Sensing handover in isac systems

Abstract

Aspects presented herein relate to methods and apparatus, including apparatuses, such as UEs or base stations, for wireless communication. The apparatus may detect whether a first sensed RSRP is less than a first threshold, the first sensed RSRP associated with at least one sensed signal. The apparatus may also identify at least one second wireless device of a set of candidate second wireless devices upon detecting whether the first sensed RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on a location of a target object. In addition, the apparatus may send a sensing handover request message for the at least one second wireless device. The apparatus may also receive a sense handover request ACK or a sense handover request NACK from the at least one second wireless device based on the sense handover request message.

Description

Technical Field

[0001] The present disclosure relates generally to communication systems, and more particularly to sensing handover in a wireless communication system. Background Art

[0002] Wireless communication systems are widely deployed to provide a variety of telecommunication services, such as telephony, video, data, messaging, and broadcast. Typical wireless communication systems may employ multiple access technologies capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single carrier frequency division multiple access (SC-FDMA) systems, and time division synchronous code division multiple access (TD-SCDMA) systems.

[0003] These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate at a city, country, region, or even global level. An example telecommunication standard is 5G New Radio (NR). 5G NR is part of the continuous mobile broadband evolution promulgated by the Third Generation Partnership Project (3GPP) to meet new requirements associated with latency, reliability, security, scalability, and other requirements (e.g., in the Internet of Things (IoT)). 5G NR includes services associated with enhanced mobile broadband (eMBB), massive machine type communications (mMTC), and ultra-reliable low latency communications (URLLC). Certain aspects of 5G NR may be based on the 4G Long Term Evolution (LTE) standard. Further improvements to 5G NR technology are needed. These improvements may also be applicable to other multiple access technologies and telecommunication standards that employ these technologies. Summary of the invention

[0004] A simplified overview of one or more aspects is presented below to provide a basic understanding of these aspects. This summary is not an extensive review of all contemplated aspects. This summary is neither intended to identify key or important elements of all aspects, nor to describe the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to a more detailed description presented later.

[0005] In one aspect of the present disclosure, a method, a computer-readable medium, and an apparatus are provided. The apparatus may be an apparatus for wireless communication at a first wireless device. The apparatus may send or receive at least one sensing signal, wherein a first sensing reference signal received power (RSRP) is detected based on at least one sensing signal sent or at least one sensing signal received. The apparatus may also detect whether the first sensing RSRP is less than a first threshold, the first sensing RSRP being associated with at least one sensing signal. In addition, the apparatus may identify at least one second wireless device in a set of candidate second wireless devices when detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on the location of a target object. The apparatus may also send a sensing handover request message to the at least one second wireless device. The apparatus may also send a sensing signal or a sensing signal configuration to the at least one second wireless device based on the sensing handover request message. In addition, the apparatus may receive a sensing handover request confirmation (ACK) or a sensing handover request negative ACK (NACK) from the at least one second wireless device based on the sensing handover request message. The apparatus may also receive a sensing report from the at least one second wireless device based on the sensing handover request ACK or the sensing handover request NACK.

[0006] In one aspect of the present disclosure, a method, a computer-readable medium, and an apparatus are provided. The apparatus may be an apparatus for wireless communication at a second wireless device. The apparatus may receive a sensing handover request message from a first wireless device, the sensing handover request message being based on whether a first sensing reference signal received power (RSRP) is less than a first threshold. The apparatus may also select a target sensing beam from a candidate target sensing beam set based on a location of a target object associated with the second wireless device. In addition, the apparatus may send or receive the at least one sensing signal, wherein a second sensing RSRP is detected based on at least one sensing signal sent or at least one sensing signal received. The apparatus may also detect whether the second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with at least one sensing signal. The apparatus may also receive a sensing signal or a sensing signal configuration from the first wireless device based on detecting whether the second sensing RSRP is greater than a second threshold. In addition, the apparatus may send a sensing handover request confirmation (ACK) or a sensing handover request negative ACK (NACK) to the first wireless device when detecting whether the second sensing RSRP is greater than the second threshold. The apparatus may also send a sensing report to the first wireless device based on the sensing handover request ACK or the sensing handover request NACK.

[0007] To achieve the aforementioned and related purposes, one or more aspects include the features described in full below and particularly pointed out in the claims. The following description and the accompanying drawings set forth in detail some exemplary features of one or more aspects. However, these features are only indicative of only some of the various ways in which the principles of the various aspects can be employed. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a diagram illustrating an example of a wireless communication system and an access network.

[0009] Figure 2A is a diagram illustrating an example of a first frame according to various aspects of the present disclosure.

[0010] Figure 2B is a diagram illustrating an example of downlink (DL) channels within a subframe according to aspects of the present disclosure.

[0011] Figure 2C is a diagram illustrating an example of a second frame according to various aspects of the present disclosure.

[0012] Figure 2D is a diagram illustrating an example of uplink (UL) channels within a subframe according to aspects of the present disclosure.

[0013] Figure 3 is a diagram illustrating an example of a base station and a user equipment (UE) in an access network.

[0014] Figure 4 is a diagram illustrating an example of UE positioning based on reference signal measurement.

[0015] Figure 5 is a diagram illustrating an example of a wireless communication system.

[0016] Fig. 6A is a diagram illustrating an example of a wireless communication system utilizing single-station sensing.

[0017] Figure 6B is a diagram illustrating an example of a wireless communication system utilizing bistatic sensing or multistatic sensing.

[0018] Figure 7 is a diagram illustrating an example of a wireless communication system.

[0019] Figure 8 is a diagram illustrating an example of a wireless communication system.

[0020] Fig. 9 is a diagram illustrating an example of a communication flow of a wireless communication system.

[0021] Fig.10 is a diagram illustrating an example of a wireless communication system.

[0022] Fig.11 is a diagram illustrating an example of a communication flow of a wireless communication system.

[0023] Fig.12 is a diagram illustrating an example of a wireless communication system.

[0024] Fig.13 is a diagram illustrating an example of a communication flow of a wireless communication system.

[0025] Fig.14 is a communication flow diagram illustrating example communications between a first wireless device and a second wireless device.

[0026] Fig.15 is a flow chart of a method of wireless communication.

[0027] Fig.16 is a flow chart of a method of wireless communication.

[0028] Fig.17 is a flow chart of a method of wireless communication.

[0029] Fig.18 is a flow chart of a method of wireless communication.

[0030] Fig.19 are diagrams illustrating examples of hardware implementations for example apparatuses and / or network entities.

[0031] Fig. 20 is a diagram illustrating an example of a hardware implementation of an example network entity. DETAILED DESCRIPTION

[0032] Some aspects of wireless communication can utilize object sensing. Certain types of object sensing can utilize radar sensing, which can be specified as single-station sensing and dual-station / multi-station sensing. For example, when sensing certain types of objects (e.g., unmanned aerial vehicles (UAVs)), object sensing or radar sensing can be utilized. In object or radar sensing, due to the irregular shape of the target object, the reflected signal may be unevenly distributed in all directions. In order to increase the possibility of receiving the reflected sensing signal, some types of UEs (e.g., legacy UEs or sensing-specific UEs) can participate in receiving the reflected signal. This type of object sensing is called UE-assisted sensing, where the UE is called a "sensing UE". This type of object sensing can also be used to sense other types of objects (e.g., aircraft, vehicles, ships, people, animals, or any object). As described above, certain types of wireless communications can utilize UAV management (i.e., managing UAVs or other wireless objects to assist in sensing). UAV management has many expected benefits, such as reduced deployment costs of existing physical sites for sensing or reduced hardware costs of RF / baseband hardware shared with base stations (BSs). Some types of UAV management can utilize wide-area airspace management, which may be suitable for cooperative sensing and target tracking in wireless systems. Various aspects of object sensing may include single-station sensing and dual-station / multi-station sensing. In single-station sensing, one radar / sensor both sends and receives sensing signals. In dual-station sensing or multi-station sensing, one radar / sensor sends a sensing signal and another radar / sensor receives a sensing signal reflected by a target object (e.g., UAV). One problem with using a communication network to sense UAVs (or other target objects) is the short coverage distance when sensing is performed using a single base station or UE. This is because the base station or UE may not send a large bandwidth signal with the same high Tx power as a traditional radar. For example, the bandwidth of a base station or UE may be at most tens of MHz, but the bandwidth of a traditional radar may be several GHz. That is, considering the radiation safety to humans, the Tx power of a base station or UE is lower than that of a traditional radar. Therefore, the coverage range of a base station or UE may be less than 1km, but the coverage range of a traditional UAV monitoring radar may be tens or hundreds of km. Various aspects of the present disclosure may utilize multi-cell sensing (e.g., utilizing multiple cells for sensing), such as to support wide area coverage for UAV monitoring. In some instances, various aspects presented herein may utilize continuous sensing that relies on consistent collaboration of multiple base stations or UEs in neighboring cells. Various aspects of the present disclosure may also utilize a scheme for sensing handover in an integrated sensing and communication (ISAC) system (e.g., sensing a UAV across a cell boundary). In addition, various aspects of the present disclosure may utilize sensing handover schemes for different use cases, such as different types of sensing node switching.For example, aspects of the present disclosure may utilize single-station sensing node switching, dual-station sensing node switching (eg, dual-station sensing receiver switching or dual-station sensing transmitter switching), or multi-station sensing node switching.

[0033] The specific embodiments described below in conjunction with the accompanying drawings are descriptions of various configurations and do not represent the only configurations in which the concepts described herein can be practiced. In order to provide a thorough understanding of the various concepts, the detailed description includes specific details. However, these concepts can be practiced without these specific details. In some cases, well-known structures and components are shown in block diagram form to avoid blurring these concepts.

[0034] Several aspects of the telecommunication system are also presented with reference to various apparatuses and methods. These apparatuses and methods are described in the following detailed description and illustrated in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as "elements"). These elements may be implemented using electronic hardware, computer software, or any combination thereof. Whether these elements are implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system.

[0035] For example, an element, or any part of an element, or any combination of elements can be implemented as a "processing system" including one or more processors. Examples of processors include microprocessors, microcontrollers, graphics processing units (GPUs), central processing units (CPUs), application processors, digital signal processors (DSPs), reduced instruction set computing (RISC) processors, systems on chip (SoCs), baseband processors, field programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gating logic, discrete hardware circuits, and other suitable hardware configured to perform the various functions described in this disclosure. One or more processors in a processing system can execute software. Whether referred to as software, firmware, middleware, microcode, hardware description language, or other terms, software should be broadly interpreted as meaning instructions, instruction sets, codes, code segments, program codes, programs, subroutines, software components, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, or any combination thereof.

[0036] Thus, in one or more example aspects, specific implementations and / or use cases, the described functionality may be implemented in hardware, software, or any combination thereof. If implemented in software, the functionality may be stored or encoded as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media. Storage media may be any available media that can be accessed by a computer. For example, such computer-readable media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable ROM (EEPROM), optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of these types of computer-readable media, or any other medium that can be used to store computer-executable code in the form of instructions or data structures that can be accessed by a computer.

[0037] Although various aspects, specific implementations and / or use cases are described in this application by the illustration of some examples, additional or different aspects, specific implementations and use cases may be generated in many different arrangements and scenarios. The various aspects, specific implementations and / or use cases described herein can be implemented across many different platform types, devices, systems, shapes, sizes and packaging arrangements. For example, various aspects, specific implementations and / or use cases can be generated via integrated chip specific implementations and other devices based on non-module components (e.g., end-user devices, vehicles, communication equipment, computing equipment, industrial equipment, retail / purchase equipment, medical equipment, devices that enable artificial intelligence (AI), etc.). Although some examples may or may not be specifically for use cases or applications, the described examples may have a wide range of applicability. Various aspects, specific implementations and / or use cases can be in the range from chip-level or modular components to non-modular, non-chip-level specific implementations, and further to the range of aggregated, distributed or original equipment manufacturer (OEM) equipment or systems in conjunction with one or more technologies herein. In some practical environments, the equipment in conjunction with the various aspects and features described may also include additional components and features for implementing and practicing the claimed and described aspects. For example, the transmission and reception of wireless signals necessarily include multiple components for analog and digital purposes (e.g., hardware components including antennas, RF chains, power amplifiers, modulators, buffers, processors, interleavers, adders / summers, etc.) The various techniques described herein can be practiced in a wide variety of devices, chip-level components, systems, distributed arrangements, aggregated or disaggregated components, end-user devices, etc., of various sizes, shapes, and configurations.

[0038] The deployment of a communication system (such as a 5G NR system) can be arranged with various components or constituent parts in a variety of ways. In a 5G NR system or network, a network node, a network entity, a mobility element of a network, a radio access network (RAN) node, a core network node, a network element or a network equipment (such as a base station (BS) or one or more units (or one or more components) that perform base station functionality) can be implemented in an aggregated or decomposed architecture. For example, a BS (such as a Node B (NB), an evolved NB (eNB), an NR BS, a 5G NB, an access point (AP), a transmit receive point (TRP) or a cell, etc.) can be implemented as an aggregated base station (also referred to as an independent BS or a monolithic BS) or a decomposed base station.

[0039] A converged base station may be configured to utilize a radio protocol stack physically or logically integrated within a single RAN node. A decomposed base station may be configured to utilize a protocol stack physically or logically distributed between two or more units, such as one or more central or centralized units (CUs), one or more distributed units (DUs), or one or more radio units (RUs). In some aspects, a CU may be implemented within a RAN node, and one or more DUs may be co-located with the CU, or alternatively, may be geographically or virtually distributed in one or more other RAN nodes. A DU may be implemented to communicate with one or more RUs. Each of a CU, a DU, and a RU may be implemented as a virtual unit, i.e., a virtual central unit (VCU), a virtual distributed unit (VDU), or a virtual radio unit (VRU).

[0040] Base station operation or network design may take into account the aggregated nature of base station functionality. For example, a disaggregated base station may be used in an integrated access and backhaul (IAB) network, an open radio access network (O-RAN (network configuration such as that initiated by the O-RAN Alliance)), or a virtualized radio access network (vRAN, also known as a cloud radio access network (C-RAN)). Decomposition may include distributing functionality across two or more units at various physical locations, as well as virtually distributing functionality of at least one unit, which may enable flexibility in network design. Individual units of a disaggregated base station or disaggregated RAN architecture may be configured for wired or wireless communication with at least one other unit.

[0041] Figure 1100 is a diagram illustrating an example of a wireless communication system and an access network. The illustrated wireless communication system includes a decomposed base station architecture. The decomposed base station architecture may include one or more CUs 110, which may communicate directly with a core network 120 via a backhaul link, or indirectly with the core network 120 through one or more decomposed base station units (such as a near real-time (near RT) RAN intelligent controller (RIC) 125 via an E2 link, or a non-real-time (non-RT) RIC 115 associated with a service management and orchestration (SMO) framework 105, or both). The CU 110 may communicate with one or more DUs 130 via corresponding midhaul links such as an F1 interface. The DU 130 may communicate with one or more RUs 140 via corresponding fronthaul links. The RU 140 may communicate with corresponding UEs 104 via one or more radio frequency (RF) access links. In some implementations, a UE 104 may be served by multiple RUs 140 simultaneously.

[0042] Each of the units (i.e., CU 110, DU 130, RU 140, and near-RT RIC 125, non-RT RIC 115, and SMO framework 105) may include or be coupled to one or more interfaces configured to receive or transmit signals, data, or information (collectively, signals) via a wired or wireless transmission medium. Each of these units or an associated processor or controller that provides instructions to the communication interface of these units may be configured to communicate with one or more of the other units via a transmission medium. For example, these units may include a wired interface configured to receive signals on a wired transmission medium or to transmit signals to one or more of the other units. Additionally, these units may include a wireless interface that may include a receiver, transmitter, or transceiver (such as an RF transceiver) configured to receive signals on a wireless transmission medium or to transmit signals to one or more of the other units, or both.

[0043] In some aspects, CU 110 may host one or more higher layer control functions. Such control functions may include radio resource control (RRC), packet data convergence protocol (PDCP), service data adaptation protocol (SDAP), etc. Each control function may be implemented as having an interface configured to communicate signals with other control functions hosted by CU 110. CU110 may be configured to handle user plane functionality (i.e., central unit-user plane (CU-UP)), control plane functionality (i.e., central unit-control plane (CU-CP)), or a combination thereof. In some specific implementations, CU 110 may be logically split into one or more CU-UP units and one or more CU-CP units. When implemented in an O-RAN configuration, the CU-UP unit may communicate bidirectionally with the CU-CP unit via an interface (such as an E1 interface). As needed, CU 110 may be implemented to communicate with DU 130 for network control and signaling.

[0044] DU 130 may correspond to a logical unit that includes one or more base station functions for controlling the operation of one or more RUs 140. In some aspects, DU 130 may host one or more of a radio link control (RLC) layer, a medium access control (MAC) layer, and one or more high physical (PHY) layers (such as modules for forward error correction (FEC) encoding and decoding, scrambling, modulation and demodulation, etc.) depending at least in part on a functional split (such as a functional split defined by 3GPP). In some aspects, DU 130 may further host one or more low PHY layers. Each layer (or module) may be implemented with an interface that is configured to communicate signals with other layers (and modules) hosted by DU 130 or with control functions hosted by CU 110.

[0045] The lower layer functionality may be implemented by one or more RUs 140. In some deployments, the RU 140 controlled by the DU 130 may correspond to a logical node that hosts RF processing functions or low PHY layer functions (such as performing fast Fourier transform (FFT), inverse FFT (iFFT), digital beamforming, physical random access channel (PRACH) extraction and filtering, etc.), or both, based at least in part on functional splitting (such as lower layer functional splitting). In such an architecture, the RU 140 may be implemented to handle over-the-air (OTA) communications with one or more UEs 104. In some specific implementations, real-time and non-real-time aspects of control plane and user plane communications with the RU 140 may be controlled by the corresponding DU 130. In some scenarios, this configuration may enable the DU 130 and the CU 110 to be implemented in a cloud-based RAN architecture such as a vRAN architecture.

[0046] The SMO framework 105 may be configured to support RAN deployment and provisioning of non-virtualized network elements and virtualized network elements. For non-virtualized network elements, the SMO framework 105 may be configured to support the deployment of dedicated physical resources for RAN coverage requirements, which may be managed via an operation and maintenance interface (such as an O1 interface). For virtualized network elements, the SMO framework 105 may be configured to interact with a cloud computing platform (such as an open cloud (O-Cloud) 190) to perform network element lifecycle management (such as instantiating virtualized network elements) via a cloud computing platform interface (such as an O2 interface). Such virtualized network elements may include, but are not limited to, CU 110, DU 130, RU 140, and near-RT RIC 125. In some specific implementations, the SMO framework 105 may communicate with hardware aspects of the 4G RAN, such as an open eNB (O-eNB) 111, via the O1 interface. In addition, in some specific implementations, the SMO framework 105 may communicate directly with one or more RUs 140 via the O1 interface. The SMO framework 105 may also include a non-RT RIC 115 configured to support the functionality of the SMO framework 105 .

[0047] The non-RT RIC 115 may be configured to include logic functions that enable non-real-time control and optimization of RAN elements and resources, artificial intelligence (AI) / machine learning (ML) (AI / ML) workflows including model training and updating, or policy-based guidance of applications / features in the near-RT RIC 125. The non-RT RIC 115 may be coupled to or in communication with the near-RT RIC 125 (such as via an A1 interface). The near-RT RIC 125 may be configured to include logic functions that enable near-real-time control and optimization of RAN elements and resources via data collection and actions through an interface (such as via an E2 interface) that connects one or more CUs 110, one or more DUs 130, or both, and the O-eNB with the near-RT RIC 125.

[0048] In some implementations, in order to generate an AI / ML model to be deployed in the near-RT RIC 125, the non-RT RIC 115 may receive parameters or external enrichment information from an external server. Such information may be utilized by the near-RT RIC 125 and may be received from a non-network data source or from a network function at the SMO framework 105 or the non-RT RIC 115. In some examples, the non-RT RIC 115 or the near-RT RIC 125 may be configured to tune RAN behavior or performance. For example, the non-RT RIC 115 may monitor long-term trends and patterns of performance and employ AI / ML models to perform corrective actions through the SMO framework 105 (such as via reconfiguration of O1) or via creation of RAN management policies (such as A1 policies).

[0049] At least one of the CU 110, the DU 130, and the RU 140 may be referred to as a base station 102. Therefore, the base station 102 may include one or more of the CU 110, the DU 130, and the RU 140 (each component is indicated by a dotted line to indicate that each component may be included in the base station 102 or may not be included in the base station). The base station 102 provides an access point to the core network 120 for the UE 104. The base station 102 may include a macro cell (a high-power cellular base station) and / or a small cell (a low-power cellular base station). Small cells include femto cells, pico cells, and micro cells. A network including both small cells and macro cells may be referred to as a heterogeneous network. A heterogeneous network may also include a home evolved Node B (eNB) (HeNB), which may provide services to a restricted group referred to as a closed subscriber group (CSG). The communication link between RU 140 and UE 104 may include uplink (UL) (also known as reverse link) transmission from UE 104 to RU 140 and / or downlink (DL) (also known as forward link) transmission from RU 140 to UE 104. The communication link may use multiple-input multiple-output (MIMO) antenna technology, including spatial multiplexing, beamforming and / or transmit diversity. The communication link may be through one or more carriers. For each carrier allocated in a carrier aggregation of up to Yx MHz (x component carriers) for transmission in each direction, the base station 102 / UE 104 may use a spectrum of up to Y MHz (e.g., 5 MHz, 10 MHz, 15 MHz, 20 MHz, 100 MHz, 400 MHz, etc.) bandwidth. The carriers may be adjacent to each other or may not be adjacent to each other. The allocation of carriers may be asymmetric with respect to DL and UL (e.g., more or fewer carriers may be allocated to DL compared to UL). The component carrier may include a primary component carrier and one or more secondary component carriers. The primary component carrier may be referred to as a primary cell (PCell) and the secondary component carrier may be referred to as a secondary cell (SCell).

[0050] Some UEs 104 may communicate with each other using a device-to-device (D2D) communication link 158. The D2D communication link 158 may use DL / UL wireless wide area network (WWAN) spectrum. The D2D communication link 158 may use one or more side link channels, such as a physical side link broadcast channel (PSBCH), a physical side link discovery channel (PSDCH), a physical side link shared channel (PSSCH), and a physical side link control channel (PSCCH). The D2D communication may be through a variety of wireless D2D communication systems, such as, for example, Bluetooth, Wi-Fi based on the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standard, LTE, or NR.

[0051] The wireless communication system may also include a Wi-Fi AP 150 that communicates with a UE 104 (also referred to as a Wi-Fi station (STA)) via a communication link 154, for example, in a 5 GHz unlicensed spectrum, etc. When communicating in an unlicensed spectrum, the UE 104 / AP 150 may perform a clear channel assessment (CCA) to determine whether a channel is available prior to communication.

[0052] The electromagnetic spectrum is typically subdivided into various categories, bands, channels, etc. based on frequency / wavelength. In 5G NR, two initial operating bands have been identified as frequency range designations FR1 (410 MHz-7.125 GHz) and FR2 (24.25 GHz-52.6 GHz). Although a portion of FR1 is greater than 6 GHz, FR1 is often (interchangeably) referred to as the "sub-6 GHz" band in various documents and articles. A similar naming issue sometimes occurs with respect to FR2, which is often (interchangeably) referred to as the "millimeter wave" band in documents and articles, although different from the extremely high frequency (EHF) band (30 GHz-300 GHz) identified as the "millimeter wave" band by the International Telecommunication Union (ITU).

[0053] Frequencies between FR1 and FR2 are generally referred to as mid-band frequencies. Recent 5G NR research has identified the operating bands for these mid-band frequencies as frequency range designation FR3 (7.125GHz-24.25GHz). The bands falling within FR3 can inherit FR1 characteristics and / or FR2 characteristics, and therefore the features of FR1 and / or FR2 can be effectively extended to mid-band frequencies. In addition, currently higher frequency bands are being explored to extend 5G NR operations to more than 52.6GHz. For example, three higher operating bands have been identified as frequency range designations FR2-2 (52.6GHz-71GHz), FR4 (71GHz-114.25GHz) and FR5 (114.25GHz-300GHz). Each of these higher frequency bands falls within the EHF band.

[0054] In view of the above, unless otherwise specifically stated, if the term "below 6 GHz" or the like is used in this document, it may broadly refer to frequencies that may be less than 6 GHz, may be within FR1, or may include mid-band frequencies. In addition, unless otherwise specifically stated, if the term "millimeter wave" or the like is used in this document, it may broadly refer to frequencies that may include mid-band frequencies, may be within FR2, FR4, FR2-2, and / or FR5, or may be within the EHF band.

[0055] The base station 102 and the UE 104 may each include multiple antennas (such as antenna elements, antenna panels, and / or antenna arrays) to facilitate beamforming. The base station 102 may send a beamformed signal 182 to the UE 104 in one or more transmit directions. The UE 104 may receive the beamformed signal from the base station 102 in one or more receive directions. The UE 104 may also send a beamformed signal 184 to the base station 102 in one or more transmit directions. The base station 102 may receive the beamformed signal from the UE 104 in one or more receive directions. The base station 102 / UE 104 may perform beam training to determine the best receive direction and the best transmit direction for each of the base station 102 / UE 104. The transmit direction and the receive direction of the base station 102 may be the same or different. The transmit direction and the receive direction of the UE 104 may be the same or different.

[0056] The base station 102 may include and / or be referred to as a gNB, a Node B, an eNB, an access point, a transceiver base station, a radio base station, a radio transceiver, a transceiver function, a basic service set (BSS), an extended service set (ESS), a transmit receive point (TRP), a network node, a network entity, a network equipment, or some other suitable term. The base station 102 may be implemented as an integrated access and backhaul (IAB) node, a relay node, a sidelink node, an aggregated (monolithic) base station with a baseband unit (BBU) (including a CU and a DU) and a RU, or as a decomposed base station including one or more of a CU, a DU, and / or a RU. A set of base stations that may include decomposed base stations and / or aggregated base stations may be referred to as a next generation (NG) RAN (NG-RAN).

[0057] The core network 120 may include an access and mobility management function (AMF) 161, a session management function (SMF) 162, a user plane function (UPF) 163, a unified data management (UDM) 164, one or more location servers 168, and other functional entities. AMF 161 is a control node that processes signaling between UE 104 and the core network 120. AMF 161 supports registration management, connection management, mobility management, and other functions. SMF 162 supports session management and other functions. UPF 163 supports packet routing, packet forwarding, and other functions. UDM 164 supports the generation of authentication and key agreement (AKA) credentials, user identity processing, access authorization, and subscription management. One or more location servers 168 are illustrated as including a gateway mobile location center (GMLC) 165 and a location management function (LMF) 166. However, in general, the one or more location servers 168 may include one or more location / positioning servers, which may include one or more of the GMLC 165, the LMF 166, the position determination entity (PDE), the serving mobile location center (SMLC), the mobile positioning center (MPC), etc. The GMLC 165 and the LMF 166 support UE location services. The GMLC 165 provides an interface for clients / applications (e.g., emergency services) to access UE positioning information. The LMF 166 receives measurements and assistance information from the NG-RAN and the UE 104 via the AMF 161 to calculate the location of the UE 104. The NG-RAN may determine the location of the UE 104 using one or more positioning methods. Positioning the UE 104 may involve signal measurements, position estimation, and optional speed calculations based on these measurements. Signal measurements may be performed by the UE 104 and / or the serving base station 102. The measured signal can be based on a satellite positioning system (SPS) 170 (e.g., one or more of a global navigation satellite system (GNSS), a global positioning system (GPS), a non-terrestrial network (NTN), or other satellite positioning / positioning systems), LTE signals, wireless local area network (WLAN) signals, Bluetooth signals, a terrestrial beacon system (TBS), sensor-based information (e.g., an atmospheric pressure sensor, a motion sensor), an NR enhanced cell ID (NR E-CID) method, an NR signal (e.g., multi-round trip time (multi-RTT), DL angle of departure (DL-AoD), DL time difference of arrival (DL-TDOA), UL time difference of arrival (UL-TDOA), and UL angle of arrival (UL-AoA) positioning) and / or one or more of other systems / signals / sensors.

[0058] Examples of UE 104 include cellular phones, smart phones, session initiation protocol (SIP) phones, laptops, personal digital assistants (PDAs), satellite radios, global positioning systems, multimedia devices, video devices, digital audio players (e.g., MP3 players), cameras, game consoles, tablet devices, smart devices, wearable devices, vehicles, electric meters, gas pumps, large or small kitchen appliances, healthcare equipment, implants, sensors / actuators, displays, or any other similarly functional devices. Some of the UEs in UE 104 may be referred to as IoT devices (e.g., parking meters, gas pumps, toasters, vehicles, heart monitors, etc.). UE 104 may also be referred to as stations, mobile stations, user stations, mobile units, user units, wireless units, remote units, mobile devices, wireless devices, wireless communication devices, remote devices, mobile user stations, access terminals, mobile terminals, wireless terminals, remote terminals, handsets, user agents, mobile clients, clients, or some other suitable terms. In some scenarios, the term UE may also be applied to one or more supporting devices, such as in a device cluster arrangement. One or more of these devices may access the network collectively and / or individually.

[0059] Reference again Figure 1 In certain aspects, the UE 104 may include a sensing component 198, which may be configured to send or receive at least one sensing signal, wherein a first sensing reference signal received power (RSRP) is detected based on the at least one sensing signal sent or the at least one sensing signal received. The sensing component 198 may also be configured to detect whether a first sensing RSRP is less than a first threshold, the first sensing RSRP being associated with the at least one sensing signal. The sensing component 198 may also be configured to identify at least one second wireless device in the set of candidate second wireless devices upon detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on the location of the target object. The sensing component 198 may also be configured to send a sensing handover request message for the at least one second wireless device. The sensing component 198 may also be configured to send a sensing signal or a sensing signal configuration for the at least one second wireless device based on the sensing handover request message. The sensing component 198 may also be configured to receive a sensing handover request confirmation (ACK) or a sensing handover request negative ACK (NACK) from the at least one second wireless device based on the sensing handover request message. The sensing component 198 may also be configured to receive a sensing report from the at least one second wireless device based on the sensing handover request ACK or the sensing handover request NACK.

[0060] In certain aspects, the base station 102 may include a sensing component 199, which may be configured to receive a sensing switching request message from a first wireless device, the sensing switching request message being based on whether a first sensing reference signal received power (RSRP) is less than a first threshold. The sensing component 199 may also be configured to select a target sensing beam from a candidate target sensing beam set based on a location of a target object associated with a second wireless device. The sensing component 199 may also be configured to send or receive the at least one sensing signal, wherein a second sensing RSRP is detected based on the at least one sensing signal sent or the at least one sensing signal received. The sensing component 199 may also be configured to detect whether the second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with the at least one sensing signal. The sensing component 199 may also be configured to receive a sensing signal or a sensing signal configuration from the first wireless device based on detecting whether the second sensing RSRP is greater than a second threshold. The sensing component 199 may also be configured to send a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) to the first wireless device when detecting whether the second sensing RSRP is greater than the second threshold. The sensing component 199 may also be configured to send a sensing report for the first wireless device based on the sensing switching request ACK or the sensing switching request NACK. Although the following description may focus on 5G NR, the concepts described herein may be applicable to other similar fields, such as LTE, LTE-A, CDMA, GSM and other wireless technologies.

[0061] Figure 2A FIG200 is a diagram illustrating an example of a first subframe within a 5G NR frame structure. Figure 2B is a diagram 230 illustrating an example of DL channels within a 5G NR subframe. Figure 2C FIG250 is a diagram illustrating an example of a second subframe within a 5G NR frame structure. Figure 2D is a diagram 280 illustrating an example of UL channels within a 5G NR subframe. The 5G NR frame structure can be frequency division duplex (FDD) (wherein, for a particular set of subcarriers (carrier system bandwidth), subframes within that subcarrier set are dedicated to either DL or UL), or can be time division duplex (TDD) (wherein, for a particular set of subcarriers (carrier system bandwidth), subframes within that subcarrier set are dedicated to both DL and UL). Figure 2A , Figure 2CIn the example provided, the 5G NR frame structure is assumed to be TDD, where subframe 4 is configured with slot format 28 (most of which are DL), where D is DL, U is UL, and F is flexible between DL / UL, and subframe 3 is configured with slot format 1 (all of which are UL). Although subframes 3 and 4 are shown as having slot formats 1 and 28, respectively, any particular subframe can be configured with any of the various available slot formats 0-61. Slot formats 0 and 1 are DL and UL, respectively. Other slot formats 2-61 include a mix of DL, UL and flexible symbols. The slot format is configured for the UE by a received slot format indicator (SFI) (dynamically configured by DL control information (DCI) or semi-statically / statically configured by radio resource control (RRC) signaling). Note that the following description also applies to the 5G NR frame structure as TDD.

[0062] FIG. 2A to FIG. 2D The frame structure is illustrated, and various aspects of the present disclosure may be applicable to other wireless communication technologies that may have different frame structures and / or different channels. A frame (10ms) may be divided into 10 subframes of the same size (1ms). Each subframe may include one or more time slots. A subframe may also include a microslot, which may include 7, 4, or 2 symbols. Each time slot may include 14 or 12 symbols, depending on whether the cyclic prefix (CP) is conventional or extended. For conventional CP, each time slot may include 14 symbols, and for extended CP, each time slot may include 12 symbols. The symbol on the DL may be a CP orthogonal frequency division multiplexing (OFDM) (CP-OFDM) symbol. The symbol on the UL may be a CP-OFDM symbol (for high throughput scenarios) or a discrete Fourier transform (DFT) spread OFDM (DFT-s-OFDM) symbol (also known as a single carrier frequency division multiple access (SC-FDMA) symbol) (for power-limited scenarios; limited to single-stream transmission). The number of time slots within a subframe is based on the CP and parameter set. The parameter set defines the subcarrier spacing (SCS) and effectively defines the symbol length / duration, which is equal to 1 / SCS.

[0063]

[0064] For normal CP (14 symbols / slot), different parameter sets μ0 to 4 allow 1, 2, 4, 8, and 16 slots per subframe, respectively. For extended CP, parameter set 2 allows 4 slots per subframe. Accordingly, for normal CP and parameter set μ, there are 14 symbols / slot and 2 μ timeslots / subframe. The subcarrier spacing can be equal to 2 μ*15kHz, where μ is parameter set 0 to 4. Therefore, the subcarrier spacing for parameter set μ=0 is 15kHz, and the subcarrier spacing for parameter set μ=4 is 240kHz. The symbol length / duration is inversely related to the subcarrier spacing. FIG. 2A to FIG. 2D An example of a parameter set μ=2 with a normal CP of 14 symbols per slot and 4 slots per subframe is provided. The slot duration is 0.25 ms, the subcarrier spacing is 60 kHz, and the symbol duration is about 16.67 μs. Within a frame set, there may be one or more different bandwidth parts (BWPs) that are frequency-division multiplexed (see Figure 2B ). Each BWP can have a specific parameter set and CP (normal or extended).

[0065] A resource grid may be used to represent a frame structure. Each slot includes a resource block (RB) (also referred to as a physical RB (PRB)) extending over 12 consecutive subcarriers. The resource grid is divided into a plurality of resource elements (REs). The number of bits carried by each RE depends on the modulation scheme.

[0066] like Figure 2A As illustrated in FIG, some of the REs carry reference (pilot) signals (RS) for the UE. The RS may include a demodulation RS (DM-RS) (indicated as R for one particular configuration, but other DM-RS configurations are possible) and a channel state information reference signal (CSI-RS) for channel estimation at the UE. The RS may also include a beam measurement RS (BRS), a beam refinement RS (BRRS), and a phase tracking RS (PT-RS).

[0067] Figure 2BExamples of various DL channels within a subframe of a frame are illustrated. A physical downlink control channel (PDCCH) carries DCI within one or more control channel elements (CCEs) (e.g., 1, 2, 4, 8, or 16 CCEs), each CCE including six RE groups (REGs), each REG including 12 consecutive REs in an OFDM symbol of an RB. A PDCCH within a BWP may be referred to as a control resource set (CORESET). The UE is configured to monitor PDCCH candidates in a PDCCH search space (e.g., a common search space, a UE-specific search space) during a PDCCH monitoring opportunity on a CORESET, wherein the PDCCH candidates have different DCI formats and different aggregation levels. Additional BWPs may be located at higher and / or lower frequencies on the channel bandwidth. A primary synchronization signal (PSS) may be within symbol 2 of a particular subframe of a frame. The PSS is used by UE 104 to determine subframe / symbol time and physical layer identification. A secondary synchronization signal (SSS) may be within symbol 4 of a particular subframe of a frame. The SSS is used by the UE to determine the physical layer cell identity group number and the radio frame timing. Based on the physical layer identity and the physical layer cell identity group number, the UE can determine the physical cell identifier (PCI). Based on the PCI, the UE can determine the location of the DM-RS. The physical broadcast channel (PBCH) carrying the master information block (MIB) can be logically grouped with the PSS and SSS to form a synchronization signal (SS) / PBCH block (also called SS block (SSB)). The MIB provides the number of RBs in the system bandwidth and the system frame number (SFN). The physical downlink shared channel (PDSCH) carries user data, broadcast system information not sent via the PBCH (such as the system information block (SIB)), and paging messages.

[0068] like Figure 2C As illustrated, some of the REs carry DM-RS (indicated as R for a particular configuration, but other DM-RS configurations are possible) for channel estimation at the base station. The UE may send a DM-RS for a physical uplink control channel (PUCCH) and a DM-RS for a physical uplink shared channel (PUSCH). The PUSCH DM-RS may be sent in the first or first two symbols of the PUSCH. Depending on whether a short PUCCH or a long PUCCH is sent and depending on the specific PUCCH format used, the PUCCH DM-RS can be sent in different configurations. The UE may send a sounding reference signal (SRS). The SRS may be sent in the last symbol of a subframe. The SRS may have a comb structure, and the UE may send the SRS on one of the comb teeth. The SRS may be used by the base station for channel quality estimation to achieve frequency-dependent scheduling of the UL.

[0069] Figure 2DExamples of various UL channels within a subframe of a frame are illustrated. The PUCCH may be located at a position as indicated in one configuration. The PUCCH carries uplink control information (UCI), such as scheduling requests, channel quality indicators (CQI), precoding matrix indicators (PMI), rank indicators (RI), and hybrid automatic repeat request (HARQ) acknowledgement (ACK) (HARQ-ACK) feedback (i.e., one or more HARQ ACK bits indicating one or more ACKs and / or negative ACKs (NACKs)). The PUSCH carries data and may additionally be used to carry buffer status reports (BSRs), power headroom reports (PHRs), and / or UCI.

[0070] Figure 3 370 is a block diagram of a base station 310 in an access network communicating with a UE 350. In the DL, Internet Protocol (IP) packets may be provided to a controller / processor 375. The controller / processor 375 implements layer 3 and layer 2 functionality. Layer 3 includes a radio resource control (RRC) layer, and layer 2 includes a service data adaptation protocol (SDAP) layer, a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, and a medium access control (MAC) layer. The controller / processor 375 provides RRC layer functionality associated with broadcasting of system information (e.g., MIB, SIB), RRC connection control (e.g., RRC connection paging, RRC connection establishment, RRC connection modification, and RRC connection release), inter-radio access technology (RAT) mobility, and measurement configuration for UE measurement reporting; PDCP layer functionality associated with header compression / decompression, security (ciphering, deciphering, integrity protection, integrity verification), and handover support functions; RLC layer functionality associated with transmission of upper layer packet data units (PDUs), error correction through ARQ, concatenation, segmentation, and reassembly of RLC service data units (SDUs), re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto transport blocks (TBs), demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction through HARQ, priority handling, and logical channel prioritization.

[0071] The transmit (TX) processor 316 and the receive (RX) processor 370 implement layer 1 functionality associated with various signal processing functions. Layer 1 (which includes the physical (PHY) layer) may include error detection on the transmission channel, forward error correction (FEC) decoding / decoding of the transmission channel, interleaving, rate matching, mapping to the physical channel, modulation / demodulation of the physical channel, and MIMO antenna processing. The TX processor 316 processes the mapping to the signal constellation based on various modulation schemes (e.g., binary phase shift keying (BPSK), quadrature phase shift keying (QPSK), M-order phase shift keying (M-PSK), M-order quadrature amplitude modulation (M-QAM)). The decoded and modulated symbols can then be split into parallel streams. Subsequently, each stream can be mapped to an OFDM subcarrier, each stream is multiplexed with a reference signal (e.g., a pilot) in the time domain and / or frequency domain, and each stream is then combined together using an inverse fast Fourier transform (IFFT) to generate a physical channel carrying a time domain OFDM symbol stream. The OFDM stream is spatially pre-coded to generate multiple spatial streams. Channel estimates from a channel estimator 374 may be used to determine the coding and modulation schemes, as well as for spatial processing. Channel estimates may be derived from reference signals and / or channel condition feedback sent by the UE 350. Each spatial stream may then be provided to a different antenna 320 via a separate transmitter 318Tx. Each transmitter 318Tx may modulate a radio frequency (RF) carrier with a corresponding spatial stream for transmission.

[0072] At the UE 350, each receiver 354Rx receives a signal through its corresponding antenna 352. Each receiver 354Rx recovers the information modulated onto the RF carrier and provides the information to a receive (RX) processor 356. The TX processor 368 and the RX processor 356 implement layer 1 functionality associated with various signal processing functions. The RX processor 356 can perform spatial processing on the information to recover any spatial stream destined for the UE 350. If multiple spatial streams are destined for the UE 350, they can be combined into a single OFDM symbol stream by the RX processor 356. The RX processor 356 then converts the OFDM symbol stream from the time domain to the frequency domain using a fast Fourier transform (FFT). The frequency domain signal includes a separate OFDM symbol stream for each subcarrier of the OFDM signal. The symbols on each subcarrier and the reference signal are recovered and demodulated by determining the signal constellation point most likely to be sent by the base station 310. These soft decisions can be based on channel estimates calculated by the channel estimator 358. The soft decisions are then decoded and deinterleaved to recover the data and control signals originally sent on the physical channel by base station 310. The data and control signals are then provided to controller / processor 359, which implements layer 3 and layer 2 functionality.

[0073] The controller / processor 359 may be associated with a memory 360 that stores program codes and data. The memory 360 may be referred to as a computer readable medium. In the UL, the controller / processor 359 provides demultiplexing between transport channels and logical channels, packet reassembly, decryption, header decompression, and control signal processing to recover IP packets. The controller / processor 359 is also responsible for error detection using ACK and / or NACK protocols to support HARQ operations.

[0074] Similar to the functionality described in conjunction with DL transmissions performed by the base station 310, the controller / processor 359 provides RRC layer functionality associated with system information (e.g., MIB, SIB) acquisition, RRC connection, and measurement reporting; PDCP layer functionality associated with header compression / decompression and security (encryption, decryption, integrity protection, integrity verification); RLC layer functionality associated with transmission of upper layer PDUs, error correction through ARQ, concatenation, segmentation and reassembly of RLC SDUs, resegmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto TBs, demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction through HARQ, priority handling, and logical channel prioritization.

[0075] Channel estimates derived by the channel estimator 358 from a reference signal or feedback transmitted by the base station 310 may be used by the TX processor 368 to select appropriate coding and modulation schemes and to facilitate spatial processing. The spatial streams generated by the TX processor 368 may be provided to different antennas 352 via separate transmitters 354Tx. Each transmitter 354Tx may modulate an RF carrier with a corresponding spatial stream for transmission.

[0076] UL transmissions are processed at the base station 310 in a manner similar to that described in conjunction with the receiver functionality at the UE 350. Each receiver 318Rx receives a signal through its corresponding antenna 320. Each receiver 318Rx recovers information modulated onto an RF carrier and provides the information to the RX processor 370.

[0077] The controller / processor 375 may be associated with a memory 376 that stores program codes and data. The memory 376 may be referred to as a computer readable medium. In the UL, the controller / processor 375 provides demultiplexing between transport channels and logical channels, packet reassembly, decryption, header decompression, control signal processing to recover IP packets. The controller / processor 375 is also responsible for error detection using ACK and / or NACK protocols to support HARQ operations.

[0078] At least one of the TX processor 368, the RX processor 356, and the controller / processor 359 may be configured to perform operations related to Figure 1 At least one of the TX processor 316, the RX processor 370, and the controller / processor 375 may be configured to perform operations related to Figure 1 The sensing component 199 combines various aspects.

[0079] Figure 4 FIG. 4 is a diagram illustrating an example of UE positioning based on reference signal measurements. UE 404 may be at time T SRS_TX UL-SRS 412 is sent and at time T PRS_RX A DL positioning reference signal (PRS) (DL-PRS) 410 is received. TRP 406 may be at time T SRS_RX Receive UL-SRS 412 and at time T PRS_TX 410. UE 404 may receive DL-PRS 410 before transmitting UL-SRS 412, or may transmit UL-SRS 412 before receiving DL-PRS 410. In both cases, a positioning server (e.g., location server 168) or UE 404 may determine the UL-SRS 412 based on ||T SRS_RX -T PRS_TX |-|T SRS_TX -T PRS_RX || to determine RTT 414. Thus, multi-RTT positioning may utilize UE ERx-Tx time difference measurements (i.e., |T SRS_TX -T PRS_RX |) and DL-PRS reference signal received power (RSRP) (DL-PRS-RSRP), and the measured TRP Rx-Tx time difference measurement (ie, |T SRS_RX -T PRS_TX |) and UL-SRS-RSRP. The UE 404 measures the UE Rx-Tx time difference measurement (and optionally the DL-PRS-RSRP of the received signal) using the assistance data received from the positioning server, and the TRP 402, 406 measures the gNB Rx-Tx time difference measurement (and optionally the UL-SRS-RSRP of the received signal) using the assistance data received from the positioning server. These measurements may be used at the positioning server or the UE 404 to determine the RTT, which is used to estimate the position of the UE 404. Other methods for determining the RTT are possible, such as, for example, using DL-TDOA and / or UL-TDOA measurements.

[0080] DL-AoD positioning may utilize the measured DL-PRS-RSRP of downlink signals received from multiple TRPs 402, 406 at the UE 404. The UE 404 measures the DL-PRS-RSRP of the received signals using assistance data received from a positioning server, and the resulting measurements, along with the departure azimuth angle (A-AoD), departure zenith angle (Z-AoD), and other configuration information, are used to position the UE 404 relative to neighboring TRPs 402, 406.

[0081] DL-TDOA positioning may utilize DL Reference Signal Time Difference (RSTD) (and optionally DL-PRS-RSRP) of downlink signals received from multiple TRPs 402, 406 at the UE 404. The UE 404 measures the DL RSTD (and optionally DL-PRS-RSRP) of the received signals using assistance data received from a positioning server, and the resulting measurements are used along with other configuration information to position the UE 404 relative to neighboring TRPs 402, 406.

[0082] UL-TDOA positioning may utilize the UL relative time of arrival (RTOA) (and optionally UL-SRS-RSRP) of uplink signals sent from the UE 404 at multiple TRPs 402, 406. The TRPs 402, 406 measure the UL-RTOA (and optionally UL-SRS-RSRP) of the received signals using assistance data received from a positioning server, and the resulting measurements are used along with other configuration information to estimate the position of the UE 404.

[0083] UL-AoA positioning may utilize the measured azimuth angle of arrival (A-AoA) and zenith angle of arrival (Z-AoA) of uplink signals sent from the UE 404 at multiple TRPs 402, 406. The TRPs 402, 406 measure the A-AoA and Z-AoA of the received signals using assistance data received from a positioning server, and the resulting measurements are used along with other configuration information to estimate the position of the UE 404.

[0084] Additional positioning methods may be used to estimate the position of the UE 404, such as, for example, UE-side UL-AoD and / or DL-AoA. Note that data / measurements from various techniques may be combined in various ways to increase accuracy, determine and / or enhance certainty, supplement / complete measurements, and / or replace / provide missing information.

[0085] Various aspects of wireless communications can utilize a variety of different types of communications, such as integrated sensing and communication (ISAC). ISAC refers to a combination of sensing and communication systems to efficiently utilize wireless resources and / or utilize wide-area environmental sensing. ISAC has facilitated many technological advances in signal processing and wireless communications. For example, the combined use of millimeter wave (mmW) frequencies and massive multiple-input multiple-output (MIMO) technology may facilitate similarities between communication and radio sensing systems, such as similarities in hardware architecture, channel characteristics, and information processing pipelines. Therefore, it can be extended to several radar tasks (e.g., angle of arrival (AoA) or angle of departure (AoD) estimation and mobile target tracking) to address different communication challenges, such as beam management and resource allocation. In addition, certain types of wireless networks (e.g., ultra-dense and cell-free wireless networks) can enable comprehensive characterization of the propagation environment of ISAC.

[0086] ISAC is considered one of the key features and technological advancements for certain types of wireless communications (e.g., 5G and 6G). Moreover, there are several different motivations for the use of ISAC, such as cost efficiency and spectrum efficiency. For cost efficiency, aspects of ISAC can utilize shared radio frequency (RF) and / or baseband hardware for sensing and communication. For spectrum slope, aspects of ISAC can utilize the always-on availability of spectrum for different types of functions. In addition, ISAC can utilize a variety of different use cases, such as macro sensing and micro sensing. For macro sensing use cases, aspects of ISAC can utilize weather monitoring, autonomous driving, dynamic mapping, low-altitude airspace management (e.g., with respect to unmanned aerial vehicles (UAVs)), intruder detection, etc. For micro sensing use cases, aspects of ISAC can utilize gesture recognition, vital sign detection, high-resolution imaging, etc. Moreover, aspects of ISAC can utilize sensing-assisted communications, such as beam management.

[0087] Some aspects of wireless communications may utilize object sensing. Certain types of object sensing may utilize radar sensing, which may be specified as single-station sensing and dual-station / multi-station sensing. For example, object sensing or radar sensing may be utilized when sensing certain types of objects, such as unmanned aerial vehicles (UAVs). In object or radar sensing, due to the irregular shape of the target object, the reflected signals may be unevenly distributed in all directions. In order to increase the likelihood of receiving the reflected sensing signals, some types of UEs (e.g., legacy UEs or sensing-dedicated UEs) may participate in receiving the reflected signals. This type of object sensing is referred to as UE-assisted sensing, where the UEs are referred to as "sensing UEs." This type of object sensing may be utilized because the number of base stations (e.g., gNBs) in a cellular network is less than the number of UEs. This type of object sensing may also be used to sense other types of objects (e.g., aircraft, vehicles, ships, people, animals, or any object).

[0088] As described above, certain types of wireless communications may utilize UAV management (i.e., managing UAVs or other wireless objects to assist in sensing). UAV management has many expected benefits, such as reduced deployment costs of existing physical sites for sensing. Additionally, UAV management may contribute to reduced hardware costs for RF / baseband hardware shared with base stations (BSs). Some types of UAV management may utilize wide-area airspace management, which may be suitable for cooperative sensing and target tracking in wireless systems (e.g., 5G / 6G systems).

[0089] Figure 5 A diagram 500 is illustrated that includes an example of a wireless communication system. More specifically, Figure 5 Diagram 500 in FIG. 1 shows an example of a wireless communication system for cooperative sensing and target tracking. Figure 5 As shown, diagram 500 includes multiple cells (cell 501, cell 502, cell 503, cell 504, cell 505, cell 506, cell 507) and multiple corresponding base stations (base station 511, base station 512, base station 513, base station 514, base station 515, base station 516, base station 517). Diagram 500 also includes UAV 520 and UAV 522, as well as core network 530 and UAV management platform 540. Figure 5 As shown, cells 501-505 and base stations 511-515 are part of multi-station operation (ie, there is underlying coordination between base stations during communication). Cells 506-507 and base stations 506-507 are in static operation (ie, there is no underlying coordination between base stations).

[0090] As indicated herein, various aspects of object sensing may include single-station sensing and dual-station / multi-station sensing. In single-station sensing, one radar / sensor both sends and receives sensing signals. Single-station sensing is advantageous because it may not be necessary to form a transmit (Tx) / receive (Rx) (Tx / Rx) pairing or grouping. However, when single-station sensing is utilized, self-interference may need to be mitigated. In dual-station sensing or multi-station sensing, one radar / sensor sends a sensing signal and another radar / sensor receives a sensing signal reflected by a target object (e.g., a UAV). Although dual-station / multi-station sensing may not require mitigation of self-interference, it may be necessary to form a Tx / Rx pairing / grouping.

[0091] Fig. 6A and Figure 6B 600 and 650 are illustrated, respectively, which include examples of wireless communication systems utilizing single-station sensing and dual-station / multi-station sensing. More specifically, Fig. 6A Diagram 600 in FIG. 1 shows an example of a wireless communication system utilizing single-station sensing. Fig. 6AAs shown, diagram 600 includes a base station 610 including a Tx antenna panel 612 and an Rx antenna panel 614, and a UAV 620. Diagram 600 shows that a sensing signal 630 is transmitted from the Tx antenna panel 612 to the UAV 620, and a reflected sensing signal 632 is reflected from the UAV 620 back to the Rx antenna panel 614. Figure 6B Diagram 650 in FIG. 1 shows another example of a wireless communication system utilizing dual-station sensing or multi-station sensing. Figure 6B As shown, diagram 650 includes a base station 660 having a Tx antenna panel 662 and a base station 670 having an Rx antenna panel 672 . Figure 6B Also included are a sensing UE 680 and a UAV 682. Diagram 650 shows that a sensing signal 690 is sent from the Tx antenna panel 662 to the UAV 682. Also, a reflected sensing signal 692 is forwarded from the UAV 682 to the Rx antenna panel 672, and a reflected sensing signal 694 is forwarded from the UAV 682 to the sensing UE 680.

[0092] One problem with using a communication network to sense UAVs (or other target objects) is the short coverage distance when sensing is performed using a single base station or UE. This is because the base station or UE may not send a large bandwidth signal with the same high Tx power as a traditional radar. For example, the bandwidth of a base station or UE may be at most tens of MHz, but the bandwidth of a traditional radar may be several GHz. That is, considering the radiation safety to people, the Tx power of the base station or UE is lower than that of a traditional radar. Therefore, the coverage range of a base station or UE may be less than 1km, but the coverage range of a traditional UAV monitoring radar may be tens or hundreds of km. Based on the above, in order to support wide-area coverage of UAV monitoring, it may be beneficial to use multi-cell sensing. That is, considering the mobility of UAVs, it may be beneficial to use continuous sensing that relies on the consistent cooperation of multiple base stations / UEs in adjacent cells. In order to do this, it may be beneficial to use a scheme for sensing handover in an ISAC system (e.g., sensing UAVs that may cross cell boundaries).

[0093] Various aspects of the present disclosure may utilize multi-cell sensing (e.g., sensing using multiple cells), such as to support wide area coverage for UAV monitoring. In some instances, various aspects presented herein may utilize continuous sensing that relies on consistent collaboration of multiple base stations or UEs in adjacent cells. Various aspects of the present disclosure may also utilize schemes for sensing handover in an ISAC system (e.g., sensing UAVs across cell boundaries). In addition, various aspects of the present disclosure may use sensing handover schemes for different use cases, such as different types of sensing node switching. For example, various aspects of the present disclosure may utilize single-station sensing node switching, dual-station sensing node switching (e.g., dual-station sensing receiver switching or dual-station sensing transmitter switching), or multi-station sensing node switching.

[0094] In various aspects of wireless communication using single-station sensing node switching, the sensing node may send a sensing signal reflected back to itself. For example, in a single-station sensing node switching, a base station or UE may send a sensing signal that is reflected from an object (e.g., UAV) and returned to itself. In a dual-station sensing receiver switching, a Tx node may send a sensing signal that is reflected to different Rx nodes, where the Rx node may change. For example, in a dual-station sensing receiver switching, a base station may send a sensing signal that is reflected from an object (e.g., UAV) to an Rx node (e.g., another base station or UE), where the Rx node may change. Moreover, in a dual-station sensing receiver switching, a UE may send a sensing signal that is reflected from an object (e.g., UAV) to an Rx node (e.g., another UE or base station), where the Rx node may change. In a dual-station sensing transmitter switching, an Rx node may receive a reflected sensing signal from a different Tx node, where the Tx node may change. For example, in a dual-station sensing transmitter switching, a base station may receive a sensing signal reflected from an object (e.g., a UAV) from a Tx node (e.g., another base station or a UE), wherein the Tx node may change. Also, in a dual-station sensing transmitter switching, a UE may receive a sensing signal reflected from an object (e.g., a UAV) from a Tx node (e.g., another UE or a base station), wherein the Tx node may change.

[0095] Figure 7 A diagram 700 is illustrated that includes an example of a wireless communication system. More specifically, Figure 7 Diagram 700 in FIG. 1 shows an example of a wireless communication system with different sensing handover schemes, such as single-station sensing, dual-station sensing, and multi-station sensing. Figure 7As shown, diagram 700 includes base station Tx / Rx 710, base station Rx 712, base station Rx 714, UE 720, UE 722, UE 724, UE 726, UAV 730, UAV 732, UAV 734, cell 740, cell 742, and cell 744. Diagram 700 also includes a plurality of sensing signals, such as sensing signal 750, sensing signal 752, sensing signal 754, sensing signal 756, and sensing signal 758. Figure 7 As shown, base station Tx / Rx 710 can send a sensing signal 750 that is reflected from UAV 730 and returns to itself, which is an example of single-station sensing. Moreover, base station Rx 714 can send a sensing signal 756 that is reflected from UAV 732 and returns to itself, which is another example of single-station sensing. Base station Tx / Rx 710 can also send a sensing signal 752 that is reflected from UAV 732 and goes to base station Rx 712 or UE 722, which is an example of multi-station sensing. Base station Tx / Rx 710 can also send a sensing signal 754 that is reflected from UAV 734 and goes to base station Rx 714, which is an example of dual-station sensing. In addition, UE 724 can send a sensing signal 758 that is reflected from UAV 734 and goes to UE 726, which is another example of dual-station sensing.

[0096] Figure 8 The diagrams 800 and 850 illustrate examples of wireless communication systems. More specifically, Figure 8 Diagrams 800 and 850 in FIG. 8 show examples of wireless communication systems including a single-station sensor node switching scheme. Figure 8 As shown, diagram 800 includes base station 810, base station 812, UAV 820, sensing signal 830, sensing signal 832, cell 840, and cell 842. Diagram 800 also depicts a flight path of UAV 820, which causes the single-station sensing scheme to switch nodes as UAV 820 moves along the flight path. For example, at the start of the flight path, base station 810 sends sensing signal 830, which goes to UAV 820 and returns to itself. When UAV 820 moves further along the flight path, such as in the middle of the flight path, the node switches from base station 810 to base station 812. In the middle of the flight path, UAV 820 can receive sensing signal 830 from base station 810 or sensing signal 832 from base station 812. At the end of the flight path, base station 812 sends sensing signal 832, which goes to UAV 820 and returns to itself.

[0097] like Figure 8As further shown, diagram 850 includes UE 860, UE 862, UAV 870, sensing signal 880, sensing signal 882, cell 890, and cell 892. Diagram 850 also depicts a flight path of UAV 870, which causes the single-station sensing scheme to switch nodes as UAV 870 moves along the flight path. For example, at the start of the flight path, UE 860 sends sensing signal 880, which goes to UAV 870 and returns to itself. When UAV 870 moves further along the flight path, such as in the middle of the flight path, the node switches from UE 860 to UE 862. In the middle of the flight path, UAV 870 can receive sensing signal 880 from UE 862 or sensing signal 882 from UE 860. At the end of the flight path, UE 862 sends sensing signal 882, which goes to UAV 820 and returns to itself. Figure 8 It is depicted that as the UAV moves along the route / path, two single-station sensing base stations / UEs can sequentially send and receive sensing signals. In this way, Figure 8 The single-station sensing node switching scheme in can indicate the UAV position / velocity / Doppler frequency distribution, which can accelerate beam acquisition / tracking and object identification, and thus reduce sensing interruptions.

[0098] Fig. 9 A diagram 900 is illustrated that includes an example of a communication flow of a wireless communication system. More specifically, Fig. 9 Diagram 900 in FIG. 1 shows an example of a communication flow for a single-station sensor node switching scheme. Fig. 9As shown, diagram 900 includes a communication flow chart between a base station / UE 902 (base station or UE) and a base station / UE 904 (base station or UE). At 910, the base station / UE 902 may send and / or receive a sensing signal. At 920, the base station / UE 902 may detect whether the sensing RSRP is less than a threshold. At 930, the base station / UE 902 may determine or identify a candidate target base station (e.g., a second base station) based on the UAV position. At 940, the base station / UE 902 may send a single-station sensing handover request including multiple parameters / measurements (e.g., UAV position, speed, Doppler frequency, micro-Doppler characteristics, etc.). Similarly, at 940, the base station / UE 904 may receive a single-station sensing handover request including multiple parameters / measurements (e.g., UAV position, speed, Doppler frequency, micro-Doppler characteristics, etc.). At 950, the base station / UE 904 may determine or select a sensing beam based on the UAV position. At 960, the base station / UE 904 may send and / or receive a sensing signal. At 970, the base station / UE 904 detects whether the sensing RSRP is greater than a threshold. At 980, the base station / UE 904 may send a single-station sensing handover request ACK or a negative ACK (NACK) including multiple parameters / measurements (e.g., sensing RSRP, etc.). Similarly, at 980, the base station / UE 902 may receive a single-station sensing handover request ACK or NACK including multiple parameters / measurements (e.g., sensing RSRP, etc.).

[0099] Fig.10 A diagram 1000 is illustrated that includes an example of a wireless communication system. More specifically, Fig.10 Diagram 1000 in FIG. 1 shows an example of a wireless communication system including a dual-station sensing receiver node switching scheme. Fig.10As shown, diagram 1000 includes base station 1010, UE 1011, base station 1012, UE 1013, base station 1014, UE 1015, UAV 1020, sensing signal 1030, sensing signal 1032, sensing signal 1034, cell 1040, cell 1042, and cell 1044. Diagram 1000 also depicts a flight path of UAV 1020, which causes the dual-station sensing scheme to switch receiver nodes as UAV 1020 moves along the flight path. For example, at the start of the flight path, base station 1010 or UE 1011 sends sensing signal 1030 to base station 1012 or UE 1013 via UAV 1020. When UAV 1020 moves further along the flight path, such as in the middle of the flight path, the receiver node switches from base station 1012 or UE 1013 to base station 1014 or UE 1015. That is, in the middle of the flight route, the base station 1010 / UE 1011 transmits a sensing signal 1032 to the base station 1012 / UE 1013 via the UAV 1020, or the base station 1010 / UE 1011 transmits a sensing signal 1032 to the base station 1014 / UE 1015 via the UAV 1020. At the end of the flight route, the base station 1010 / UE 1011 transmits a sensing signal 1034 to the base station 1014 / UE 1015 via the UAV 1020. Therefore, when the UAV 1020 moves along the flight route, the receiver switches from the base station 1012 / UE 1013 to the base station 1014 / UE 1015. Fig.10 It is depicted that when the UAV moves along the route / path, multiple dual-station sensing Rx base stations / UEs (base station 1012 / UE 1013 or base station 1014 / UE 1015) can sequentially receive sensing signals from one sensing Tx base station / UE (base station 1010 / UE 1011). In this way, Fig.10 The bistatic sensing Rx node switching scheme in can indicate the UAV position / velocity / Doppler frequency distribution and can accelerate beam acquisition / tracking and object identification, and thus reduce sensing interruptions.

[0100] Fig.11 A diagram 1100 is illustrated that includes an example of a communication flow of a wireless communication system. More specifically, Fig.11 Diagram 1100 in FIG. 1 shows an example of a communication flow for a dual-station sensing receiver node switching scheme. Fig.11As shown, diagram 1100 includes a communication flow chart between base station / UE 1102 (base station or UE), base station / UE 1104 (base station or UE), and base station / UE 1106 (base station or UE). At 1110, base station / UE 1102 may send a sensing signal to base station / UE 1104. At 1120, base station / UE 1104 may detect whether the sensing RSRP is less than a threshold. At 1122, base station / UE 1104 may send a sensing report (including sensing RSRP) to base station / UE 1102. At 1130, base station / UE 1102 may determine or identify a candidate Rx base station (e.g., a third base station) based on the UAV position. At 1140, base station / UE 1102 may send a dual-station sensing Rx request including multiple parameters / measurement results (e.g., UAV position, speed, Doppler frequency distribution, sensing signal configuration, etc.). Likewise, at 1140, the base station / UE 1106 may receive a single-station sensing Rx request including multiple parameters / measurements (e.g., UAV position, velocity, Doppler frequency distribution, sensing signal configuration, etc.). At 1150, the base station / UE 1106 may determine or select a sensing beam based on the UAV position. At 1160, the base station / UE 1102 may send a sensing signal to the base station / UE 1106. At 1170, the base station / UE 1106 may detect whether the sensing RSRP is greater than a threshold. At 1180, the base station / UE 1106 may send a dual-station sensing Rx request ACK or NACK. Likewise, at 1180, the base station / UE 1102 may receive a dual-station sensing Rx request ACK or NACK. At 1182, the base station / UE 1106 may send a sensing report including multiple parameters or measurements (e.g., sensing RSRP, etc.). Likewise, at 1182, the base station / UE 1102 may receive a sensing report including a plurality of parameters or measurements (eg, sensing RSRP, etc.).

[0101] Fig.12 A diagram 1200 is illustrated that includes an example of a wireless communication system. More specifically, Fig.12 Diagram 1200 in FIG. 1 shows an example of a wireless communication system including a dual-station sensing transmitter node switching scheme. Fig.12As shown, diagram 1200 includes base station 1210, UE 1211, base station 1212, UE 1213, base station 1214, UE 1215, UAV 1220, sensing signal 1230, sensing signal 1232, sensing signal 1234, sensing signal 1236, cell 1240, and cell 1242. Diagram 1200 also depicts a flight path of UAV 1220, which enables the dual-station sensing scheme to switch transmitter nodes as UAV 1220 moves along the flight path. For example, at the start of the flight path, base station 1210 or UE 1211 sends sensing signal 1230 to base station 1212 or UE 1213 via UAV 1220. When UAV 1220 moves further along the flight path, such as in the middle of the flight path, the transmitter node switches from base station 1210 or UE 1211 to base station 1214 or UE 1215. That is, in the middle of the flight route, base station 1210 / UE 1211 transmits sensing signal 1232 to base station 1212 / UE 1213 via UAV 1220, or base station 1214 / UE 1215 transmits sensing signal 1234 to base station 1212 / UE 1213 via UAV 1220. At the end of the flight route, base station 1214 / UE 1215 transmits sensing signal 1236 to base station 1212 / UE 1213 via UAV 1220. Therefore, when UAV 1220 moves along the flight route, the transmitter switches from base station 1210 / UE 1211 to base station 1214 / UE 1215. Fig.12 It is depicted that when the UAV moves along the route / path, a dual-station sensing Rx base station / UE (base station 1212 / UE 1213) can sequentially receive sensing signals from multiple sensing Tx base stations / UEs (base station 1210 / UE 1211 or base station 1214 / UE 1215). Moreover, the receiving node can connect to any sending node when it reports the sensing results. In this way, Fig.12 The bistatic sensing Tx node switching scheme in can indicate the UAV position / velocity / Doppler frequency distribution and can accelerate beam acquisition / tracking and object identification, and thus reduce sensing interruptions.

[0102] Fig.13 A diagram 1300 is illustrated that includes an example of a communication flow of a wireless communication system. More specifically, Fig.13 Diagram 1300 in FIG. 1 shows an example of a communication flow for a dual-station sensing transmitter node switching scheme. Fig.13As shown, diagram 1300 includes a communication flow diagram between base station / UE 1302 (base station or UE), base station / UE 1304 (base station or UE), and base station / UE 1306 (base station or UE). At 1310, base station / UE 1302 can send a sensing signal to base station / UE 1304. At 1320, base station / UE 1304 can detect whether the sensing RSRP is less than a threshold. At 1322, base station / UE 1304 can send a sensing report (including sensing RSRP) to base station / UE 1302. At 1330, base station / UE 1302 can determine or identify a candidate Tx base station (e.g., a second base station) based on the UAV position. At 1340, base station / UE 1302 can send a dual-station sensing Tx request including multiple parameters / measurements (e.g., UAV position, velocity, Doppler frequency distribution, etc.). At 1350, base station / UE 1306 can determine or select a sensing beam based on the UAV position. At 1360, the base station / UE 1306 may send a dual-station sensing Tx request ACK or NACK (including the sensing signal configuration at the second cell) to the base station / UE 1302. At 1370, the base station / UE 1302 may send a sensing signal configuration (including the sensing signal resource configuration at the second cell) to the base station / UE 1304. At 1372, the base station / UE 1306 may send a sensing signal to the base station / UE 1304. At 1380, the base station / UE 1304 may detect whether the sensing RSRP is greater than a threshold. At 1390, the base station / UE 1304 may send a sensing report including multiple parameters / measurements (e.g., sensing RSRP, etc.) to the base station / UE 1302. At 1392, the base station / UE 1304 may also send a sensing report including multiple parameters / measurements (e.g., sensing RSRP, etc.) to the base station / UE 1306.

[0103] Various aspects of the present disclosure may include several benefits or advantages. For example, during sensing handover, the various aspects presented herein may indicate the UAV position / velocity / Doppler frequency distribution from the source sensing node to the target sensing node. By doing so, the various aspects presented herein may accelerate beam acquisition / tracking and object recognition at the target sensing node. In addition, by utilizing different types of sensing node switching, the various aspects presented herein may reduce sensing interruptions. For example, by utilizing single-station sensing node switching, dual-station sensing node switching (e.g., dual-station sensing receiver switching or dual-station sensing transmitter switching), or multi-station sensing node switching, the amount of sensing interruption may be reduced.

[0104] Fig.14 1400 is a communication flow diagram of wireless communication according to one or more techniques of this disclosure. Fig.14As shown, diagram 1400 includes example communications between base station / UE 1402 (base station or UE) and base station / UE 1404 (base station or UE) according to one or more techniques of this disclosure. In some aspects, base station / UE 1402 can be a first wireless device and base station / UE 1404 can be a second wireless device.

[0105] At 1410, the base station / UE 1402 may transmit or receive at least one sensing signal, wherein a first sensing reference signal received power (RSRP) is detected based on the transmitted at least one sensing signal or the received at least one sensing signal.

[0106] At 1420, the base station / UE 1402 may detect whether a first sensing RSRP is less than a first threshold, the first sensing RSRP associated with the at least one sensing signal.

[0107] At 1422, the base station / UE 1402 may identify at least one second wireless device in the set of candidate second wireless devices upon detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on the location of the target object. The first wireless device may be a first user equipment (UE) or a first base station, and the at least one second wireless device may include one or more of the following: at least one second receiving (Rx) UE, at least one second Rx base station, at least one second transmitting (Tx) UE, or at least one second Tx base station. In some aspects, the at least one second Tx UE or the at least one second Tx base station may be static over a sensing time period, and the at least one second Rx UE or the at least one second Rx base station may change over a sensing time period. Moreover, the at least one second Rx UE or the at least one second Rx base station may be static over a sensing time period, and the at least one second Tx UE or the at least one second Tx base station may change over a sensing time period. The target object may be at least one of the following: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object with communication functionality, or a second object without communication functionality.

[0108] At 1430, the base station / UE 1402 may send a sensing switching request message (e.g., message 1434) for the at least one second wireless device. If the first sensing RSRP is less than the first threshold, the sensing switching request message may be sent. The sensing switching request message may include at least one of the following: the position of the target object, the speed of the target object, the Doppler frequency distribution of the target object, the micro-Doppler characteristics of the target object, or the sensing signal configuration. At 1432, the base station / UE 1404 may receive a sensing switching request message (e.g., message 1434) from the first wireless device, the sensing switching request message being based on whether the first sensing reference signal received power (RSRP) is less than the first threshold. If the first sensing RSRP is less than the first threshold, the sensing switching request message may be received. The sensing switching request message may include at least one of the following: the position of the target object, the speed of the target object, the Doppler frequency distribution of the target object, the micro-Doppler characteristics of the target object, or the sensing signal configuration.

[0109] At 1440, the base station / UE 1404 may select a target sensing beam from a set of candidate target sensing beams based on a location of a target object associated with the second wireless device. The first wireless device may be a first user equipment (UE) or a first base station, and the second wireless device may include one or more of the following: a second receiving (Rx) UE, a second Rx base station, a second transmitting (Tx) UE, or a second Tx base station. In some aspects, the second Tx UE or the second Tx base station may be static over a sensing time period, and the second Rx UE or the second Rx base station may change over a sensing time period. Moreover, the second Rx UE or the second Rx base station may be static over a sensing time period, and the second Tx UE or the second Tx base station may change over a sensing time period. The target object may be at least one of the following: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object having a communication function, or a second object without a communication function.

[0110] At 1442, the base station / UE 1404 may transmit or receive the at least one sensing signal, wherein a second sensing RSRP is detected based on the transmitted at least one sensing signal or the received at least one sensing signal.

[0111] At 1444, the base station / UE 1404 may detect whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with the at least one sensing signal.

[0112] At 1450, the base station / UE 1402 may send a sensing signal or a sensing signal configuration (e.g., signal / configuration 1454) to the at least one second wireless device based on the sensing handover request message. At 1452, the base station / UE 1404 may receive a sensing signal or a sensing signal configuration (e.g., signal / configuration 1454) from the first wireless device based on detecting whether the second sensing RSRP is greater than a second threshold.

[0113] At 1460, the base station / UE 1404 may send a sensing handover request confirmation (ACK) or a sensing handover request negative ACK (NACK) (e.g., ACK / NACK 1464) for the first wireless device upon detecting whether the second sensing RSRP is greater than the second threshold. In some aspects, the sensing handover request message may be a single-station sensing handover request message, the sensing handover request ACK may be a single-station sensing handover request ACK, and the sensing handover request NACK may be a single-station sensing handover request NACK. Moreover, the sensing handover request message may be a dual-station sensing receive (Rx) request message, the sensing handover request ACK may be a dual-station sensing Rx request ACK, and the sensing handover request NACK may be a dual-station sensing RX request NACK. In addition, the sensing handover request message may be a dual-station sensing transmit (Tx) request message, the sensing handover request ACK may be a dual-station sensing Tx request ACK, and the sensing handover request NACK may be a dual-station sensing TX request NACK. If the second sensing RSRP is greater than the second threshold, the sensing handover request ACK may be sent, and if the second sensing RSRP is less than or equal to the second threshold, the sensing handover request NACK may be sent.

[0114] At 1462, the base station / UE 1402 may receive a sensing handover request acknowledgement (ACK) or a sensing handover request negative ACK (NACK) (e.g., ACK / NACK 1464) from the at least one second wireless device based on the sensing handover request message. In some aspects, the sensing handover request message may be a single-station sensing handover request message, the sensing handover request ACK may be a single-station sensing handover request ACK, and the sensing handover request NACK may be a single-station sensing handover request NACK. Moreover, the sensing handover request message may be a dual-station sensing receive (Rx) request message, the sensing handover request ACK may be a dual-station sensing Rx request ACK, and the sensing handover request NACK may be a dual-station sensing RX request NACK. In addition, the sensing handover request message may be a dual-station sensing transmit (Tx) request message, the sensing handover request ACK may be a dual-station sensing Tx request ACK, and the sensing handover request NACK may be a dual-station sensing TX request NACK. If the second sensing RSRP is greater than the second threshold, the sensing handover request ACK may be received, and if the second sensing RSRP is less than or equal to the second threshold, the sensing handover request NACK may be received.

[0115] At 1470, the base station / UE 1404 may send a sensing report (e.g., report 1474) for the first wireless device based on the sensing handover request ACK or the sensing handover request NACK. At 1472, the base station / UE 1402 may receive a sensing report (e.g., report 1474) from the at least one second wireless device based on the sensing handover request ACK or the sensing handover request NACK.

[0116] Fig.15 1500 is a flow chart of a method of wireless communication. The method may be performed by a first wireless device such as a UE (e.g., UE 104; apparatus 1904) or a base station (e.g., base station 102; network entity 2002). The methods described herein may provide several benefits, such as improved resource utilization and / or power savings.

[0117] At 1504, the first wireless device may detect whether a first sensing RSRP is less than a first threshold, the first sensing RSRP associated with at least one sensing signal. Fig.14 As described in step 1420 , the first wireless device may detect whether a first sensing RSRP is less than a first threshold, the first sensing RSRP being associated with at least one sensing signal. In addition, step 1504 may be performed by the sensing component 198 .

[0118] At 1506, the first wireless device may identify at least one second wireless device in the set of candidate second wireless devices upon detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on the location of the target object. Fig.14 As described in 1422 of , the first wireless device may identify at least one second wireless device in the set of candidate second wireless devices when detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on the location of the target object. In addition, step 1506 may be performed by the sensing component 198. The first wireless device may be a first user equipment (UE) or a first base station, and the at least one second wireless device may include one or more of the following: at least one second receiving (Rx) UE, at least one second Rx base station, at least one second transmitting (Tx) UE, or at least one second Tx base station. In some aspects, the at least one second Tx UE or the at least one second Tx base station may be static over the sensing time period, and the at least one second Rx UE or the at least one second Rx base station may change over the sensing time period. Moreover, the at least one second Rx UE or the at least one second Rx base station may be static over the sensing time period, and the at least one second Tx UE or the at least one second Tx base station may change over the sensing time period. The target object may be at least one of the following: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object with a communication function, or a second object without a communication function.

[0119] At 1508, the first wireless device may send a sensing switching request message to the at least one second wireless device. Fig.14 As described in 1430 of , the first wireless device may send a sensing switching request message to the at least one second wireless device. In addition, step 1508 may be performed by the sensing component 198. If the first sensing RSRP is less than the first threshold, a sensing switching request message may be sent. The sensing switching request message may include at least one of the following: a position of a target object, a speed of a target object, a Doppler frequency distribution of a target object, a micro-Doppler characteristic of a target object, or a sensing signal configuration.

[0120] At 1512, the first wireless device may receive a sensing handover request acknowledgement (ACK) or a sensing handover request negative ACK (NACK) from the at least one second wireless device based on the sensing handover request message. Fig.14As described in 1462 of , the first wireless device may receive a sensing handover request confirmation (ACK) or a sensing handover request negative ACK (NACK) from the at least one second wireless device based on the sensing handover request message. In addition, step 1512 may be performed by the sensing component 198. In some aspects, the sensing handover request message may be a single-station sensing handover request message, the sensing handover request ACK may be a single-station sensing handover request ACK, and the sensing handover request NACK may be a single-station sensing handover request NACK. Moreover, the sensing handover request message may be a dual-station sensing receive (Rx) request message, the sensing handover request ACK may be a dual-station sensing Rx request ACK, and the sensing handover request NACK may be a dual-station sensing RX request NACK. In addition, the sensing handover request message may be a dual-station sensing transmit (Tx) request message, the sensing handover request ACK may be a dual-station sensing Tx request ACK, and the sensing handover request NACK may be a dual-station sensing TX request NACK. If the second sensing RSRP is greater than the second threshold, the sensing handover request ACK may be received, and if the second sensing RSRP is less than or equal to the second threshold, the sensing handover request NACK may be received.

[0121] Fig.16 1600 is a flow chart of a method of wireless communication. The method may be performed by a first wireless device such as a UE (e.g., UE 104; apparatus 1904) or a base station (e.g., base station 102; network entity 2002). The methods described herein may provide several benefits, such as improved resource utilization and / or power savings.

[0122] At 1602, a first wireless device may transmit or receive at least one sensing signal, wherein a first sensing reference signal received power (RSRP) is detected based on the transmitted at least one sensing signal or the received at least one sensing signal. Fig.14 As described in 1410 of , the first wireless device can send or receive at least one sensing signal, wherein a first sensing reference signal received power (RSRP) is detected based on the at least one sensing signal sent or the at least one sensing signal received. In addition, step 1602 can be performed by the sensing component 198.

[0123] At 1604, the first wireless device may detect whether a first sensing RSRP is less than a first threshold, the first sensing RSRP associated with at least one sensing signal. Fig.14 As described in step 1420 , the first wireless device may detect whether a first sensing RSRP is less than a first threshold, the first sensing RSRP being associated with at least one sensing signal. In addition, step 1604 may be performed by the sensing component 198 .

[0124] At 1606, the first wireless device may identify at least one second wireless device in the set of candidate second wireless devices upon detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on the location of the target object. Fig.14 As described in 1422 of , the first wireless device may identify at least one second wireless device in the set of candidate second wireless devices when detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on the location of the target object. In addition, step 1606 may be performed by the sensing component 198. The first wireless device may be a first user equipment (UE) or a first base station, and the at least one second wireless device may include one or more of the following: at least one second receiving (Rx) UE, at least one second Rx base station, at least one second transmitting (Tx) UE, or at least one second Tx base station. In some aspects, the at least one second Tx UE or the at least one second Tx base station may be static over the sensing time period, and the at least one second Rx UE or the at least one second Rx base station may change over the sensing time period. Moreover, the at least one second Rx UE or the at least one second Rx base station may be static over the sensing time period, and the at least one second Tx UE or the at least one second Tx base station may change over the sensing time period. The target object may be at least one of the following: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object with a communication function, or a second object without a communication function.

[0125] At 1608, the first wireless device may send a sensing switching request message to the at least one second wireless device. Fig.14 As described in 1430 of , the first wireless device may send a sensing switching request message to the at least one second wireless device. In addition, step 1608 may be performed by the sensing component 198. If the first sensing RSRP is less than the first threshold, a sensing switching request message may be sent. The sensing switching request message may include at least one of the following: a position of a target object, a speed of a target object, a Doppler frequency distribution of a target object, a micro-Doppler characteristic of a target object, or a sensing signal configuration.

[0126] At 1610, the first wireless device may send a sensing signal or a sensing signal configuration to the at least one second wireless device based on the sensing switching request message. Fig.14 As described in step 1450 , the first wireless device may send a sensing signal or a sensing signal configuration to the at least one second wireless device based on the sensing switching request message. In addition, step 1610 may be performed by the sensing component 198 .

[0127] At 1612, the first wireless device may receive a sensing handover request acknowledgement (ACK) or a sensing handover request negative ACK (NACK) from the at least one second wireless device based on the sensing handover request message. Fig.14 As described in 1462 of , the first wireless device may receive a sensing handover request confirmation (ACK) or a sensing handover request negative ACK (NACK) from the at least one second wireless device based on the sensing handover request message. In addition, step 1612 may be performed by the sensing component 198. In some aspects, the sensing handover request message may be a single-station sensing handover request message, the sensing handover request ACK may be a single-station sensing handover request ACK, and the sensing handover request NACK may be a single-station sensing handover request NACK. Moreover, the sensing handover request message may be a dual-station sensing receive (Rx) request message, the sensing handover request ACK may be a dual-station sensing Rx request ACK, and the sensing handover request NACK may be a dual-station sensing RX request NACK. In addition, the sensing handover request message may be a dual-station sensing transmit (Tx) request message, the sensing handover request ACK may be a dual-station sensing Tx request ACK, and the sensing handover request NACK may be a dual-station sensing TX request NACK. If the second sensing RSRP is greater than the second threshold, the sensing handover request ACK may be received, and if the second sensing RSRP is less than or equal to the second threshold, the sensing handover request NACK may be received.

[0128] At 1614, the first wireless device may receive a sensing report from the at least one second wireless device based on the sensing handover request ACK or the sensing handover request NACK. Fig.14 As described in step 1472 , the first wireless device may receive a sensing report from the at least one second wireless device based on the sensing handover request ACK or the sensing handover request NACK. In addition, step 1614 may be performed by the sensing component 198 .

[0129] Fig.17 1700 is a flow chart of a method of wireless communication. The method may be performed by a second wireless device such as a UE (e.g., UE 104; apparatus 1904) or a base station (e.g., base station 102; network entity 2002). The methods described herein may provide several benefits, such as improved resource utilization and / or power savings.

[0130] At 1702, the second wireless device may receive a sensing switching request message from the first wireless device, the sensing switching request message being based on whether a first sensing reference signal received power (RSRP) is less than a first threshold. Fig.14As described in 1432 of , the second wireless device may receive a sensing switching request message from the first wireless device, the sensing switching request message being based on whether the first sensing reference signal received power (RSRP) is less than a first threshold. In addition, step 1702 may be performed by the sensing component 199. If the first sensing RSRP is less than the first threshold, a sensing switching request message may be received. The sensing switching request message may include at least one of the following: a position of a target object, a speed of a target object, a Doppler frequency distribution of a target object, a micro-Doppler characteristic of a target object, or a sensing signal configuration.

[0131] At 1704, the second wireless device may select a target sensing beam from a set of candidate target sensing beams based on a location of a target object associated with the second wireless device. Fig.14 As described in 1440 of , the second wireless device may select a target sensing beam from a set of candidate target sensing beams based on a location of a target object associated with the second wireless device. In addition, step 1704 may be performed by the sensing component 199. The first wireless device may be a first user equipment (UE) or a first base station, and the second wireless device may include one or more of the following: a second receiving (Rx) UE, a second Rx base station, a second transmitting (Tx) UE, or a second Tx base station. In some aspects, the second Tx UE or the second Tx base station may be static over a sensing time period, and the second Rx UE or the second Rx base station may change over a sensing time period. Moreover, the second Rx UE or the second Rx base station may be static over a sensing time period, and the second Tx UE or the second Tx base station may change over a sensing time period. The target object may be at least one of the following: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object having a communication function, or a second object without a communication function.

[0132] At 1708, the second wireless device may detect whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with the at least one sensing signal. Fig.14 As described in step 1444 , the second wireless device may detect whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with at least one sensing signal. In addition, step 1708 may be performed by the sensing component 199 .

[0133] At 1712, the second wireless device may send a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) to the first wireless device upon detecting whether the second sensing RSRP is greater than the second threshold. Fig.14As described in 1460 of , the second wireless device may send a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) to the first wireless device upon detecting whether the second sensing RSRP is greater than the second threshold. In addition, step 1712 may be performed by the sensing component 199. In some aspects, the sensing switching request message may be a single-station sensing switching request message, the sensing switching request ACK may be a single-station sensing switching request ACK, and the sensing switching request NACK may be a single-station sensing switching request NACK. Moreover, the sensing switching request message may be a dual-station sensing reception (Rx) request message, the sensing switching request ACK may be a dual-station sensing Rx request ACK, and the sensing switching request NACK may be a dual-station sensing RX request NACK. In addition, the sensing switching request message may be a dual-station sensing transmission (Tx) request message, the sensing switching request ACK may be a dual-station sensing Tx request ACK, and the sensing switching request NACK may be a dual-station sensing TX request NACK. If the second sensing RSRP is greater than the second threshold, the sensing switching request ACK may be sent, and if the second sensing RSRP is less than or equal to the second threshold, the sensing switching request NACK may be sent.

[0134] Fig.18 1800 is a flow chart of a method of wireless communication. The method may be performed by a second wireless device such as a UE (e.g., UE 104; apparatus 1904) or a base station (e.g., base station 102; network entity 2002). The methods described herein may provide several benefits, such as improved resource utilization and / or power savings.

[0135] At 1802, the second wireless device may receive a sensing switching request message from the first wireless device, the sensing switching request message being based on whether a first sensing reference signal received power (RSRP) is less than a first threshold. Fig.14 As described in 1432 of , the second wireless device may receive a sensing switching request message from the first wireless device, the sensing switching request message being based on whether the first sensing reference signal received power (RSRP) is less than a first threshold. In addition, step 1802 may be performed by the sensing component 199. If the first sensing RSRP is less than the first threshold, a sensing switching request message may be received. The sensing switching request message may include at least one of the following: a position of a target object, a speed of a target object, a Doppler frequency distribution of a target object, a micro-Doppler characteristic of a target object, or a sensing signal configuration.

[0136] At 1804, the second wireless device may select a target sensing beam from a set of candidate target sensing beams based on a location of a target object associated with the second wireless device. Fig.14As described in 1440 of , the second wireless device may select a target sensing beam from a set of candidate target sensing beams based on a location of a target object associated with the second wireless device. In addition, step 1804 may be performed by the sensing component 199. The first wireless device may be a first user equipment (UE) or a first base station, and the second wireless device may include one or more of the following: a second receiving (Rx) UE, a second Rx base station, a second transmitting (Tx) UE, or a second Tx base station. In some aspects, the second Tx UE or the second Tx base station may be static over a sensing time period, and the second Rx UE or the second Rx base station may change over a sensing time period. Moreover, the second Rx UE or the second Rx base station may be static over a sensing time period, and the second Tx UE or the second Tx base station may change over a sensing time period. The target object may be at least one of the following: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object having a communication function, or a second object without a communication function.

[0137] At 1806, the second wireless device may transmit or receive the at least one sensing signal, wherein a second sensing RSRP is detected based on the transmitted at least one sensing signal or the received at least one sensing signal. Fig.14 As described in step 1442 , the second wireless device may transmit or receive the at least one sensing signal, wherein the second sensing RSRP is detected based on the at least one sensing signal transmitted or the at least one sensing signal received. In addition, step 1806 may be performed by the sensing component 199 .

[0138] At 1808, the second wireless device may detect whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with the at least one sensing signal. Fig.14 As described in step 1444 , the second wireless device may detect whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with at least one sensing signal. In addition, step 1808 may be performed by the sensing component 199 .

[0139] At 1810, the second wireless device may receive a sensing signal or a sensing signal configuration from the first wireless device based on detecting whether the second sensing RSRP is greater than a second threshold. Fig.14 As described in step 1452 , the second wireless device may receive a sensing signal or a sensing signal configuration from the first wireless device based on detecting whether the second sensing RSRP is greater than a second threshold. In addition, step 1810 may be performed by the sensing component 199 .

[0140] At 1812, the second wireless device may send a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) to the first wireless device upon detecting whether the second sensing RSRP is greater than the second threshold. Fig.14 As described in 1460 of , the second wireless device may send a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) to the first wireless device upon detecting whether the second sensing RSRP is greater than the second threshold. In addition, step 1812 may be performed by the sensing component 199. In some aspects, the sensing switching request message may be a single-station sensing switching request message, the sensing switching request ACK may be a single-station sensing switching request ACK, and the sensing switching request NACK may be a single-station sensing switching request NACK. Moreover, the sensing switching request message may be a dual-station sensing reception (Rx) request message, the sensing switching request ACK may be a dual-station sensing Rx request ACK, and the sensing switching request NACK may be a dual-station sensing RX request NACK. In addition, the sensing switching request message may be a dual-station sensing transmission (Tx) request message, the sensing switching request ACK may be a dual-station sensing Tx request ACK, and the sensing switching request NACK may be a dual-station sensing TX request NACK. If the second sensing RSRP is greater than the second threshold, the sensing switching request ACK may be sent, and if the second sensing RSRP is less than or equal to the second threshold, the sensing switching request NACK may be sent.

[0141] At 1814, the second wireless device may send a sensing report to the first wireless device based on the sensing handover request ACK or the sensing handover request NACK. Fig.14 As described in 1470 of , the second wireless device may send a sensing report to the first wireless device based on the sensing handover request ACK or the sensing handover request NACK. In addition, step 1814 may be performed by the sensing component 199.

[0142] Fig.191900 is a diagram illustrating an example of a hardware implementation for an apparatus 1904. The apparatus 1904 may be a UE, a component of a UE, or may implement UE functionality. In some aspects, the apparatus 1904 may include a cellular baseband processor 1924 (also referred to as a modem) coupled to one or more transceivers 1922 (e.g., a cellular RF transceiver). The cellular baseband processor 1924 may include on-chip memory 1924'. In some aspects, the apparatus 1904 may further include one or more subscriber identity module (SIM) cards 1920 and an application processor 1906 coupled to a secure digital (SD) card 1908 and a screen 1910. The application processor 1906 may include on-chip memory 1906'. In some aspects, the device 1904 may further include a Bluetooth module 1912, a WLAN module 1914, an SPS module 1916 (e.g., a GNSS module), one or more sensor modules 1918 (e.g., an atmospheric pressure sensor / altimeter; a motion sensor such as an inertial management unit (IMU), a gyroscope, and / or an accelerometer; light detection and ranging (LIDAR), radio-aided detection and ranging (RADAR), sound navigation and ranging (SONAR), a magnetometer, audio, and / or other technologies for positioning), an additional memory module 1926, a power supply 1930, and / or a camera 1932. The Bluetooth module 1912, the WLAN module 1914, and the SPS module 1916 may include an on-chip transceiver (TRX) (or in some cases, only a receiver (RX)). The Bluetooth module 1912, the WLAN module 1914, and the SPS module 1916 may include their own dedicated antennas and / or communicate using an antenna 1980. The cellular baseband processor 1924 communicates with the UE 104 and / or with the RU associated with the network entity 1902 through the transceiver 1922 via one or more antennas 1980. The cellular baseband processor 1924 and the application processor 1906 can each include a computer-readable medium / memory 1924', 1906', respectively. The additional memory module 1926 can also be considered as a computer-readable medium / memory. Each computer-readable medium / memory 1924', 1906', 1926 can be non-transitory. The cellular baseband processor 1924 and the application processor 1906 are each responsible for general processing, including executing software stored on a computer-readable medium / memory. The software enables the cellular baseband processor 1924 / application processor 1906 to perform the various functions described above when executed by the cellular baseband processor 1924 / application processor 1906. The computer-readable medium / memory can also be used to store data manipulated by the cellular baseband processor 1924 / application processor 1906 when executing the software.The cellular baseband processor 1924 / application processor 1906 may be a component of the UE 350 and may include the memory 360 and / or at least one of the TX processor 368, the RX processor 356, and the controller / processor 359. In one configuration, the device 1904 may be a processor chip (modem and / or application) and include only the cellular baseband processor 1924 and / or the application processor 1906, while in another configuration, the device 1904 may be the entire UE (e.g., see. Figure 3 350) and includes additional modules of device 1904.

[0143] As discussed above, the sensing component 198 may be configured to send or receive at least one sensing signal, wherein a first sensing reference signal received power (RSRP) is detected based on the at least one sensing signal sent or the at least one sensing signal received. The sensing component 198 may also be configured to detect whether the first sensing RSRP is less than a first threshold, the first sensing RSRP being associated with the at least one sensing signal. The sensing component 198 may also be configured to identify at least one second wireless device in the set of candidate second wireless devices upon detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on the location of the target object. The sensing component 198 may also be configured to send a sensing switching request message for the at least one second wireless device. The sensing component 198 may also be configured to send a sensing signal or a sensing signal configuration for the at least one second wireless device based on the sensing switching request message. The sensing component 198 may also be configured to receive a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) from the at least one second wireless device based on the sensing switching request message. The sensing component 198 may also be configured to receive a sensing report from the at least one second wireless device based on the sensing handover request ACK or the sensing handover request NACK.

[0144] The sensing component 198 may be within the cellular baseband processor 1924, the application processor 1906, or within both the cellular baseband processor 1924 and the application processor 1906. The sensing component 198 may be one or more hardware components specifically configured to perform the process / algorithm, implemented by one or more processors configured to perform the process / algorithm, stored in a computer-readable medium for implementation by one or more processors, or some combination of the above. As shown, the device 1904 may include a variety of components configured for various functions. In one configuration, the apparatus 1904 (and specifically, the cellular baseband processor 1924 and / or the application processor 1906) includes: a component for detecting whether a first sensing reference signal received power (RSRP) is less than a first threshold, the first sensing RSRP being associated with at least one sensing signal; a component for identifying at least one second wireless device in a set of candidate second wireless devices upon detecting whether the first sensing RSRP is less than the first threshold, wherein the at least one second wireless device is identified based on a location of a target object; a component for sending a sensing handover request message for the at least one second wireless device; a component for receiving a sensing handover request confirmation (ACK) or a sensing handover request negative ACK (NACK) from the at least one second wireless device based on the sensing handover request message; a component for sending the at least one sensing signal or a component for receiving the at least one sensing signal, wherein the first sensing RSRP is detected based on the at least one sensing signal sent or the at least one sensing signal received; a component for sending a sensing signal or a sensing signal configuration for the at least one second wireless device based on the sensing handover request message; a component for receiving a sensing report from the at least one second wireless device based on the sensing handover request ACK or the sensing handover request NACK. The means may be the sensing component 198 of the device 1904 configured to perform the functions recited by the means. As described above, the device 1904 may include the TX processor 368, the RX processor 356, and the controller / processor 359. Thus, in one configuration, the means may be the TX processor 368, the RX processor 356, and / or the controller / processor 359 configured to perform the functions recited by the means.

[0145] Fig. 202000 is a diagram illustrating an example of a hardware implementation for a network entity 2002. The network entity 2002 may be a BS, a component of a BS, or may implement BS functionality. The network entity 2002 may include at least one of a CU 2010, a DU 2030, or a RU 2040. For example, depending on the layer functionality handled by the sensing component 199, the network entity 2002 may include a CU 2010; both a CU 2010 and a DU 2030; each of a CU 2010, a DU 2030, and a RU 2040; a DU 2030; both a DU 2030 and a RU 2040; or a RU 2040. The CU 2010 may include a CU processor 2012. The CU processor 2012 may include an on-chip memory 2012'. In some aspects, the CU 2010 may further include an additional memory module 2014 and a communication interface 2018. CU 2010 communicates with DU 2030 via a midhaul link, such as an F1 interface. DU 2030 may include a DU processor 2032. DU processor 2032 may include on-chip memory 2032'. In some aspects, DU 2030 may further include an additional memory module 2034 and a communication interface 2038. DU 2030 communicates with RU 2040 via a fronthaul link. RU 2040 may include a RU processor 2042. RU processor 2042 may include on-chip memory 2042'. In some aspects, RU 2040 may further include an additional memory module 2044, one or more transceivers 2046, an antenna 2080, and a communication interface 2048. RU 2040 communicates with UE 104. On-chip memory 2012', 2032', 2042' and additional memory modules 2014, 2034, 2044 may each be considered a computer-readable medium / memory. Each computer readable medium / memory can be non-transitory. Each processor in processors 2012, 2032, 2042 is responsible for general processing, including executing software stored on the computer readable medium / memory. The software, when executed by the corresponding processor, enables the processor to perform the various functions described above. The computer readable medium / memory can also be used to store data manipulated by the processor when executing the software.

[0146] As discussed above, the sensing component 199 may be configured to receive a sensing switching request message from the first wireless device, the sensing switching request message being based on whether the first sensing reference signal received power (RSRP) is less than a first threshold. The sensing component 199 may also be configured to select a target sensing beam from a candidate target sensing beam set based on a location of a target object associated with the second wireless device. The sensing component 199 may also be configured to send or receive the at least one sensing signal, wherein a second sensing RSRP is detected based on the at least one sensing signal sent or the at least one sensing signal received. The sensing component 199 may also be configured to detect whether the second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with the at least one sensing signal. The sensing component 199 may also be configured to receive a sensing signal or a sensing signal configuration from the first wireless device based on detecting whether the second sensing RSRP is greater than a second threshold. The sensing component 199 may also be configured to send a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) to the first wireless device when detecting whether the second sensing RSRP is greater than the second threshold. The sensing component 199 may also be configured to send a sensing report for the first wireless device based on the sensing handover request ACK or the sensing handover request NACK.

[0147] The sensing component 199 may be within one or more processors of one or more of the CU 2010, DU 2030, and RU 2040. The sensing component 199 may be one or more hardware components specifically configured to perform the process / algorithm, implemented by one or more processors configured to perform the process / algorithm, stored in a computer-readable medium for implementation by one or more processors, or some combination of the above. The network entity 2002 may include a variety of components configured for various functions. In one configuration, the network entity 2002 includes means for receiving a sensing handover request message from a first wireless device, the sensing handover request message being based on whether a first sensing reference signal received power (RSRP) is less than a first threshold; means for selecting a target sensing beam from a candidate target sensing beam set based on a location of a target object associated with a second wireless device; means for detecting whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with at least one sensing signal; means for sending a sensing handover request acknowledgement (ACK) or a sensing handover request negative ACK (NACK) to the first wireless device upon detecting whether the second sensing RSRP is greater than the second threshold; means for sending the at least one sensing signal or means for receiving the at least one sensing signal, wherein the second sensing RSRP is detected based on the at least one sensing signal sent or the at least one sensing signal received; means for receiving a sensing signal or a sensing signal configuration from the first wireless device based on detecting whether the second sensing RSRP is greater than the second threshold; means for sending a sensing report to the first wireless device based on the sensing handover request ACK or the sensing handover request NACK. The means may be a sensing component 199 of the network entity 2002 configured to perform the functions recited by the means. As described above, the network entity 2002 may include a TX processor 316, an RX processor 370, and a controller / processor 375. Thus, in one configuration, the means may be the TX processor 316, the RX processor 370, and / or the controller / processor 375 configured to perform the functions recited by the means.

[0148] It should be understood that the specific order or hierarchy of the blocks in the disclosed process / flowchart is only an illustration of the exemplary method. It should be understood that the specific order or hierarchy of the blocks in the process / flowchart can be rearranged based on design preferences. In addition, some blocks can be combined or omitted. The attached method claims provide the elements of each block in a sample order, but are not limited to the specific order or hierarchy provided.

[0149] The foregoing description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects. Therefore, the claims are not limited to the various aspects described herein, but should be given the full scope consistent with the language claims. Unless otherwise specified, reference to an element in the singular form does not mean "one and only one", but "one or more". Terms such as "if", "when ......" and "while" do not mean a direct temporal relationship or reaction. That is, these phrases, such as "when ......", do not mean an immediate action in response to the occurrence of an action or during the occurrence of an action, but only mean that if the conditions are met, the action will occur, but no specific or immediate time limit is required for the occurrence of the action. The wording "exemplary" is used herein to mean "used as an example, instance or illustration". Any aspect described as "exemplary" herein is not necessarily interpreted as being preferred or having advantages over other aspects. Unless otherwise specified, the term "some" refers to one or more. Combinations such as "at least one of A, B, or C", "one or more of A, B, or C", "at least one of A, B and C", "one or more of A, B, and C", and "A, B, C, or any combination thereof" include any combination of A, B, and / or C, and may include multiple A, multiple B, or multiple C. Specifically, combinations such as "at least one of A, B, or C", "one or more of A, B, or C", "at least one of A, B, and C", "one or more of A, B, and C", and "A, B, C, or any combination thereof" may be only A, only B, only C, A and B, A and C, B and C, or A and B and C, where any such combination may contain one or more members of A, B, or C. A set should be interpreted as a set of elements, where the number of elements is one or more. Thus, for a set of X, X will include one or more elements. If the first device receives data from the second device or sends data to the second device, data can be directly received / sent between the first device and the second device, or data can be indirectly received / sent between the first device and the second device through a collection of devices. All structural and functional equivalents of the elements throughout the various aspects described in this disclosure that are known or will be known later to those of ordinary skill in the art are expressly incorporated herein by reference and are covered by the claims. In addition, nothing disclosed herein is intended to be dedicated to the public, regardless of whether such disclosure is explicitly stated in the claims. Words such as "module", "mechanism", "element", "device" cannot replace the word "component". Therefore, no claim element will be understood as a functional component unless the element is explicitly described using the phrase "component for...".

[0150] As used herein, the phrase "based on" should not be interpreted as referring to a closed set of information, one or more conditions, one or more factors, etc. In other words, the phrase "based on A" (where "A" can be information, a condition, a factor, etc.) should be interpreted as "based at least on A" unless specifically stated differently.

[0151] The following aspects are merely illustrative and may be combined with other aspects or teachings described herein without limitation.

[0152] Aspect 1 is an apparatus for performing wireless communication at a first wireless device, the apparatus comprising a memory and at least one processor, the at least one processor being coupled to the memory and, based at least in part on information stored in the memory, the at least one processor being configured to: detect whether a first sensing reference signal received power (RSRP) is less than a first threshold, the first sensing RSRP being associated with at least one sensing signal; upon detecting whether the first sensing RSRP is less than the first threshold, identify at least one second wireless device in a set of candidate second wireless devices, wherein the at least one second wireless device is identified based on a location of a target object; send a sensing switching request message to the at least one second wireless device; and receive a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) from the at least one second wireless device based on the sensing switching request message.

[0153] Aspect 2 is the apparatus according to aspect 1, wherein the sensing handover request message is a single-station sensing handover request message, the sensing handover request ACK is a single-station sensing handover request ACK, and the sensing handover request NACK is a single-station sensing handover request NACK.

[0154] Aspect 3 is an apparatus according to any one of aspects 1 and 2, wherein the sensing switching request message is a dual-station sensing reception (Rx) request message, the sensing switching request ACK is a dual-station sensing Rx request ACK, and the sensing switching request NACK is a dual-station sensing RX request NACK.

[0155] Aspect 4 is an apparatus according to any one of aspects 1 to 3, wherein the sensing switching request message is a dual-station sensing transmission (Tx) request message, the sensing switching request ACK is a dual-station sensing Tx request ACK, and the sensing switching request NACK is a dual-station sensing TX request NACK.

[0156] Aspect 5 is an apparatus according to any one of Aspects 1 to 4, wherein the first wireless device is a first user equipment (UE) or a first base station, and wherein the at least one second wireless device includes one or more of the following: at least one second receiving (Rx) UE, at least one second Rx base station, at least one second transmitting (Tx) UE, or at least one second Tx base station.

[0157] Aspect 6 is an apparatus according to any one of Aspects 1 to 5, wherein the at least one second Tx UE or the at least one second Tx base station is static over a sensing time period, and wherein the at least one second Rx UE or the at least one second Rx base station changes over the sensing time period.

[0158] Aspect 7 is an apparatus according to any one of Aspects 1 to 6, wherein the at least one second Rx UE or the at least one second Rx base station is static over a sensing time period, and wherein the at least one second Tx UE or the at least one second Tx base station changes over the sensing time period.

[0159] Aspect 8 is an apparatus according to any one of Aspects 1 to 7, wherein the at least one processor is further configured to: send or receive the at least one sensing signal, wherein the first sensing RSRP is detected based on the at least one sensing signal sent or the at least one sensing signal received.

[0160] Aspect 9 is an apparatus according to any one of aspects 1 to 8, wherein the at least one processor is further configured to: send a sensing signal or a sensing signal configuration to the at least one second wireless device based on the sensing switching request message.

[0161] Aspect 10 is an apparatus according to any one of aspects 1 to 9, wherein the at least one processor is further configured to: receive a sensing report from the at least one second wireless device based on the sensing handover request ACK or the sensing handover request NACK.

[0162] Aspect 11 is an apparatus according to any one of aspects 1 to 10, wherein if the first sensing RSRP is less than the first threshold, the sensing switching request message is sent.

[0163] Aspect 12 is an apparatus according to any one of aspects 1 to 11, wherein if the second sensing RSRP is greater than a second threshold, the sensing switching request ACK is received, and if the second sensing RSRP is less than or equal to the second threshold, the sensing switching request NACK is received.

[0164] Aspect 13 is an apparatus according to any one of Aspects 1 to 12, wherein the sensing switching request message includes at least one of the following: the position of the target object, the speed of the target object, the Doppler frequency distribution of the target object, the micro-Doppler characteristics of the target object, or the sensing signal configuration.

[0165] Aspect 14 is a device according to any one of Aspects 1 to 13, wherein the target object is at least one of the following: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object with a communication function, or a second object without the communication function.

[0166] Aspect 15 is an apparatus for performing wireless communication at a second wireless device, the apparatus comprising a memory and at least one processor, the at least one processor being coupled to the memory and, based at least in part on information stored in the memory, the at least one processor being configured to: receive a sensing switching request message from a first wireless device, the sensing switching request message being based on whether a first sensing reference signal received power (RSRP) is less than a first threshold; select a target sensing beam from a set of candidate target sensing beams based on a location of a target object associated with the second wireless device; detect whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with at least one sensing signal; and upon detecting whether the second sensing RSRP is greater than the second threshold, send a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) to the first wireless device.

[0167] Aspect 16 is the apparatus according to aspect 15, wherein the sensing handover request message is a single-station sensing handover request message, the sensing handover request ACK is a single-station sensing handover request ACK, and the sensing handover request NACK is a single-station sensing handover request NACK.

[0168] Aspect 17 is an apparatus according to any one of Aspect 15 and Aspect 16, wherein the sensing switching request message is a dual-station sensing reception (Rx) request message, the sensing switching request ACK is a dual-station sensing Rx request ACK, and the sensing switching request NACK is a dual-station sensing RX request NACK.

[0169] Aspect 18 is an apparatus according to any one of Aspects 15 to 17, wherein the sensing switching request message is a dual-station sensing transmission (Tx) request message, the sensing switching request ACK is a dual-station sensing Tx request ACK, and the sensing switching request NACK is a dual-station sensing TX request NACK.

[0170] Aspect 19 is an apparatus according to any one of Aspects 15 to 18, wherein the first wireless device is a first user equipment (UE) or a first base station, and wherein the second wireless device includes one or more of the following: a second receiving (Rx) UE, a second Rx base station, a second transmitting (Tx) UE, or a second Tx base station.

[0171] Aspect 20 is an apparatus according to any one of aspects 15 to 19, wherein the second Tx UE or the second Tx base station is static over a sensing time period, and wherein the second Rx UE or the second Rx base station changes over the sensing time period.

[0172] Aspect 21 is an apparatus according to any one of aspects 15 to 20, wherein the second Tx UE or the second Tx base station is static over a sensing time period, and wherein the second Rx UE or the second Rx base station changes over the sensing time period.

[0173] Aspect 22 is an apparatus according to any one of Aspects 15 to 21, wherein the at least one processor is further configured to: send or receive the at least one sensing signal, wherein the second sensing RSRP is detected based on the at least one sensing signal sent or the at least one sensing signal received.

[0174] Aspect 23 is an apparatus according to any one of aspects 15 to 22, wherein the at least one processor is further configured to: receive a sensing signal or a sensing signal configuration from the first wireless device based on detecting whether the second sensing RSRP is greater than the second threshold.

[0175] Aspect 24 is an apparatus according to any one of aspects 15 to 23, wherein the at least one processor is further configured to: send a sensing report for the first wireless device based on the sensing handover request ACK or the sensing handover request NACK.

[0176] Aspect 25 is an apparatus according to any one of aspects 15 to 24, wherein the sensing switching request message is received if the first sensing RSRP is less than the first threshold.

[0177] Aspect 26 is an apparatus according to any one of aspects 15 to 25, wherein if the second sensing RSRP is greater than the second threshold, the sensing switching request ACK is sent, and if the second sensing RSRP is less than or equal to the second threshold, the sensing switching request NACK is sent.

[0178] Aspect 27 is an apparatus according to any one of Aspects 15 to 26, wherein the sensing switching request message includes at least one of the following: the position of the target object, the speed of the target object, the Doppler frequency distribution of the target object, the micro-Doppler characteristics of the target object, or a sensing signal configuration.

[0179] Aspect 28 is a device according to any one of Aspects 15 to 27, wherein the target object is at least one of the following: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object with a communication function, or a second object without the communication function.

[0180] Aspect 29 is an apparatus according to any one of aspects 1 to 28, wherein the apparatus is a wireless communication device, the apparatus further comprising at least one of an antenna or a transceiver coupled to the at least one processor.

[0181] Aspect 30 is a method for implementing wireless communication according to any one of aspects 1 to 29.

[0182] Aspect 31 is an apparatus for wireless communication, the apparatus comprising means for implementing any one of aspects 1 to 29.

[0183] Aspect 32 is a computer-readable medium (eg, non-transitory computer-readable medium) storing computer-executable code, which, when executed by at least one processor, causes the at least one processor to implement any one of aspects 1 to 29.

Claims

1. An apparatus for wireless communication at a first wireless device, the apparatus comprising: Memory; and at least one processor coupled to the memory and based at least in part on the information stored in the memory, the at least one processor configured to: detecting whether a first sensing reference signal received power (RSRP) is less than a first threshold, the first sensing RSRP being associated with at least one sensing signal; Upon detecting whether the first sensing RSRP is less than the first threshold, identifying at least one second wireless device in a set of candidate second wireless devices, wherein the at least one second wireless device is identified based on a location of a target object; Sending a sensing switching request message to the at least one second wireless device; as well as Based on the sensing handover request message, a sensing handover request acknowledgement (ACK) or a sensing handover request negative ACK (NACK) is received from the at least one second wireless device. 2 . The apparatus according to claim 1 , wherein the sensing handover request message is a single-station sensing handover request message, the sensing handover request ACK is a single-station sensing handover request ACK, and the sensing handover request NACK is a single-station sensing handover request NACK.

3. The apparatus of claim 1, wherein the sensing switch request message is a dual-station sensing receive (Rx) request message, the sensing switch request ACK is a dual-station sensing Rx request ACK, and the sensing switch request NACK is a dual-station sensing RX request NACK.

4. The apparatus of claim 1, wherein the sensing switch request message is a dual-station sensing transmit (Tx) request message, the sensing switch request ACK is a dual-station sensing Tx request ACK, and the sensing switch request NACK is a dual-station sensing TX request NACK.

5. The apparatus according to claim 1, wherein the first wireless device is a first user equipment (UE) or a first base station, and wherein the at least one second wireless device comprises one or more of the following: at least one second receiving (Rx) UE, at least one second Rx base station, at least one second transmitting (Tx) UE, or at least one second Tx base station. 6 . The apparatus according to claim 5 , wherein the at least one second Tx UE or the at least one second Tx base station is static over a sensing time period, and wherein the at least one second Rx UE or the at least one second Rx base station changes over the sensing time period.

7. The apparatus according to claim 5, wherein the at least one second Rx UE or the at least one second Rx base station is static over a sensing time period, and wherein the at least one second Tx UE or the at least one second Tx base station changes over the sensing time period.

8. The apparatus of claim 1, wherein the at least one processor is further configured to: The at least one sensing signal is transmitted or received, wherein the first sensing RSRP is detected based on the transmitted at least one sensing signal or the received at least one sensing signal.

9. The apparatus of claim 1 , wherein the at least one processor is further configured to: Based on the sensing switch request message, a sensing signal or a sensing signal configuration is sent to the at least one second wireless device.

10. The apparatus of claim 1, wherein the at least one processor is further configured to: Based on the sensing handover request ACK or the sensing handover request NACK, a sensing report is received from the at least one second wireless device.

11. The apparatus of claim 1, wherein if the first sensing RSRP is less than the first threshold, sending the sensing switching request message. 12 . The apparatus of claim 1 , wherein if the second sensing RSRP is greater than a second threshold, the sensing switch request ACK is received, and if the second sensing RSRP is less than or equal to the second threshold, the sensing switch request NACK is received.

13. The apparatus of claim 1, wherein the sensing switching request message comprises at least one of: the position of the target object, the speed of the target object, the Doppler frequency distribution of the target object, the micro-Doppler characteristics of the target object, or a sensing signal configuration.

14. The device of claim 1, wherein the target object is at least one of: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object having a communication function, or a second object not having the communication function.

15. An apparatus for wireless communication at a second wireless device, the apparatus comprising: Memory; and at least one processor coupled to the memory and based at least in part on the information stored in the memory, the at least one processor configured to: receiving a sensing switching request message from the first wireless device, the sensing switching request message being based on whether a first sensing reference signal received power (RSRP) is less than a first threshold; selecting a target sensing beam from a set of candidate target sensing beams based on a location of a target object associated with the second wireless device; detecting whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with at least one sensing signal; as well as When detecting whether the second sensing RSRP is greater than the second threshold, a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) is sent to the first wireless device. 16 . The apparatus of claim 15 , wherein the sensing handover request message is a single-station sensing handover request message, the sensing handover request ACK is a single-station sensing handover request ACK, and the sensing handover request NACK is a single-station sensing handover request NACK.

17. The apparatus of claim 15, wherein the sensing switch request message is a dual-station sensing receive (Rx) request message, the sensing switch request ACK is a dual-station sensing Rx request ACK, and the sensing switch request NACK is a dual-station sensing RX request NACK.

18. The apparatus of claim 15, wherein the sensing switch request message is a dual-station sensing transmit (Tx) request message, the sensing switch request ACK is a dual-station sensing Tx request ACK, and the sensing switch request NACK is a dual-station sensing TX request NACK.

19. The apparatus of claim 15, wherein the first wireless device is a first user equipment (UE) or a first base station, and wherein the second wireless device comprises one or more of: a second receiving (Rx) UE, a second Rx base station, a second transmitting (Tx) UE, or a second Tx base station. 20 . The apparatus of claim 19 , wherein the second Tx UE or the second Tx base station is static over a sensing time period, and wherein the second Rx UE or the second Rx base station changes over the sensing time period. 21 . The apparatus of claim 19 , wherein the second Rx UE or the second Rx base station is static over a sensing time period, and wherein the second Tx UE or the second Tx base station changes over the sensing time period.

22. The apparatus of claim 15, wherein the at least one processor is further configured to: The at least one sensing signal is transmitted or received, wherein the second sensing RSRP is detected based on the transmitted at least one sensing signal or the received at least one sensing signal.

23. The apparatus of claim 15, wherein the at least one processor is further configured to: Based on detecting whether the second sensing RSRP is greater than the second threshold, a sensing signal or a sensing signal configuration is received from the first wireless device.

24. The apparatus of claim 15, wherein the at least one processor is further configured to: Based on the sensing handover request ACK or the sensing handover request NACK, a sensing report is sent for the first wireless device.

25. The apparatus of claim 15, wherein the sensing switch request message is received if the first sensing RSRP is less than the first threshold.

26. The apparatus of claim 15, wherein if the second sensing RSRP is greater than the second threshold, the sensing switch request ACK is sent, and if the second sensing RSRP is less than or equal to the second threshold, the sensing switch request NACK is sent.

27. The apparatus of claim 15, wherein the sensing switching request message comprises at least one of: the position of the target object, the speed of the target object, the Doppler frequency distribution of the target object, the micro-Doppler characteristics of the target object, or a sensing signal configuration.

28. The device of claim 15, wherein the target object is at least one of: an unmanned aerial vehicle (UAV), a user equipment (UE), a base station, a first object having a communication function, or a second object not having the communication function.

29. A method of wireless communication at a first wireless device, the method comprising: detecting whether a first sensing reference signal received power (RSRP) is less than a first threshold, the first sensing RSRP being associated with at least one sensing signal; Upon detecting whether the first sensing RSRP is less than the first threshold, identifying at least one second wireless device in a set of candidate second wireless devices, wherein the at least one second wireless device is identified based on a location of a target object; Sending a sensing switching request message to the at least one second wireless device; as well as Based on the sensing handover request message, a sensing handover request acknowledgement (ACK) or a sensing handover request negative ACK (NACK) is received from the at least one second wireless device.

30. A method of wireless communication at a second wireless device, the method comprising: receiving a sensing switching request message from the first wireless device, the sensing switching request message being based on whether a first sensing reference signal received power (RSRP) is less than a first threshold; selecting a target sensing beam from a set of candidate target sensing beams based on a location of a target object associated with the second wireless device; detecting whether a second sensing RSRP is greater than a second threshold, wherein the second sensing RSRP is associated with at least one sensing signal; as well as When detecting whether the second sensing RSRP is greater than the second threshold, a sensing switching request confirmation (ACK) or a sensing switching request negative ACK (NACK) is sent to the first wireless device.

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