP-based sensing, non-3GPP based sensing, NR sensing, video, LiDAR, sonar, WiFi etc., and the supporting sensing area. If the UE 501 only intends to perform sensing with the sub-group of its supported sensing capabilities, the sent sensing capability (s) may be sub-group of the UE 501 sensing capabilities. The gNB 502 forwards the Registration Request to the AMF 503, which is included in N2 message.

Optionally, the UE sensing capability (s) may further include, the UE capability for Non-3GPP sensing data format alignment with 3GPP requirement, i.e. changing the Non-3GPP sensing data format to 3GPP format. The UE sensing capability (s) may further include, sensing QoS, e.g. Resolution Ratio, Error Rate, etc.

At 512, the AMF 503 sends a Nudm_SDM_Get request to retrieve the UE Subscription data and other UE contexts. Nudm_SDM_Get request includes the UE ID.

At 513, the UDM 504 sends the Nudm_SDM_Get response to the AMF 503, which includes the UE Subscription data and other UE contexts as requested by the AMF 503. The UE subscription includes the UE subscribed sensing capability (s) , which may be 3GPP based Sensing, Non-3GPP based Sensing, NR Sensing, video, LiDAR, sonar, WiFi etc., and the supporting sensing area.

At 514, the AMF 503 authorizes the UE sensing based on the UE subscribed sensing capability (s) and the UE sent sensing capability (s) , e.g. authorizes the common part of them. After authenticating and authorizing the UE, AMF sends the N2 message to gNB, which includes the UE sensing authorization result to gNB and NAS content (Registration Accept) to UE 501. The Registration Accept includes the UE sensing authorization result. The UE sensing authorization result includes the UE authorized sensing capability (s) .

At 515, the gNB 502 stores the UE sensing authorization result. The gNB 502 sends the Registration Accept to the UE 501 in a RRC message. The UE 501 receives the Registration Accept with UE sensing authorization result, the UE 501 considers the sensing capability (s) in the result are authorized by the network.

FIG. 5B illustrates a signaling flow 500B of an example authorizing procedure of sensing capability in accordance with some embodiments of the present disclosure. The signaling flow 500B shows UE initiated UE Sensing capabilities update after initial registration.

In the signaling flow 500B, the UE 501 may update its sensing capability (s) after initial registration, e.g. due to power limitation, it has to switch off video and just use WiFi. At 521, the UE 501 sends a Sensing Capability Update to AMF 503 via gNB 502. The UE 501 includes its sensing capability provided to the network. The existing message e.g. Registration Request may be reused to convey this sensing capability update from UE 501 to AMF 503.

At 522, the AMF 503 authorizes the UE sensing capability based on the UE subscription about sensing capability, then sends the updated UE authorized sensing capability to the gNB in N2 message. The updated UE authorized sensing capability is also included in the NAS message Sensing Capability Update Accept.

At 523, the gNB 502 updates the stored UE sensing capability according to the updated UE authorized sensing capability received from AMF. The gNB sends the Sensing Capability Update accept to UE in RRC message.

FIG. 5C illustrates a signaling flow 500C of an example authorizing procedure of sensing capability in accordance with some embodiments of the present disclosure.

In the signaling flow 500C, the network may update the authorized UE sensing capability (s) after initial registration, e.g. due to UE subscription change or other network operation requirements. At 531, the UDM 504 send a UE subscription Update to AMF 503, which includes the updated UE subscribed sensing capability.

At 532, the AMF 503 sends UE subscription Update ACK to UDM 504 to ack the update.

At 533, the AMF 503 authorizes the UE sensing capability based on the UE subscription with the updated UE subscribed sensing capability, then sends the updated UE authorized sensing capability to the gNB in N2 message. The updated UE authorized sensing capability is also included in a NAS message.

At 534, the gNB updates the stored UE sensing capability according to the updated UE authorized sensing capability received from AMF. The gNB 502 sends the NAS message including updated UE subscribed sensing capability to UE 501 in RRC message.

The UE receives the NAS message and updates the authorized UE sensing capability (s) stored in the UE 501. The UE 501 shall just use the updated authorized UE sensing capability (s) in the following sensing operation. At 535, the UE 501 transmits a NAS message (e.g., UE authorized sensing capability (s) update ACK) to the AMF 503 via the gNB 502.

FIG. 6 illustrates a signaling flow 600 of an example procedure of sensing coordination and fusion in accordance with some embodiments of the present disclosure. The signaling flow 600 involves UE 601, gNB 602, a SEMF device 603 and a SF device 604.

The UE 601 may be implemented as the terminal device 101 in the communication environment 100 of FIG. 1 or the terminal device 301 in FIG. 3. The gNB 602 may be implemented as the network device 110 in FIG. 1 or the first network device 302. The SEMF device 603 (also referred to as SEMF 603 for short) may be implemented as the SEMF device 130 in FIG. 1 or the third network device 303. The SF device 604 (also referred to as SF 604 for short) may be implemented as the SF device 150 in FIG. 1 or the fifth network device 304.

In the signaling flow 600, at 611, the SF 604 sends a Sensing Service Request to SEMF, which includes the event of intrusion detection and the sensing area. The event and area may be UAV detection in the no-fly zone, or human detection in the home when the host is out of home. The Sensing Service Request may contain the sensing QoS requirement for e.g. high, medium, and low.

At 612, the SEMF 603 selects a gNB 602 located in the sensing area and being capable of sensing, SEMF 603 sends Sensing Request to the gNB 602 with the event of intrusion detection and the sensing area.

At 613, the gNB 602 performs 3GPP based sensing (e.g. NR sensing) to the sensing area according to the Sensing Request from SEMF 603 for the intrusion detection.

When a predefined or preconfigured event, such as, an intrusion target is sensed, e.g. a UAV is detected in the no-fly zone, or a person is detected in the home, at 614, the gNB 602 sends Sensing Request to a selected UE which is located in the sensing area, the Sensing Request includes the sensing type (3GPP, Non-3GPP, video, WiFi, LiDAR, sonar etc. ) . The sensing type is aligned with UE sensing authorization result from AMF. For fulfilling the sensing QoS requirement, the gNB may take the UE Sensing QoS capability into considerations for the UE selection and the sensing type selection. Multiple UEs and sensing types may be selected.

At 615, UE 601 performs sensing according to the sensing type from gNB 602, and sends the sensing result to gNB 602 in a Sensing Response. If the UE 601 has the capability for Non-3GPP sensing data format alignment with 3GPP requirement, i.e. changing the Non-3GPP sensing data format to 3GPP format, and such capability has been authorized by the AMF e.g. during Registration procedure, the UE shall perform the Non-3GPP sensing data format alignment with 3GPP requirements and then sends the Non-3GPP sensing data after 3GPP alignment to the gNB 602.

At 616, gNB 602 fuses the sensing result from UE 601 with its own sensing result, and reports to SEMF 603 in a Sensing Response.

At 617, SEMF 603 sends a Sensing Service Response to SF 604 with the sensing result from gNB 602.

Embodiments of the present disclosure may be associated with a new section for 3GPP and Non-3GPP sensing Fusion. Some embodiments may introduce the 3GPP and Non- 3GPP sensing Fusion. The 3GPP and Non-3GPP sensing Fusion performs the fusion of 3GPP sensing and non-3GPP sensing result of the target for identification and tracking the target. 3GPP sensing result may trigger the non-3GPP sensing, or vice versa.

Embodiments of the present disclosure may be associated with a new section for 3GPP and Non-3GPP Fusion procedures, including for example, procedures discussed with reference to FIGS. 3 to 4 and 5A-5C and 6, registration for UE sensing capability authorization, and/or non-3GPP sensing and 3GPP sensing fusion in the sensing procedure.

FIG. 7 illustrates a flowchart of a communication method 700 implemented at a terminal device in accordance with some embodiments of the present disclosure. For the purpose of discussion, the method 700 will be described from the perspective of the terminal device 101 in FIG. 1.

At block 710, the terminal device 101 receives, from a first network device, a sensing request comprising a sensing type aligned with at least one capability of the terminal device; and

At block 720, the terminal device 101 transmits, to the first network device, a sensing result obtained based on the sensing type.

In some example embodiments, the terminal device 101 is further caused to: in response to that the at least one authorized capability comprises a sensing data format alignment capability and a sensing result obtained based on the sensing request has a data format of a second sensing type, change the data format of the sensing result from the second sensing type to the first sensing type.

In some example embodiments, the sensing request comprises at least one of: a first event for sensing, a requirement of sensing quality, information of a sensing target, environment information of a location to be sensed, an area scope of the location to be sensed, or an altitude of the location to be sensed.

In some example embodiments, the at least one capability of the terminal device comprises at least one of: at least one supported sensing capability which is supported by the terminal device, or at least one subscribed sensing capability which is subscribed by the terminal device, or at least one authorized sensing capability which is authorized to the terminal device.

In some example embodiments, a supported sensing capability, or a subscribed sensing capability or an authorized sensing capability comprises at least one of: a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, or a requirement of sensing quality.

In some example embodiments, the terminal device 101 is further caused to: transmit, to a second network device, at least one supported sensing capability via the first network device; and receive, from the second network device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device.

In some example embodiments, the terminal device 101 is further caused to: transmit, to the second network device, first updated information about at least one supported sensing capability via the first network device; and receive, from the second network device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the first updated information about the at least one supported sensing capability.

In some example embodiments, the terminal device 101 is further caused to: receive, from the second network device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on second updated information about at least one subscribed sensing capability of the terminal device.

FIG. 8 illustrates a flowchart of a communication method 800 implemented at a first network device in accordance with some embodiments of the present disclosure. For the purpose of discussion, the method 800 will be described from the perspective of the network device 110 in FIG. 1, which is also referred to as the first network device 110.

At block 810, the first network device 110 receives, from a third network device, a first sensing request indicating a first event for sensing.

At block 820, the first network device 110 transmits, to a terminal device, a second sensing request based on the first sensing request, the second sensing request comprising a sensing type aligned with at least one capability of the terminal device.

At block 830, the first network device 110 receives, from the terminal device, a sensing result obtained based on the sensing type.

In some example embodiments, the first network device 110 is further caused to: perform a sensing procedure based on the first sensing request; and in response that a result of the performed sensing procedure indicates the first event occurs, transmit the second sensing request to the terminal device.

In some example embodiments, the first network device 110 is further caused to: perform a fusion of the received sensing result and the result of the performed sensing procedure; and transmit a result of the fusion to a third network device.

In some example embodiments, the first network device 110 is further caused to: transmit the received sensing result to a third network device.

In some example embodiments, the first sensing request comprises at least one of: a requirement of sensing quality, information of a sensing target, environment information of a location to be sensed, an area scope of the location to be sensed, or an altitude of the location to be sensed.

In some example embodiments, the second sensing request comprises at least one of: the first event, a requirement of sensing quality, information of a sensing target, environment information of a location to be sensed, an area scope of the location to be sensed, or an altitude of the location to be sensed.

In some example embodiments, the first network device is further caused to: receive a message comprising at least of a sensing authorization result from a second network device and an updated sensing authorization result, wherein the sensing authorization result indicates at least one authorized sensing capability of the terminal device, and wherein the updated sensing authorization result indicates at least one authorized sensing capability of the terminal device which is authorized based on first updated information about the at least one supported sensing capability or is authorized based on second updated information about at least one subscribed sensing capability of the terminal device.

In some example embodiments, the received message further comprises a Non-Access Stratum (NAS) content comprising at least of a sensing authorization result from a second network device and an updated sensing authorization result, and wherein the first network device is further caused to: transmit the NAS content to the terminal device.

FIG. 9 illustrates a flowchart of a communication method 900 implemented at a second network device in accordance with some embodiments of the present disclosure. For the purpose of discussion, the method 900 will be described from the perspective of the second network device 403, e.g., the AMF 120.

At block 910, the second network device 403 receives, from a terminal device, at least one supported sensing capability via a first network device.

At block 920, the second network device 403 transmits, to the terminal device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device.

In some example embodiments, the second network device 403 is further caused to:transmit, to a fourth network device, a request for at least one subscribed sensing capability of the terminal device; receive, from the fourth network device, a response comprising the at least one subscribed sensing capability; and determine the at least one authorized sensing capability based on the at least one supported sensing capability and the at least one subscribed sensing capability.

In some example embodiments, the second network device 403 is further caused to:receive, from the terminal device, first updated information about at least one supported sensing capability via the first network device; and transmit, to the terminal device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the first updated information about the at least one supported sensing capability.

In some example embodiments, the second network device 403 is further caused to:receive, from a fourth network device, second updated information about at least one subscribed sensing capability of the terminal device; and transmit, to the terminal device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the second updated information about the at least one subscribed sensing capability.

In some example embodiments, a supported sensing capability or an authorized sensing capability comprises at least one of: a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, or a requirement of sensing quality.

FIG. 10 illustrates a flowchart of a communication method 1000 implemented at a third network device in accordance with some embodiments of the present disclosure. For the purpose of discussion, the method 1000 will be described from the perspective of the third network device 303, e.g., the SEMF device 130 in FIG. 1.

At block 1010, the third network device 303 receives, from a fifth network device, a third sensing request indicating a first event for sensing.

At block 1020, the third network device 303 transmits, to a first network device, a first sensing request indicating the first event for sensing.

At block 1030, the third network device 303 receives, from the first network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.

FIG. 11 illustrates a flowchart of a communication method 1100 implemented at a fourth network device in accordance with some embodiments of the present disclosure. For the purpose of discussion, the method 1100 will be described from the perspective of the fourth network device 404, e.g., the UDM device 140.

At block 1110, the fourth network device 404 receives, from a second network device, a request for at least one subscribed sensing capability of the terminal device.

At block 1120, the fourth network device 404 transmits, to the second network device, a response comprising the at least one subscribed sensing capability.

In some example embodiments, the second network device is further caused to: transmit, to the second network device, updated information about at least one subscribed sensing capability of the terminal device.

In some example embodiments, a supported sensing capability or a subscribed sensing capability comprises at least one of: a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, or a requirement of sensing quality.

In some example embodiments, the second network device comprises an Access and Mobility Management Function (AMF) device, and the fourth network device comprises a Unified Data Management (UDM) device.

FIG. 12 illustrates a flowchart of a communication method 1200 implemented at a fifth network device in accordance with some embodiments of the present disclosure. For the purpose of discussion, the method 1200 will be described from the perspective of the fifth network device 304, for example, the SF device 150.

At block 1210, the fifth network device 304 transmits, to a third network device, a third sensing request indicating a first event for sensing.

At block 1220, the fifth network device 304 receives, from the third network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.

In some example embodiments, the third network device comprises a sensing management function (SEMF) device, and the fifth network device comprises a sensing function (SF) device.

FIG. 13 is a simplified block diagram of a device 1300 that is suitable for implementing embodiments of the present disclosure. The device 1300 can be considered as a further example implementation of any of the devices as shown in FIG. 1. Accordingly, the device 1300 can be implemented at or as at least a part of the terminal device, the first network device, the second network device, the third network device, the fourth network device, or the fifth network device.

As shown, the device 1300 includes a processor 1310, a memory 1320 coupled to the processor 1310, a suitable transceiver 1340 coupled to the processor 1310, and a communication interface coupled to the transceiver 1340. The memory 1320 stores at least a part of a program 1330. The transceiver 1340 may be for bidirectional communications or a unidirectional communication based on requirements. The transceiver 1340 may include at least one of a transmitter 1342 and a receiver 1344. The transmitter 1342 and the receiver 1344 may be functional modules or physical entities. The transceiver 1340 has at least one antenna to facilitate communication, though in practice an Access Node mentioned in this application may have several ones. The communication interface may represent any interface that is necessary for communication with other network elements, such as X2/Xn interface for bidirectional communications between eNBs/gNBs, S1/NG interface for communication between a Mobility Management Entity (MME) /Access and Mobility Management Function (AMF) /SGW/UPF and the eNB/gNB, Un interface for communication between the eNB/gNB and a relay node (RN) , or Uu interface for communication between the eNB/gNB and a terminal device.

The program 1330 is assumed to include program instructions that, when executed by the associated processor 1310, enable the device 1300 to operate in accordance with the embodiments of the present disclosure, as discussed herein with reference to FIGS. 1 to 12. The embodiments herein may be implemented by computer software executable by the processor 1310 of the device 1300, or by hardware, or by a combination of software and hardware. The processor 1310 may be configured to implement various embodiments of the present disclosure. Furthermore, a combination of the processor 1310 and memory 1320 may form processing means 1350 adapted to implement various embodiments of the present disclosure.

The memory 1320 may be of any type suitable to the local technical network and may be implemented using any suitable data storage technology, such as a non-transitory computer readable storage medium, semiconductor based memory devices, magnetic memory devices and systems, optical memory devices and systems, fixed memory and removable memory, as non-limiting examples. While only one memory 1320 is shown in the device 1300, there may be several physically distinct memory modules in the device 1300. The processor 1310 may be of any type suitable to the local technical network, and may include one or more of general purpose computers, special purpose computers, microprocessors, digital signal processors (DSPs) and processors based on multicore processor architecture, as non-limiting examples. The device 1300 may have multiple processors, such as an application specific integrated circuit chip that is slaved in time to a clock which synchronizes the main processor.

According to embodiments of the present disclosure, a terminal device comprising a circuitry is provided. The circuitry is configured to: receive, from a first network device, a sensing request comprising a sensing type aligned with at least one capability of the terminal device; and transmit, to the first network device, a sensing result obtained based on the sensing type. According to embodiments of the present disclosure, the circuitry may be configured to perform any method implemented by the terminal device as discussed above.

According to embodiments of the present disclosure, a first network device comprising a circuitry is provided. The circuitry is configured to: receive, from a third network device, a first sensing request indicating a first event for sensing; transmit, to a terminal device, a second sensing request based on the first sensing request, the second sensing request comprising a sensing type aligned with at least one capability of the terminal device; and receive, from the terminal device, a sensing result obtained based on the sensing type. According to embodiments of the present disclosure, the circuitry may be configured to perform any method implemented by the first network device as discussed above.

According to embodiments of the present disclosure, a second network device comprising a circuitry is provided. The circuitry is configured to: receive, from a terminal device, at least one supported sensing capability via a first network device; and transmit, to the terminal device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device. According to embodiments of the present disclosure, the circuitry may be configured to perform any method implemented by the second network device as discussed above.

According to embodiments of the present disclosure, a third network device comprising a circuitry is provided. The circuitry is configured to: receive, from a fifth network device, a third sensing request indicating a first event for sensing; transmit, to a first network device, a first sensing request indicating the first event for sensing; and receive, from the first network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request. According to embodiments of the present disclosure, the circuitry may be configured to perform any method implemented by the third network device as discussed above.

According to embodiments of the present disclosure, a fourth network device comprising a circuitry is provided. The circuitry is configured to: receive, from a second network device, a request for at least one subscribed sensing capability of the terminal device; and transmit, to the second network device, a response comprising the at least one subscribed sensing capability. According to embodiments of the present disclosure, the circuitry may be configured to perform any method implemented by the fourth network device as discussed above.

According to embodiments of the present disclosure, a fifth network device comprising a circuitry is provided. The circuitry is configured to: transmit, to a third network device, a third sensing request indicating a first event for sensing; and receive, from the third network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request. According to embodiments of the present disclosure, the circuitry may be configured to perform any method implemented by the fifth network device as discussed above.

The term “circuitry” used herein may refer to hardware circuits and/or combinations of hardware circuits and software. For example, the circuitry may be a combination of analog and/or digital hardware circuits with software/firmware. As a further example, the circuitry may be any portions of hardware processors with software including digital signal processor (s) , software, and memory (ies) that work together to cause an apparatus, such as a terminal device or a network device, to perform various functions. In a still further example, the circuitry may be hardware circuits and or processors, such as a microprocessor or a portion of a microprocessor, that requires software/firmware for operation, but the software may not be present when it is not needed for operation. As used herein, the term circuitry also covers an implementation of merely a hardware circuit or processor (s) or a portion of a hardware circuit or processor (s) and its (or their) accompanying software and/or firmware.

According to embodiments of the present disclosure, a terminal apparatus is provided. The terminal apparatus comprises means for receiving, from a first network device, a sensing request comprising a sensing type aligned with at least one capability of the terminal device; and means for transmitting, to the first network device, a sensing result obtained based on the sensing type. In some embodiments, the first apparatus may comprise means for performing the respective operations of the method 700. In some example embodiments, the first apparatus may further comprise means for performing other operations in some example embodiments of the method 700. The means may be implemented in any suitable form. For example, the means may be implemented in a circuitry or software module.

According to embodiments of the present disclosure, a first network apparatus is provided. The first network apparatus comprises means for receiving, from a third network device, a first sensing request indicating a first event for sensing; means for transmitting, to a terminal device, a second sensing request based on the first sensing request, the second sensing request comprising a sensing type aligned with at least one capability of the terminal device; and means for receiving, from the terminal device, a sensing result obtained based on the sensing type. In some embodiments, the second apparatus may comprise means for performing the respective operations of the method 800. In some example embodiments, the second apparatus may further comprise means for performing other operations in some example embodiments of the method 800. The means may be implemented in any suitable form. For example, the means may be implemented in a circuitry or software module.

According to embodiments of the present disclosure, a second network apparatus is provided. The second network apparatus comprises means for receiving, from a terminal device, at least one supported sensing capability via a first network device; and means for transmitting, to the terminal device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device. In some embodiments, the third apparatus may comprise means for performing the respective operations of the method 900. In some example embodiments, the third apparatus may further comprise means for performing other operations in some example embodiments of the method 900. The means may be implemented in any suitable form. For example, the means may be implemented in a circuitry or software module.

According to embodiments of the present disclosure, a third network apparatus is provided. The third network apparatus comprises means for receiving, from a fifth network device, a third sensing request indicating a first event for sensing; means for transmitting, to a first network device, a first sensing request indicating the first event for sensing; and means for receiving, from the first network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request. In some embodiments, the fourth apparatus may comprise means for performing the respective operations of the method 1000. In some example embodiments, the fourth apparatus may further comprise means for performing other operations in some example embodiments of the method 1000. The means may be implemented in any suitable form. For example, the means may be implemented in a circuitry or software module.

According to embodiments of the present disclosure, a fourth network apparatus is provided. The fourth network apparatus comprises means for receiving, from a second network device, a request for at least one subscribed sensing capability of the terminal device; and means for transmitting, to the second network device, a response comprising the at least one subscribed sensing capability. In some embodiments, the fifth apparatus may comprise means for performing the respective operations of the method 1100. In some example embodiments, the fifth apparatus may further comprise means for performing other operations in some example embodiments of the method 1100. The means may be implemented in any suitable form. For example, the means may be implemented in a circuitry or software module.

According to embodiments of the present disclosure, a fifth network apparatus is provided. The fifth network apparatus comprises means for transmitting, to a third network device, a third sensing request indicating a first event for sensing; and means for receiving, from the third network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request. In some embodiments, the sixth apparatus may comprise means for performing the respective operations of the method 1200. In some example embodiments, the sixth apparatus may further comprise means for performing other operations in some example embodiments of the method 1200. The means may be implemented in any suitable form. For example, the means may be implemented in a circuitry or software module.

In summary, embodiments of the present disclosure provide the following aspects.

In an aspect, it is proposed a terminal device comprising: a processor configured to cause the terminal device to: receive, from a first network device, a sensing request comprising a sensing type aligned with at least one capability of the terminal device; and transmit, to the first network device, a sensing result obtained based on the sensing type.

In some embodiments, the terminal device is further caused to: in response to that the at least one authorized capability comprises a sensing data format alignment capability and a sensing result obtained based on the sensing request has a data format of a second sensing type, change the data format of the sensing result from the second sensing type to the first sensing type.

In some embodiments, the sensing request comprises at least one of: a first event for sensing, a requirement of sensing quality, information of a sensing target, environment information of a location to be sensed, an area scope of the location to be sensed, or an altitude of the location to be sensed.

In some embodiments, the at least one capability of the terminal device comprises at least one of: at least one supported sensing capability which is supported by the terminal device, or at least one subscribed sensing capability which is subscribed by the terminal device, or at least one authorized sensing capability which is authorized to the terminal device.

In some embodiments, a supported sensing capability, or a subscribed sensing capability or an authorized sensing capability comprises at least one of: a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, or a requirement of sensing quality.

In some embodiments, the terminal device is further caused to: transmit, to a second network device, at least one supported sensing capability via the first network device; and receive, from the second network device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device.

In some embodiments, the terminal device is further caused to: transmit, to the second network device, first updated information about at least one supported sensing capability via the first network device; and receive, from the second network device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the first updated information about the at least one supported sensing capability.

In some embodiments, the terminal device is further caused to: receive, from the second network device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on second updated information about at least one subscribed sensing capability of the terminal device.

In an aspect, it is proposed a first network device comprising: a processor configured to cause the first network device to: receive, from a third network device, a first sensing request indicating a first event for sensing; transmit, to a terminal device, a second sensing request based on the first sensing request, the second sensing request comprising a sensing type aligned with at least one capability of the terminal device; and receive, from the terminal device, a sensing result obtained based on the sensing type.

In some embodiments, the first network device is further caused to: perform a sensing procedure based on the first sensing request; and in response that a result of the performed sensing procedure indicates the first event occurs, transmit the second sensing request to the terminal device.

In some embodiments, the first network device is further caused to: perform a fusion of the received sensing result and the result of the performed sensing procedure; and transmit a result of the fusion to a third network device.

In some embodiments, the first network device is further caused to: transmit the received sensing result to a third network device.

In some embodiments, the first sensing request comprises at least one of: a requirement of sensing quality, information of a sensing target, environment information of a location to be sensed, an area scope of the location to be sensed, or an altitude of the location to be sensed.

In some embodiments, the second sensing request comprises at least one of: the first event, a requirement of sensing quality, information of a sensing target, environment information of a location to be sensed, an area scope of the location to be sensed, or an altitude of the location to be sensed.

In some embodiments, the first network device is further caused to: receive a message comprising at least of a sensing authorization result from a second network device and an updated sensing authorization result, wherein the sensing authorization result indicates at least one authorized sensing capability of the terminal device, and wherein the updated sensing authorization result indicates at least one authorized sensing capability of the terminal device which is authorized based on first updated information about the at least one supported sensing capability or is authorized based on second updated information about at least one subscribed sensing capability of the terminal device.

In some embodiments, the received message further comprises a Non-Access Stratum (NAS) content comprising at least of a sensing authorization result from a second network device and an updated sensing authorization result, and wherein the first network device is further caused to: transmit the NAS content to the terminal device.

In an aspect, it is proposed a second network device comprising: a processor configured to cause the second network device to: receive, from a terminal device, at least one supported sensing capability via a first network device; and transmit, to the terminal device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device.

In some embodiments, the second network device is further caused to: transmit, to a fourth network device, a request for at least one subscribed sensing capability of the terminal device; receive, from the fourth network device, a response comprising the at least one subscribed sensing capability; and determine the at least one authorized sensing capability based on the at least one supported sensing capability and the at least one subscribed sensing capability.

In some embodiments, the second network device is further caused to: receive, from the terminal device, first updated information about at least one supported sensing capability via the first network device; and transmit, to the terminal device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the first updated information about the at least one supported sensing capability.

In some embodiments, the second network device is further caused to: receive, from a fourth network device, second updated information about at least one subscribed sensing capability of the terminal device; and transmit, to the terminal device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the second updated information about the at least one subscribed sensing capability.

In some embodiments, a supported sensing capability or an authorized sensing capability comprises at least one of: a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, or a requirement of sensing quality.

In an aspect, it is proposed a third network device comprising: a processor configured to cause the first network device to: receive, from a fifth network device, a third sensing request indicating a first event for sensing; transmit, to a first network device, a first sensing request indicating the first event for sensing; and receive, from the first network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.

In an aspect, it is proposed a fourth network device comprising: a processor configured to cause the fourth network device to: receive, from a second network device, a request for at least one subscribed sensing capability of the terminal device; and transmit, to the second network device, a response comprising the at least one subscribed sensing capability.

In some embodiments, the second network device is further caused to: transmit, to the second network device, updated information about at least one subscribed sensing capability of the terminal device.

In some embodiments, a supported sensing capability or a subscribed sensing capability comprises at least one of: a first capability of a first sensing type, a second capability of a second sensing type, a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, or a requirement of sensing quality.

In some embodiments, the second network device comprises an Access and Mobility Management Function (AMF) device, and the fourth network device comprises a Unified Data Management (UDM) device.

In an aspect, it is proposed a fifth network device comprising: a processor configured to cause the fifth network device to: transmit, to a third network device, a third sensing request indicating a first event for sensing; and receive, from the third network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.

In some embodiments, the third network device comprises a sensing management function (SEMF) device, and the fifth network device comprises a sensing function (SF) device.

In an aspect, a terminal device comprises: at least one processor; and at least one memory coupled to the at least one processor and storing instructions thereon, the instructions, when executed by the at least one processor, causing the device to perform the method implemented by the terminal device discussed above.

In an aspect, a first network device comprises: at least one processor; and at least one memory coupled to the at least one processor and storing instructions thereon, the instructions, when executed by the at least one processor, causing the device to perform the method implemented by the first network device discussed above.

In an aspect, a second network device comprises: at least one processor; and at least one memory coupled to the at least one processor and storing instructions thereon, the instructions, when executed by the at least one processor, causing the device to perform the method implemented by the second network device discussed above.

In an aspect, a third network device comprises: at least one processor; and at least one memory coupled to the at least one processor and storing instructions thereon, the instructions, when executed by the at least one processor, causing the device to perform the method implemented by the third network device discussed above.

In an aspect, a fourth network device comprises: at least one processor; and at least one memory coupled to the at least one processor and storing instructions thereon, the instructions, when executed by the at least one processor, causing the device to perform the method implemented by the fourth network device discussed above.

In an aspect, a fifth network device comprises: at least one processor; and at least one memory coupled to the at least one processor and storing instructions thereon, the instructions, when executed by the at least one processor, causing the device to perform the method implemented by the fifth network device discussed above.

In an aspect, a computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the terminal device discussed above.

In an aspect, a computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the first network device discussed above.

In an aspect, a computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the second network device discussed above.

In an aspect, a computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the third network device discussed above.

In an aspect, a computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the fourth network device discussed above.

In an aspect, a computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the fifth network device discussed above.

In an aspect, a computer program comprising instructions, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the terminal device discussed above.

In an aspect, a computer program comprising instructions, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the first network device discussed above.

In an aspect, a computer program comprising instructions, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the second network device discussed above.

In an aspect, a computer program comprising instructions, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the third network device discussed above.

In an aspect, a computer program comprising instructions, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the fourth network device discussed above.

In an aspect, a computer program comprising instructions, the instructions, when executed on at least one processor, causing the at least one processor to perform the method implemented by the fifth network device discussed above.

Generally, various embodiments of the present disclosure may be implemented in hardware or special purpose circuits, software, logic or any combination thereof. Some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device. While various aspects of embodiments of the present disclosure are illustrated and described as block diagrams, flowcharts, or using some other pictorial representation, it will be appreciated that the blocks, apparatus, systems, techniques or methods described herein may be implemented in, as non-limiting examples, hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controller or other computing devices, or some combination thereof.

The present disclosure also provides at least one computer program product tangibly stored on a non-transitory computer readable storage medium. The computer program product includes computer-executable instructions, such as those included in program modules, being executed in a device on a target real or virtual processor, to carry out the process or method as described above with reference to FIGS. 1 to 13. Generally, program modules include routines, programs, libraries, objects, classes, components, data structures, or the like that perform particular tasks or implement particular abstract data types. The functionality of the program modules may be combined or split between program modules as desired in various embodiments. Machine-executable instructions for program modules may be executed within a local or distributed device. In a distributed device, program modules may be located in both local and remote storage media.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowcharts and/or block diagrams to be implemented. The program code may execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

The above program code may be embodied on a machine readable medium, which may be any tangible medium that may contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine readable medium may be a machine readable signal medium or a machine readable storage medium. A machine readable medium may include but not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine readable storage medium would include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM) , a read-only memory (ROM) , an erasable programmable read-only memory (EPROM or Flash memory) , an optical fiber, a portable compact disc read-only memory (CD-ROM) , an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are contained in the above discussions, these should not be construed as limitations on the scope of the present disclosure, but rather as descriptions of features that may be specific to particular embodiments. Certain features that are described in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment may also be implemented in multiple embodiments separately or in any suitable sub-combination.

Although the present disclosure has been described in language specific to structural features and/or methodological acts, it is to be understood that the present disclosure defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

A terminal device comprising:

a processor configured to cause the terminal device to:

receive, from a first network device, a sensing request comprising a sensing type aligned with at least one capability of the terminal device; and

transmit, to the first network device, a sensing result obtained based on the sensing type.
The device of claim 1, wherein the terminal device is further caused to:

in response to that the at least one authorized capability comprises a sensing data format alignment capability and a sensing result obtained based on the sensing request has a data format of a second sensing type, change the data format of the sensing result from the second sensing type to the first sensing type.
The device of claim 1, wherein the sensing request comprises at least one of:

a first event for sensing,

a requirement of sensing quality,

information of a sensing target,

environment information of a location to be sensed,

an area scope of the location to be sensed, or

an altitude of the location to be sensed.
The device of any of claims 1 to 3, wherein the at least one capability of the terminal device comprises at least one of:

at least one supported sensing capability which is supported by the terminal device, or

at least one subscribed sensing capability which is subscribed by the terminal device, or

at least one authorized sensing capability which is authorized to the terminal device.
The device of claim 4, wherein a supported sensing capability, or a subscribed sensing capability or an authorized sensing capability comprises at least one of:

a first capability of a first sensing type,

a second capability of a second sensing type,

a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, or

a requirement of sensing quality.
The device of any of claims 1 to 5, wherein the terminal device is further caused to:

transmit, to a second network device, at least one supported sensing capability via the first network device; and

receive, from the second network device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device.
The device of claim 6, wherein the terminal device is further caused to:

transmit, to the second network device, first updated information about at least one supported sensing capability via the first network device; and

receive, from the second network device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the first updated information about the at least one supported sensing capability.
The device of claim 6, wherein the terminal device is further caused to:

receive, from the second network device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on second updated information about at least one subscribed sensing capability of the terminal device.
A first network device comprising:

a processor configured to cause the first network device to:

receive, from a third network device, a first sensing request indicating a first event for sensing;

transmit, to a terminal device, a second sensing request based on the first sensing request, the second sensing request comprising a sensing type aligned with at least one capability of the terminal device; and

receive, from the terminal device, a sensing result obtained based on the sensing type.
The device of claim 9, wherein the first network device is further caused to:

perform a sensing procedure based on the first sensing request; and

in response that a result of the performed sensing procedure indicates the first event occurs, transmit the second sensing request to the terminal device.
The device of claim 9, wherein the first sensing request comprises at least one of:

a requirement of sensing quality,

information of a sensing target,

environment information of a location to be sensed,

an area scope of the location to be sensed, or

an altitude of the location to be sensed.
The device of claim 9, wherein the second sensing request comprises at least one of:

the first event,

a requirement of sensing quality,

information of a sensing target,

environment information of a location to be sensed,

an area scope of the location to be sensed, or

an altitude of the location to be sensed.
A second network device comprising:

a processor configured to cause the second network device to:

receive, from a terminal device, at least one supported sensing capability via a first network device; and

transmit, to the terminal device, a sensing authorization result via the first network device, the sensing authorization result indicating at least one authorized sensing capability of the terminal device.
The device of claim 13, wherein the second network device is further caused to:

transmit, to a fourth network device, a request for at least one subscribed sensing capability of the terminal device;

receive, from the fourth network device, a response comprising the at least one subscribed sensing capability; and

determine the at least one authorized sensing capability based on the at least one supported sensing capability and the at least one subscribed sensing capability.
The device of claim 13, wherein the second network device is further caused to:

receive, from the terminal device, first updated information about at least one supported sensing capability via the first network device; and

transmit, to the terminal device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the first updated information about the at least one supported sensing capability.
The device of claim 13, wherein the second network device is further caused to:

receive, from a fourth network device, second updated information about at least one subscribed sensing capability of the terminal device; and

transmit, to the terminal device, an updated sensing authorization result via the first network device, the updated sensing authorization result indicating at least one authorized sensing capability of the terminal device which is authorized based on the second updated information about the at least one subscribed sensing capability.
The device of any of claims 13 to 16, wherein a supported sensing capability or an authorized sensing capability comprises at least one of:

a first capability of a first sensing type,

a second capability of a second sensing type,

a sensing data format alignment capability for changing a data format of the second sensing type to a data format of the first sensing type, or

a requirement of sensing quality.
A third network device comprising:

a processor configured to cause the first network device to:

receive, from a fifth network device, a third sensing request indicating a first event for sensing;

transmit, to a first network device, a first sensing request indicating the first event for sensing; and

receive, from the first network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.
A fourth network device comprising:

a processor configured to cause the fourth network device to:

receive, from a second network device, a request for at least one subscribed sensing capability of the terminal device; and

transmit, to the second network device, a response comprising the at least one subscribed sensing capability.
A fifth network device comprising:

a processor configured to cause the fifth network device to:

transmit, to a third network device, a third sensing request indicating a first event for sensing; and

receive, from the third network device, a sensing response comprising at least one of: a sensing result obtained by a terminal device, or a result of a fusion performed by the first network device based on the first sensing request.