Communication and perception method and device, storage medium and program product

Abstract

The invention provides a communication and sensing method and device, a storage medium and a program product, relates to the technical field of communication, and is used for reducing measurement energy consumption and switching delay of a terminal. The method comprises the following steps: a first sensing node obtains sensing information obtained by sensing a first terminal; and sending a switching request message according to the sensing information, the switching request message being used for requesting to switch the sensing service node of the first terminal.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to a communication and perception method, device, storage medium and program product. Background Art

[0002] Mobility management is an important function in mobile communication systems. It is responsible for managing and handling user mobility issues in the network and ensuring that users maintain service continuity when crossing different base stations or cells. Mobility management usually requires signal measurements, including physical layer (L1) measurements and radio resource management (RRM) measurements. The network can manage the mobility of the terminal through the measurement report reported by the terminal through signal measurement. However, the terminal needs to increase energy consumption during the signal measurement process, which increases the burden on the terminal. Summary of the invention

[0003] The present disclosure provides a communication and perception method, device, storage medium and program product for reducing the measurement energy consumption and switching delay of a terminal.

[0004] In order to achieve the above objectives, the present disclosure adopts the following technical solutions:

[0005] In a first aspect, the present disclosure provides a communication and perception method, applied to a first synaesthesia node, the method comprising:

[0006] Acquire perception information obtained by the first terminal;

[0007] A switching request message is sent according to the perception information, where the switching request message is used to request switching of the synaesthesia service node of the first terminal.

[0008] In a second aspect, the present disclosure provides another communication and perception method, applied to a target synaesthesia node, the method comprising:

[0009] Sending a perception measurement report of the first terminal to the first synaesthesia node;

[0010] A switching request message is received, where the switching request message is used to request that the first terminal be switched from the first synaesthesia node to the target synaesthesia node.

[0011] In a third aspect, the present disclosure provides another communication and perception method, applied to a first terminal, the method comprising:

[0012] Receiving a perception configuration message from a first synaesthesia node, where the perception configuration message includes a preset perception event, and the first synaesthesia node is a current synaesthesia service node of the first terminal;

[0013] A sensory signal is obtained from at least one synaesthesia node.

[0014] In a fourth aspect, the present disclosure provides another communication and perception method, applied to a first synaesthesia node, the method comprising:

[0015] A perception configuration message is sent to the first terminal, where the perception configuration message includes a preset perception event, and the perception configuration message is used to trigger the first terminal to activate or deactivate communication signal measurement and / or perception signal measurement.

[0016] In a fifth aspect, the present disclosure provides a communication and perception device, applied to a first synaesthesia node, comprising:

[0017] An acquisition module, used to acquire perception information obtained by the first terminal;

[0018] The sending module is used to send a switching request message according to the perception information, where the switching request message is used to request switching of the synaesthesia service node of the first terminal.

[0019] In a sixth aspect, the present disclosure provides another communication and perception device, applied to a target synaesthesia node, the communication device comprising:

[0020] A sending module, configured to send a perception measurement report of the first terminal to the first synaesthesia node;

[0021] The receiving module is used to receive a switching request message, where the switching request message is used to request to switch the first terminal from the first synaesthesia node to the target synaesthesia node.

[0022] In a seventh aspect, the present disclosure provides another communication and perception device, applied to a first terminal, the communication device comprising:

[0023] A receiving module, configured to receive a perception configuration message from a first synaesthesia node, wherein the perception configuration message includes a preset perception event, and the first synaesthesia node is a current synaesthesia service node of the first terminal;

[0024] The receiving module is also used to obtain a perception signal from at least one synaesthesia node.

[0025] In an eighth aspect, the present disclosure provides another communication and perception device, applied to a first synaesthesia node, the communication device comprising:

[0026] The sending module is used to send a perception configuration message to the first terminal, where the perception configuration message includes a preset perception event, and the perception configuration message is used to trigger the first terminal to activate or deactivate communication signal measurement and / or perception signal measurement.

[0027] In a ninth aspect, a communication and perception device is provided, comprising: a processor and a memory; the memory stores instructions executable by the processor; when the processor is configured to execute the instructions, the communication device implements any one of the methods provided in the first to fourth aspects above.

[0028] In a tenth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes any one of the methods provided in the first to fourth aspects.

[0029] In an eleventh aspect, a computer program product comprising computer instructions is provided. When the computer instructions are executed on a computer, the computer executes any one of the methods provided in the first to fourth aspects.

[0030] Based on the technical solution provided by the present disclosure, the synaesthesia node makes a switching decision based on the perception information of the terminal, thereby reducing the energy consumption of the terminal for signal measurement. In addition, for high-speed moving terminals (with a high switching frequency), the switching decision can also be made based on the perception information of the terminal. Compared with the terminal frequently measuring the reference signal and reporting the measurement results, the time delay of determining the switching decision can be reduced to perform timely switching.

[0031] In addition, the terminal may also utilize the measurement of the perception signal to assist in determining whether communication and / or perception reference signal measurement is required, thereby avoiding excessive signal measurements when unnecessary and reducing the measurement energy consumption overhead of the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide further understanding of the technical solution of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solution of the present disclosure and do not constitute a limitation on the technical solution of the present disclosure.

[0033] Figure 1 A schematic diagram of a network architecture of a perception system provided by an embodiment of the present disclosure;

[0034] Figure 2 A schematic diagram of a network architecture of a synaesthesia system provided by an embodiment of the present disclosure;

[0035] Figure 3 A flow chart of a communication and perception method provided in an embodiment of the present disclosure;

[0036] Figure 4 A flowchart of another communication and perception method provided by an embodiment of the present disclosure;

[0037] Figure 5A flowchart of another communication and perception method provided by an embodiment of the present disclosure;

[0038] Figure 6 An interactive schematic diagram of a communication and perception method provided by an embodiment of the present disclosure;

[0039] Figure 7 An interactive schematic diagram of another communication and perception method provided by an embodiment of the present disclosure;

[0040] Figure 8 An interactive schematic diagram of another communication and perception method provided by an embodiment of the present disclosure;

[0041] Fig. 9 An interactive schematic diagram of another communication and perception method provided by an embodiment of the present disclosure;

[0042] Fig.10 A flowchart of another communication and perception method provided by an embodiment of the present disclosure;

[0043] Fig.11 A flowchart of another communication and perception method provided by an embodiment of the present disclosure;

[0044] Fig.12 An interactive schematic diagram of another communication and perception method provided by an embodiment of the present disclosure;

[0045] Fig.13 A schematic diagram of the composition of a communication and sensing device provided in an embodiment of the present disclosure;

[0046] Fig.14 A schematic diagram of another communication and sensing device provided in an embodiment of the present disclosure;

[0047] Fig.15 A schematic diagram of another communication and sensing device provided in an embodiment of the present disclosure;

[0048] Fig.16 A schematic diagram of another communication and sensing device provided in an embodiment of the present disclosure;

[0049] Fig.17 A schematic diagram of the structure of a communication and sensing device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0051] Unless the context requires otherwise, throughout the specification and claims, the term "comprise" and other forms thereof, such as the third person singular form "comprises" and the present participle form "comprising", are to be interpreted as open, inclusive, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific example" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner.

[0052] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0053] In the embodiments of the present disclosure, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present disclosure should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0054] Additionally, the use of “based on” is meant to be open and inclusive, as a process, step, calculation, or other action “based on” one or more stated conditions or values ​​may, in practice, be based on additional conditions or values ​​beyond those stated.

[0055] To facilitate understanding, some basic concepts of terms or technologies involved in the embodiments of the present invention are first briefly introduced and explained.

[0056] 1. Synaesthesia integration technology

[0057] Integrated Sensing and Communication (ISAC) refers to the unified design of communication and perception functions through joint design of air interfaces and protocols, reuse of time-frequency-space resources, and sharing of hardware devices, so that wireless networks can achieve high-precision and refined perception functions while performing high-quality communication interactions, thereby improving the overall performance and business capabilities of the network. This technology uses the transmission, reflection, and scattering characteristics of radio waves to obtain information such as distance, speed, and angle through wireless signals, thereby realizing the perception of the physical world. This technology can provide services such as high-precision positioning, gesture capture, motion recognition, detection and tracking of passive objects, imaging, and environmental reconstruction.

[0058] ISAC technology can achieve perception-assisted communication, improving communication performance by sensing environmental features, such as beamforming and channel state information tracking. The technology also supports communication-assisted collaborative perception, using the communication network to support multi-node collaborative perception and improve perception effects.

[0059] Among them, the sensing mode can be divided into base station spontaneous transmission and self-reception, base station A transmits and base station B receives, user equipment (UE) transmits and base station receives, base station transmits and UE receives, UE spontaneous transmission and self-reception, UE A transmits and UE B receives, etc.

[0060] 2. Mobility enhancement technology

[0061] 2.1. Conditional handover (CHO).

[0062] In order to improve the reliability of handover (i.e., handover robustness), the fifth generation mobile networks (5G) introduces conditional handover. CHO is defined as a handover performed by the UE when the execution condition is met. The user equipment starts evaluating the execution condition after receiving the CHO configuration and stops evaluating the execution condition after the handover is triggered. The CHO configuration includes the candidate cell configuration generated by the candidate target node and the execution condition of the corresponding candidate cell.

[0063] 2.2. Conditional primary secondary cell (PSCell) addition / change (CPAC)

[0064] In order to improve the reliability of PSCell / secondary node (SN) addition or switching (i.e. switching robustness) and reduce interruption time, 5G introduces conditional switching PSCell addition / change (CPAC). CPAC is defined as the PSCell addition / change performed by the UE when the execution conditions are met. The UE starts to evaluate the execution conditions after receiving the CPAC configuration, and stops evaluating the execution conditions after the PSCell addition / change is triggered. The CPAC configuration includes the candidate PSCell configuration generated by the candidate SN and the corresponding execution conditions of the candidate PSCell. The CPAC process can be initiated by the master node (MN) or SN, including inter-SN CPAC (CPAC across SNs) and intra-SN CPAC (CPAC within the same SN).

[0065] In addition, 5G also supports continuous CPAC (SCPAC). Based on the SCPAC configuration of the pre-configured candidate PSCell, the UE can perform a conditional PSCell addition or change procedure after PSCell addition, PSCell change, PCell change, or SCG release without reconfiguring and re-initiating the CPAC procedure. After completing the PSCell addition, PSCell change, PCell change, or SCG release, the UE maintains the configured SCPAC configuration (unless the network instructs to release it) and evaluates the execution conditions of the candidate PSCell (if the network provides execution conditions for subsequent execution of SCPAC). The SCPAC process can be initiated by the MN or SN, including inter-SN SCPAC and intra-SN SCPAC.

[0066] 2.3. Layer 1 / Layer 2 triggered mobility (L1 / L2 triggered mobility, LTM).

[0067] In order to reduce the handover interruption delay and handover signaling overhead, 5G introduces LTM. LTM is the process in which the base station triggers cell handover through a cell handover command based on media access control element (MAC CE) signaling. The cell handover command instructs the base station to configure the LTM candidate cell pre-configured by RRC signaling, and the UE switches to the corresponding target cell according to the handover command.

[0068] The overall LTM process includes four parts: LTM preparation, advance synchronization, LTM cell switching execution and LTM cell switching completion. Continuous LTM can reuse the pre-configured LTM candidate cell configuration and complete the cell switching by repeating the steps of advance synchronization, LTM cell switching execution and LTM cell switching completion, without releasing other LTM candidate cell configurations after each LTM cell switching is completed.

[0069] Under NR-DC, LTM can be applied to master cell group (MCG) switching and secondary cell group (SCG) switching.

[0070] 2.4 Conditional Layer 1 / Layer 2 Triggered Mobility (CLTM)

[0071] Based on LTM, 5G further introduces condition-triggered LTM, namely CLTM, which reduces the handover interruption delay and improves the handover robustness. The base station pre-configures the LTM candidate cell configuration and the corresponding execution conditions through RRC signaling. After receiving the CLTM configuration, the UE starts to evaluate the execution conditions, and when the corresponding execution conditions are met, it triggers CLTM to execute to the corresponding candidate cell.

[0072] Under NR-DC, CLTM can be applied to MCG switching and SCG switching.

[0073] The above is an introduction to the technical terms involved in the embodiments of the present disclosure, which will not be repeated below.

[0074] In order to reduce energy consumption in the process of terminal mobility management, the present disclosure provides a communication and perception method, in which a first synaesthesia node can obtain perception information perceived by a first terminal; based on the perception information, a switching request message is sent, and the switching request message is used to request switching of the synaesthesia service node of the first terminal.

[0075] The method provided by the embodiments of the present disclosure can be applied to various perception / synaesthesia systems.

[0076] like Figure 1 As shown, the present disclosure provides a perception system, which is a distributed perception network architecture, which can also be called a multi-station collaborative perception network architecture, that is, the system can send and receive perception signals through multiple nodes respectively, and then jointly process the perception information of multiple nodes, so as to achieve the effect of improving perception accuracy, expanding perception range, and enhancing perception continuity, thereby meeting the needs of capturing and tracking perception targets. The system includes at least one perception site (sencing site, SS) 101 and a perception center (sencing center, SC) 102.

[0077] The perception site 101 may be a base station, a base station centralized unit (CU), a base station distributed unit (DU), a transmitting / receiving point (TRP), etc., and is usually located in a wireless access network. Each perception site 101 may form a distributed perception network, and the perception site 101 has functions such as sensing a target, transmitting / receiving a perception signal, and processing a perception signal. In addition, the perception site 101 also has an information connection channel with other adjacent perception sites 101, for example, inter-site information interaction based on the Sn interface (or other interfaces), and reporting / transmitting the perception information to the perception center, for example, reporting a perception measurement report based on the S1 interface (or other interfaces), and the perception measurement report may also be referred to as a perception information report.

[0078] The perception center 102 may also be a sensing function (SF) entity. It is used to manage / control the perception process of each perception site 101 based on the S1 interface according to specific perception needs, such as configuring perception resources for each perception site 101, processing perception results, etc. The perception center 102 may be a perception network element located in the core network, or the perception center 102 may be a perception network element located in the access network, such as a base station, a base station centralized unit CU, a newly added network element on the access network RAN ​​side, etc. Alternatively, the perception center 102 may also be located in a central computer room of a region, in which case the perception center 102 may be the perception control center and computing power server center of all perception sites 101 in the region.

[0079] In this system, since it is a multi-station collaborative perception network architecture, the perception areas of different sites may form perception overlap areas, that is, multiple perception sites 101 can perceive the same perception target at the same time. Therefore, in this perception network architecture, it is necessary to fuse and deduplicate the target trajectories of the same perception target perceived by each distributed perception site 101, and it is also necessary to build a global identity for the perception target to facilitate the entire perception network identification and the switching and mobility management of the perception site 101. Among them, there are at least the following ways to deduplicate the trajectory of the perception target and build a global identity:

[0080] Method 1: The sensing sites 101 report the trajectory of the sensing target they sense to the sensing center 102. The sensing center 102 matches and removes duplicates of the trajectory reports of the sensing target reported by all the sensing sites 101, and then assigns a global identity to the sensing target, for example, generating a global sensing identifier (ID) of the sensing target. Then, the sensing center 102 can notify each sensing site 101 of the global sensing ID of the sensing target.

[0081] Mode 2: Each sensing site 101 may have an exclusive spatial grid, which may be divided based on the sensing area of ​​each sensing site 101. The spatial grid of the sensing site 101 also overlaps with that of the adjacent sensing site 101. When a sensing target in the overlapping spatial grid is sensed by multiple sensing sites 101, a designated sensing site 101 (e.g., a sensing anchor base station) may perform fusion processing on the trajectory reports of the sensing target by multiple sensing sites 101, and then report the fused trajectory reports to the sensing center 102. In this process, the designated sensing site 101 may generate a global sensing ID corresponding to the sensing target, and report / notify the global sensing ID to the sensing center 102 and / or other sensing sites 101.

[0082] Mode 3: Each sensing site 101 determines a sensing fusion site (i.e., a sensing anchor base station) through cooperative fusion requests and sensing information interactions with adjacent sensing sites 101, and the sensing fusion site fuses the target trajectories of multiple sensing sites 101 and reports them to the sensing center 102. In this process, the determined sensing site 101 can fuse the sensing target and assign a global sensing ID, and report / notify the global sensing ID to the sensing center 102 and / or other sensing sites 101.

[0083] Among them, the site that fuses and deduplicates the trajectories of the same perception target perceived by multiple perception sites 101 is a perception fusion site (or perception anchor base station), and other sites that perceive the same perception target can serve as collaborative perception sites. The collaborative perception sites can send their respective perception information to the perception fusion site, which fuses and deduplicates the target trajectory, generates fused perception information, and then reports it to the perception center. The perception fusion site can also send the fused and deduplicated perception information to each collaborative base station to assist the collaborative base station in perception, such as assisting the collaborative base station to better eliminate false alarms, detect illegal drones, and reduce the amount of information transmission between base stations / perception nodes during target detection, positioning, and tracking.

[0084] like Figure 2 As shown, the present disclosure further provides a synaesthesia system, which is a synaesthesia fusion network architecture, including at least one synaesthesia site 201 and a synaesthesia center 202 .

[0085] Among them, similar to the above-mentioned perception site 101, the synaesthesia site 201 can also be a base station, a base station centralized unit, a base station distributed unit, a transmitting / receiving point, etc., which will not be repeated here. The synaesthesia site 201 not only has the functions of the above-mentioned perception site 101, but also has the functions of a traditional communication site, such as communication / perception signal processing, information transmission, resource allocation and other functions. Each synaesthesia site 201 can also exchange information between stations based on the Sn interface (or other interfaces), and report / transmit the communication / perception information to the synaesthesia center 202 through the S1 interface (or other interfaces).

[0086] The synaesthesia center 202 is used for process control / management, resource allocation, and result processing of communication and perception of each synaesthesia site 201 based on the S1 interface (or other interfaces) according to the communication and perception requirements. The synaesthesia center 202 can be a synaesthesia network element located in the core network, or it can also be a comprehensive network element function body, or it can also be a collection of multiple network element function bodies (such as a collection of perception centers and AMFs). Alternatively, the synaesthesia center 202 can also be located in a central computer room in a region, which can be the control center and computing center of all synaesthesia sites 201 in the region.

[0087] Exemplarily, for a UE that is a perception target, such as a networked unmanned aerial vehicle (UAV UE), the base station can provide communication and perception functions for the UE at the same time. Based on the consistency of communication and perception, the communication base station accessed by the UE can be used as a perception fusion site (or perception anchor base station), that is, the communication base station and the perception anchor base station are consistent (such as a synaesthesia anchor base station). The synaesthesia anchor base station can perform collaborative perception with other adjacent perception / synaesthesia sites, and fuse the collaborative perception information and report it to the perception center.

[0088] In addition, a synaesthesia fusion center such as the synaesthesia center 202, or a functional entity integrating the above-mentioned perception center functions and the access and mobility management function (AMF) in traditional wireless communications may be introduced to manage / control the perception and communication process of each site.

[0089] It should be noted that Figure 1 or Figure 2 This is just an exemplary framework diagram. Figure 1 or Figure 2 The number of devices or nodes included in the Figure 1 or Figure 2 In addition to the functional nodes shown, the system architecture may also include other nodes or devices, such as core network devices.

[0090] The system architecture and business scenarios described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Persons skilled in the art will appreciate that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are equally applicable to similar technical problems.

[0091] The embodiments provided by the present disclosure are described in detail below in conjunction with the accompanying drawings.

[0092] like Figure 3 As shown, the present disclosure provides a communication and perception method, which is applied to a first synaesthesia node, and the first synaesthesia node can be the above-mentioned perception site 101, synaesthesia site 201, etc. The method includes:

[0093] S101: Acquire perception information obtained from a first terminal.

[0094] The above-mentioned perception information may include information in a perception measurement report obtained by the synaesthesia node sensing the first terminal.

[0095] Exemplarily, the acquired perception information may be determined based on a perception measurement report obtained by the first synaesthesia node perceiving the first terminal, and / or determined based on a perception measurement report obtained by other synaesthesia nodes perceiving the first terminal. The other synaesthesia nodes may include a second synaesthesia node.

[0096] In a possible implementation, the first synaesthesia node may receive a perception measurement report from a second synaesthesia node, and then obtain perception information perceived by the first terminal according to the perception measurement report from the second synaesthesia node and / or the perception measurement report of the first synaesthesia node.

[0097] Among them, the second synaesthesia node is a cooperative synaesthesia node that can cooperate with the first synaesthesia node in the synaesthesia process of the first terminal, and the first synaesthesia node is a node for mobility management of the first terminal. In some instances, the second synaesthesia node is close to the first synaesthesia node, and it can be an adjacent node of the first synaesthesia node. Exemplarily, the first synaesthesia node can be a perception anchor point base station in the above-mentioned perception site 101, and the second synaesthesia node can be other perception sites 101 that can cooperate with the synaesthesia process of the first terminal. Alternatively, the first synaesthesia node can be a synaesthesia anchor point base station in the above-mentioned synaesthesia site 201, and the second synaesthesia node can be other synaesthesia sites 201 that can cooperate with the synaesthesia process of the first terminal. In addition, the perception measurement report from the second synaesthesia node is used to indicate the perception information obtained by the second synaesthesia node from the first terminal.

[0098] It should be noted that, since each synaesthesia node needs to register with the third synaesthesia node, each perception capability, perception area range and perception information are reported to the third synaesthesia node. Among them, the third synaesthesia node can be used for the perception management of the first synaesthesia node and the second synaesthesia node, such as the above-mentioned perception center 102. Or. The third synaesthesia node is used for the perception and communication management of the first synaesthesia node and the second synaesthesia node, such as the above-mentioned synaesthesia center 202. Thus, the third synaesthesia node can understand which synaesthesia nodes are within the perception range of the perception target, and select a collaborative node, that is, a second synaesthesia node, for the first synaesthesia node. The third synaesthesia node can notify the first synaesthesia node of the determined second synaesthesia node, and notify each second synaesthesia node of the communication and / or perception information of the first synaesthesia node to the perception target (first terminal) and the information of the first synaesthesia node. Furthermore, the second synaesthesia node can match and associate the received communication and / or perception information with the information obtained by its own perception, so as to determine the perception target (first terminal) that needs to be cooperatively perceived.

[0099] Each second synaesthesia node (perception cooperation node) can send its own perception measurement report for the perception target (first terminal) to the first synaesthesia node. That is, the first synaesthesia node can cooperate with the second synaesthesia node for perception, for example, the perception information of the second synaesthesia node can be used to assist in the switching strategy of wireless communication. Among them, the sending of the perception measurement report can include periodic sending, or sending when the preset conditions are met, or sending methods such as sending based on the request message of the first synaesthesia node. Furthermore, the first synaesthesia node can fuse the perception measurement report of the first terminal obtained by itself with the perception measurement report sent by each second synaesthesia node to remove duplicates, and send the processed perception measurement report of the first terminal to the third synaesthesia node. In addition, the first synaesthesia node can also send the processed perception measurement report of the first terminal to each second synaesthesia node. Each second synaesthesia node can match the received perception measurement report of the processed first terminal with the perception measurement report obtained by itself, thereby assisting in optimizing its own perception scheme and perception results.

[0100] In some embodiments, the perception measurement report may include at least one of the following:

[0101] Identification information of the synaesthesia node, identification information of the first terminal, identification information of the satisfied perception triggering event, perception signal quality information, the distance between the first terminal and the synaesthesia node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the perception confidence.

[0102] It should be understood that the acquired perception information of the first terminal may also include at least one item of information included in the above-mentioned perception measurement report.

[0103] The following is a detailed description of the information in the perception measurement report:

[0104] Identification information of synaesthesia nodes

[0105] The identification information of the synaesthesia node is used to indicate the synaesthesia node that senses the sensing target to obtain the sensing measurement report. That is, the sensing measurement report from the second synaesthesia node may include the identification information of the second synaesthesia node, and the sensing measurement report from the first synaesthesia node may include the identification information of the first synaesthesia node.

[0106] Identification information of the first terminal

[0107] The identification information of the first terminal is used to uniquely identify the first terminal. The identification information of the first terminal may be the device identification of the first terminal, or the perception identification of the first terminal as a perception target in the current perception scene, such as the above-mentioned global perception ID. The identification information of the first terminal may include the communication ID, perception ID, synaesthesia ID, etc. in the current perception scene. Among them, the communication ID is used to uniquely identify the first terminal during the communication process, the perception ID is used to uniquely identify the first terminal in the process of perceiving the first terminal, and the synaesthesia ID is used to identify the first terminal in the scene where communication and perception are integrated.

[0108] In one example, the first synaesthesia node may associate the communication ID of the first terminal with the perception ID, and may also generate a synaesthesia ID corresponding to the first terminal.

[0109] Exemplarily, the first synaesthesia node may first request the first terminal (for example, with a positioning function such as GPS) to report the location trajectory information. The location trajectory information may include the location information and / or trajectory information of the first terminal, such as the flight path information of the drone (first terminal), including the 3D location coordinates and / or time information of the flight path points. Furthermore, after receiving the location / trajectory information of the first terminal, the first synaesthesia node may generate the communication ID of the first terminal based on the location / trajectory information. Alternatively, the first synaesthesia node may also request the first terminal to directly report its own identification information (for example, the remote identification remote ID of the first terminal), and use the identification information as the communication ID of the first terminal.

[0110] The first synaesthesia node may also obtain the location trajectory information of the first terminal by a perception method, and generate or associate a corresponding perception ID, for example, the perception ID is an identification ID corresponding to the location information and / or trajectory information of the first terminal perceived and obtained by the first synaesthesia node. The perception ID may be generated by the first synaesthesia node itself, and may be called a local perception ID (corresponding only to the perception information perceived by the first synaesthesia node to the first terminal), or the perception ID may be a global perception ID generated by the first synaesthesia node for the first terminal after matching and deduplication of the location trajectory information of the first terminal transmitted / reported by multiple synaesthesia nodes (perception sites), or the perception ID may also be a global perception ID of the first terminal notified by the third synaesthesia node to all synaesthesia nodes.

[0111] Furthermore, the first synaesthesia node can match the position / trajectory information obtained by perception with the position / trajectory information reported by the first terminal through the communication link, thereby associating the communication ID of the first terminal with the perception ID, for example, generating a corresponding synaesthesia ID, which can be used to simultaneously identify the communication and perception identities of the first terminal.

[0112] The first synaesthesia node may also report the association information between the communication ID and the perception ID of the first terminal, such as the corresponding synaesthesia ID, to the third synaesthesia node. The third synaesthesia node may notify other nodes, such as the second synaesthesia node for collaborative perception, of the association information. Alternatively, the first synaesthesia node may directly notify other nodes of the association information.

[0113] In another example, the third synaesthesia node may associate the communication ID of the first terminal with the perception ID, and may also generate a synaesthesia ID corresponding to the first terminal.

[0114] The first synaesthesia node may request the first terminal to report the location / trajectory information. Alternatively, the first synaesthesia node may also request the first terminal to directly report its own identification information. Furthermore, the first synaesthesia node may send the acquired location / trajectory information and / or identification information of the first terminal to the third synaesthesia node. The third synaesthesia node may generate the communication ID of the first terminal based on the location / trajectory information, or the third communication node may use the identification information reported by the first terminal as the communication ID of the first terminal.

[0115] The first synaesthesia node may also obtain the location / trajectory information of the first terminal by a sensing method, and send the location / trajectory information to the third synaesthesia node, and the third synaesthesia node generates a sensing ID of the first terminal. The sensing ID may be a global sensing ID generated by the third synaesthesia node for the first terminal after matching and deduplication of the location trajectory information of the first terminal transmitted / reported by multiple synaesthesia nodes (sensing sites).

[0116] Furthermore, the third synaesthesia node can match the position / trajectory information obtained by perception with the position / trajectory information reported by the first terminal through the communication link, thereby associating the communication ID of the first terminal with the perception ID, for example, generating a corresponding synaesthesia ID, which can be used to simultaneously identify the communication and perception identity of the first terminal. The third synaesthesia node can notify other nodes, such as the first synaesthesia node, and / or the second synaesthesia node for collaborative perception, of the association information.

[0117] It should be noted that when multiple perception nodes cooperate with each other to perceive the same perception target (first terminal), a unified synaesthesia identity (identification information of the first terminal) can be established for the perception target among these multiple perception nodes. This makes it easier to identify the perception information of different perception nodes on the perception target, thereby performing more accurate perception information processing.

[0118] The identification information of the satisfied perception trigger event

[0119] A perception trigger event includes at least one of the following:

[0120] The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold;

[0121] The quality of the perception signal of the first synaesthesia node is less than the second quality threshold;

[0122] The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value;

[0123] The quality of the perception signal of the second synaesthesia node is less than a third quality threshold;

[0124] The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold;

[0125] The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold;

[0126] The distance between the first synaesthesia node and the first terminal is greater than a first distance threshold;

[0127] The distance between the first synaesthesia node and the first terminal is less than a second distance threshold;

[0128] The distance between the first synaesthesia node and the first terminal is greater than the sum of the distance between the second synaesthesia node and the first terminal and the distance offset value;

[0129] The distance between the second synaesthesia node and the first terminal is less than a third distance threshold;

[0130] The distance between the second synaesthesia node and the first terminal is greater than a fourth distance threshold;

[0131] The distance between the first synaesthesia node and the first terminal is less than a fifth distance threshold, and the distance between the second synaesthesia node and the first terminal is greater than a sixth distance threshold.

[0132] The identification information is used to indicate the currently satisfied perception trigger event. Exemplarily, the identification information can be configured / generated by the first synaesthesia node or the third synaesthesia node. In addition, the identification information can be notified by the first synaesthesia node or the third synaesthesia node to other nodes, for example, the second synaesthesia node for collaborative perception.

[0133] Exemplarily, each synaesthesia node may store a perception triggering event and identification information corresponding to each perception event. It should be understood that in the perception process of the same perception target (such as the first terminal), for the same perception triggering event, the identification information stored in each synaesthesia node is consistent.

[0134] Exemplarily, the above-mentioned perception triggering events may have their own corresponding event numbers, and the event numbers are the identification information of the perception triggering events. For example, the event numbers of the above-mentioned perception triggering events may be perception triggering event 1-perception triggering event 12, respectively. Taking the perception signal quality of the first synaesthesia node being greater than the first quality threshold as an example, the corresponding identification information may be "perception triggering event 1". Alternatively, the event numbers may be quality triggering event 1-quality triggering event 6 and distance triggering event 1-distance triggering event 6. Taking the perception signal quality of the first synaesthesia node being greater than the first quality threshold as an example, the corresponding identification information may be "quality triggering event 1". It should be understood that the perception triggering event may also have other possible event numbers, which are not listed one by one here.

[0135] Alternatively, the identification information of the perception trigger event may also include the trigger information of the perception trigger event and a specific threshold, etc. For example, the identification information of the perception trigger event "the perception signal quality of the first synaesthesia node is greater than the first quality threshold" may be "perception signal quality, first quality threshold".

[0136] Alternatively, the identification information of the perception triggering event may also include other information that can be used to uniquely identify each perception triggering event, such as a character combination used to indicate each perception triggering event, etc., which are not listed here one by one.

[0137] Perceived signal quality information

[0138] The perceived signal quality includes at least one of the following:

[0139] Perceived signal signal-to-noise ratio (SNR), reference signal power (RSRP), reference signal received quality (RSRQ), signal to interference plus noise ratio (SINR), and perception confidence.

[0140] The distance between the first terminal and the synaesthesia node

[0141] The first synaesthesia node's perception measurement report for the first terminal includes the distance between the first terminal and the first synaesthesia node. The second synaesthesia node's perception measurement report for the first terminal includes the distance between the first terminal and the second synaesthesia node.

[0142] The location of the first terminal may be an exact location of the first terminal in geographic space, and these locations are usually expressed in the form of longitude and latitude or coordinates relative to a fixed point.

[0143] In some embodiments, the position of the first terminal and the distance between the first terminal and the synaesthesia node can be calculated and determined by (reference) information such as the signal propagation time and signal strength of the signal.

[0144] The information of the first terminal such as the moving speed, moving direction, and moving track can be determined through the perception of the synaesthesia node of the position change of the first terminal within a certain period of time.

[0145] Perceived confidence

[0146] The perception confidence can be used to indicate the reliability and accuracy of the perception result (perception measurement report).

[0147] In some embodiments, the first synaesthesia node may also receive communication signal quality information sent by the first terminal.

[0148] Exemplarily, the communication signal quality information may include a reference signal receiving power (RSRP), a reference signal receiving quality (RSRQ), and a signal to interference plus noise ratio (SINR) obtained by measuring signals in a serving cell and a neighboring cell.

[0149] At this time, the first synaesthesia node may also obtain the perception information of the first terminal according to the communication signal quality information reported by the first terminal itself, the perception measurement report from the second synaesthesia node and / or the perception measurement report of the first synaesthesia node.

[0150] In some embodiments, each second synaesthesia node may also receive the communication signal quality information sent by the first terminal.

[0151] In some embodiments, the triggering event for the communication signal quality measurement may include at least one of the following:

[0152] Event A1: the quality of the serving cell is greater than the threshold;

[0153] Event A2: the quality of the serving cell is less than the threshold;

[0154] Event A3: The quality of the neighboring cell is greater than the quality of the primary serving cell (SpCell) plus the offset;

[0155] Event A4: The quality of the neighboring cell is greater than the threshold;

[0156] Event A5: The quality of the primary serving cell (SpCell) is less than threshold 1, and the quality of the neighboring cell is greater than threshold 2.

[0157] In some embodiments, the first synaesthesia node may also send trigger configuration information to the second synaesthesia node. Figure 4 As shown, before executing the above step S101, the first synaesthesia node may execute step S100 to send trigger configuration information to each second synaesthesia node.

[0158] The trigger configuration information is used to configure the trigger conditions of the perception measurement report.

[0159] In some embodiments, the third synaesthesia node may also send trigger configuration information to the first synaesthesia node and / or the second synaesthesia node.

[0160] In some embodiments, the trigger configuration information includes at least one of the following:

[0161] Identification information of a synaesthesia node (for example, identification information of a first synaesthesia node, identification information of a second synaesthesia node), identification information of a first terminal, a triggering mode, identification information of a perception triggering event, a threshold value and / or a bias value corresponding to the perception triggering event, a hysteresis coefficient, a triggering time, a triggering time interval, the number of perception measurement reports allowed to be sent, indication information for indicating whether to trigger the second synaesthesia node to send a perception measurement report to the first terminal when a leaving condition of the perception triggering event is met, the maximum number of terminals included in a perception measurement report, and filtering parameters of a perception signal.

[0162] Exemplarily, the identification information of the synaesthesia node is used to uniquely identify the synaesthesia node. It can be an identifier for uniquely identifying the synaesthesia node, such as a unique ID of the first synaesthesia node in the synaesthesia network architecture, which is used to distinguish other base stations or nodes to ensure the correct transmission and processing of communication or perception data. Similarly, each second synaesthesia node may also have its own identification information.

[0163] The identification information of the first terminal may refer to the description of the identification information of the first terminal in the above perception measurement report, which will not be repeated here.

[0164] The triggering mode can be used to indicate the triggering type of the perception measurement report, such as periodic triggering, event-based triggering, or event-based periodic triggering. Periodic triggering: The sending of the perception measurement report can be triggered at a certain time interval. Event-based triggering: The sending of the perception measurement report can be triggered when a specific event condition is met. For example, when one or more of the above-mentioned perception triggering events are met, the second synaesthesia node can send the perception measurement report. Event-based periodic triggering: When a specific event condition is met, the sending of the perception measurement report is triggered at a certain time interval.

[0165] The identification information of the perception triggering event here may include identification information of one or more events in the above-mentioned perception triggering events, that is, when the one or more events are met, the second synaesthesia node may send a perception measurement report.

[0166] The threshold value and / or offset value corresponding to the perception trigger event is used to specifically determine whether the perception event occurs.

[0167] The hysteresis coefficient (Hysteresis) is a coefficient related to the entry condition and the exit condition of the perception trigger event, which can be used to increase or decrease the sensitivity of triggering the sending of the perception measurement report, thereby avoiding frequent triggering or false alarms due to small fluctuations.

[0168] The trigger time (Time To Trigger) is used to trigger the sending of the perception measurement report, and corresponds to the time when the perception trigger event needs to be satisfied. That is, when the corresponding perception trigger event satisfies the trigger time, the sending of the perception measurement report is triggered.

[0169] The triggering time interval (Report Interval) refers to the time interval for periodically sending the perception measurement report, that is, the perception measurement report can be periodically sent according to the time interval.

[0170] The number of perception measurement reports allowed to be sent (Report Amount) is the maximum number of perception measurement reports allowed to be sent. That is, when this number is reached, sending new perception measurement reports can be stopped until the next periodic sending time interval or the event triggering condition is met again.

[0171] Indication information used to indicate whether to trigger the second synaesthesia node to send a perception measurement report to the first terminal when the leaving condition of the perception triggering event is met. It can be an indicator, such as Report On Leave, which is used to indicate whether to trigger the sending of the perception information report when the perception measurement result meets the leaving condition of the perception triggering event.

[0172] The maximum number of terminals included in a perception measurement report can be used to limit the number of UEs in each report, which can help reduce the size and complexity of the report, thereby improving the transmission efficiency and processing capacity of the network.

[0173] The filter coefficient of the perception signal includes a coefficient used to perform a filtering operation on the perception signal, which can help remove noise and interference in the perception signal, thereby improving the quality and accuracy of the signal.

[0174] Thus, the second synaesthesia node can determine whether (the perception result of the first terminal) meets the trigger condition corresponding to the trigger configuration information based on the trigger configuration information. If the trigger condition is met, the second synaesthesia node sends a perception measurement report to the first synaesthesia node.

[0175] For example, taking the trigger configuration information including identification information of perception trigger event 4 as an example, perception trigger event 4 includes "the perception signal quality of the second synaesthesia node is less than the third quality threshold", when the perception signal quality obtained by the second synaesthesia node for the first terminal within the trigger time satisfies the perception trigger event 4, the second synaesthesia node can send a perception measurement report obtained by measuring the first terminal to the first synaesthesia node. The information contained in the perception measurement report can refer to the above-mentioned related description, which will not be repeated here.

[0176] For another example, taking the periodic transmission triggered by an event as an example, the trigger configuration information includes the time interval for periodically sending the perception information report, the maximum number of perception information reports allowed to be sent, etc. Thus, after the trigger event / condition is met, the second perception node can periodically send the perception measurement report to the first perception node at the configured time interval until the number of times the report is sent reaches the configured maximum number of reports allowed to be sent.

[0177] It should be noted that the first synaesthesia node or the third synaesthesia node can also configure one or more of the above-mentioned perception triggering events as triggering conditions for triggering information interaction between each collaborative synaesthesia node (second synaesthesia node) and the first synaesthesia node. For example, when the triggering condition is met, the second synaesthesia node sends a perception measurement report to the first synaesthesia node.

[0178] S102. Send a switching request message according to the perception information.

[0179] The switching request message is used to request the switching of the synaesthesia service node of the first terminal. The synaesthesia service node of the first terminal is also the node currently providing communication and / or perception services to the terminal, such as the above-mentioned perception anchor base station, synaesthesia anchor base station, etc.

[0180] In some embodiments, the handover request message includes at least one of the following:

[0181] Identification information of the first terminal, identification information of the first synaesthesia node, identification information of the target synaesthesia node, synaesthesia node switching time, configuration information of perception resources, perception requirement information for perceiving the first terminal, perception indicator information for perceiving the first terminal, perception mode information for perceiving the first terminal, and information of collaborative synaesthesia nodes.

[0182] The target synaesthesia node is the target synaesthesia service node to be switched by the first terminal. That is, when the switching request message includes the identification information of the target synaesthesia node, the switching request message can be used to request that the synaesthesia service node of the first terminal be switched from the first synaesthesia node to the target synaesthesia node. In some embodiments, the target synaesthesia node can be determined in at least one second synaesthesia node (collaborative synaesthesia node).

[0183] The synaesthesia node switching time may be the time estimated by the first synaesthesia node for the first terminal to switch from the first synaesthesia node to the target synaesthesia node.

[0184] The configuration information of the perception resources is used to describe the configuration of the perception resources allocated to the first terminal, such as the allocation of resources such as frequency, bandwidth, and time slot.

[0185] The perception requirement information for perceiving the first terminal is used for the purpose of perceiving the first terminal this time. For example, the perception requirement information may include the location, trajectory information, moving speed, and / or moving direction of the first terminal.

[0186] The perception indicator information perceived by the first terminal is used to evaluate the perception performance or quality, such as the perception positioning accuracy, the perception moving speed / direction accuracy, resolution, and / or the perception delay information.

[0187] Perception mode information for perceiving the first terminal, such as active perception, passive perception, continuous perception, periodic perception and other modes.

[0188] The information of the cooperative synaesthesia node is also the relevant information of the second synaesthesia node, such as the identification information and quantity information of the second synaesthesia node.

[0189] In some embodiments, a switching request message is sent when a preset condition is met.

[0190] Among them, the preset condition may include: satisfying any one of the above-mentioned perception triggering events and the triggering event of the communication signal quality measurement, or a combination of multiple events. In some embodiments, the first synaesthesia node can assist in judging the switching preparation and / or execution process of CHO, LTM or similar switching functions based on the perception triggering event and the triggering event of the communication signal quality measurement. For example, the first synaesthesia node can prepare one or more candidate target base stations based on the collected perception information (such as selecting one or more nodes from the second synaesthesia node as candidate target synaesthesia nodes).

[0191] In some embodiments, the first synaesthesia node may also determine whether to adjust / activate / deactivate the communication measurement based on any one of the above-mentioned perception triggering events and the communication signal quality measurement triggering events, or a combination of multiple events.

[0192] Exemplarily, the first synaesthesia node may also adjust the measurement of the communication signal and / or the configuration of the measurement resources of the first terminal according to the perception information, so as to reduce the overhead of the signal measurement resources and reduce the measurement energy consumption overhead of the first terminal. For example, based on the perception information and any one of the above-mentioned perception triggering events and the triggering events of the communication signal quality measurement or a combination of multiple events, the first synaesthesia node may dynamically activate / deactivate (or start / stop) the first terminal's measurement of the communication measurement reference signal (such as SSB, CSI-RS), such as indicated by MAC CE or DCI.

[0193] In a possible implementation manner, the first synaesthesia node may send the switching request message to the third synaesthesia node.

[0194] Exemplarily, the first synaesthesia node may determine the target synaesthesia node to which the first terminal switches from at least one second synaesthesia service node according to the perception information, and then send a switching request message to the third synaesthesia node, where the switching request message includes identification information of the target synaesthesia node.

[0195] Furthermore, the first synaesthesia node may receive a handover consent indication message from the third synaesthesia node.

[0196] Exemplarily, the third synaesthesia node may send a switching request message to the target synaesthesia node, and then receive an approval request indication message sent by the target synaesthesia node, and forward the approval request indication message to the first communication node.

[0197] In one example, the third synaesthesia node is used for the perception management of the first synaesthesia node and the second synaesthesia node. At this time, the above-mentioned consent switching indication message is used to instruct the first synaesthesia node to perform the perception service node switching of the first terminal. In some embodiments, the first synaesthesia node can also send a communication switching request message to the second synaesthesia node, and the communication switching request message is used to request to switch the communication service node of the first terminal.

[0198] In another example, the third synaesthesia node is used for perception and communication management between the first synaesthesia node and the second synaesthesia node. At this time, the above-mentioned consent switching indication message is used to instruct the first synaesthesia node to execute the synaesthesia service node switching of the first terminal.

[0199] In some embodiments, the above-mentioned handover consent indication message can be used to indicate acceptance of the handover request of the first synaesthesia node, acceptance of part of the handover request of the first synaesthesia node. The handover consent indication message may include identification information of the first terminal, configuration information of the perception resource, satisfiable perception requirement information, and / or satisfiable perception indicator information and other information.

[0200] In some embodiments, the first synaesthesia node may receive a rejection switching indication message from a third synaesthesia node. The rejection switching indication message may be used to indicate the rejection of the switching request of the first synaesthesia node, or the rejection of part of the switching request of the first synaesthesia node. The rejection switching indication message may include the inability to meet the corresponding switching requirement, the reason value of the rejection, etc., for example, the target synaesthesia node does not meet the corresponding perception requirement or perception index, etc.

[0201] Exemplarily, in the case where the target synaesthesia node only accepts one of the communication switching or the perception switching, the target synaesthesia node may send a partial switching acceptance / rejection message to the first synaesthesia node through the third synaesthesia node. The message may include configuration information of the accepted switching type (e.g., perception or communication), a rejected switching type indication (e.g., rejection of communication node switching, or rejection of perception node switching), and / or a rejection reason value.

[0202] In some embodiments, the first synaesthesia node may also receive a resource release indication message from the target synaesthesia node.

[0203] The resource release indication message is used to instruct the first synaesthesia node to release the communication resources and / or perception resources corresponding to the first terminal.

[0204] In another possible implementation manner, the first synaesthesia node may directly send a switching request message to the target synaesthesia node.

[0205] Exemplarily, the first synaesthesia node may determine, according to the perception information, a target synaesthesia node to which the first terminal is to switch from at least one second synaesthesia service node, and then send a switching request message to the target synaesthesia node.

[0206] It should be understood that the switching request message here may also include at least one of the identification information of the above-mentioned first terminal, the identification information of the first synaesthesia node, the identification information of the target synaesthesia node, the synaesthesia node switching time, the configuration information of the perception resources, the perception requirement information for perceiving the first terminal, the perception indicator information for perceiving the first terminal, the perception mode information for perceiving the first terminal, and the information of the collaborative synaesthesia node.

[0207] Furthermore, the first synaesthesia node may receive a switching response message from the target synaesthesia node.

[0208] The switching response message is used to indicate: accepting the switching request of the first synaesthesia node, rejecting the switching request of the first synaesthesia node, accepting part of the switching request of the first synaesthesia node, or rejecting part of the switching request of the first synaesthesia node.

[0209] That is, the switching response message includes a switching approval indication message for indicating acceptance of the switching request of the first synaesthesia node or acceptance of part of the switching request of the first synaesthesia node, or includes a switching rejection indication message for indicating rejection of the switching request of the first synaesthesia node or rejection of part of the switching request of the first synaesthesia node.

[0210] Exemplarily, when the target synaesthesia node only accepts one of the communication switching and the perception switching, the switching response message includes a switching rejection indication message. Alternatively, the switching response message may be a partially agreeable / partially rejected switching indication message.

[0211] That is, the target synaesthesia node can directly send a partial switching acceptance / rejection message to the first synaesthesia node. The message may include configuration information of the accepted switching type (e.g., perception or communication), a rejected switching type indication (e.g., rejection of communication node switching, or rejection of perception node switching), and / or a rejection reason value.

[0212] In some embodiments, the first synaesthesia node may also receive a resource release indication message from the target synaesthesia node.

[0213] The resource release indication message is used to instruct the first synaesthesia node to release the communication resources and / or perception resources corresponding to the first terminal.

[0214] In some embodiments, the sensing mode may be that the base station transmits and receives independently, or base station A transmits and base station B receives.

[0215] Based on the technical solution provided by the present disclosure, the synaesthesia node makes a switching decision based on the perception information of the terminal, thereby reducing the energy consumption of the terminal for signal measurement. In addition, for high-speed moving terminals (with a high switching frequency), the switching decision can also be made based on the perception information of the terminal. Compared with the terminal frequently measuring the reference signal and reporting the measurement results, the time delay of determining the switching decision can be reduced to perform timely switching.

[0216] like Figure 5 As shown, the present disclosure also provides another communication and perception method, which is applied to a target synaesthesia node, and the target synaesthesia node may be the above-mentioned perception site 101, synaesthesia site 201, etc. The method includes:

[0217] S201. Send a perception measurement report of a first terminal to a first synaesthesia node.

[0218] In some embodiments, the perception measurement report includes at least one of the following:

[0219] Identification information of synaesthesia nodes (for example, identification information of the first synaesthesia node, identification information of the second / target synaesthesia node), identification information of the first terminal, identification information of the satisfied perception triggering event, perception signal quality information, the distance between the first terminal and the target synaesthesia node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the perception confidence.

[0220] It should be understood that the perception measurement report of the first terminal sent by the target synaesthesia node to the first synaesthesia node may include identification information of the target synaesthesia node.

[0221] In some embodiments, before sending the perception measurement report of the first terminal to the first synaesthesia node, the method further includes:

[0222] Receive trigger configuration information from the first synaesthesia node, where the trigger configuration information is used to configure a trigger condition for a perception measurement report.

[0223] At this time, step S201 may be specifically implemented as: when a trigger condition is met, sending a perception measurement report of the first terminal to the first synaesthesia node.

[0224] In some embodiments, the trigger configuration information includes at least one of the following:

[0225] identification information of the synaesthesia node (for example, identification information of the first synaesthesia node, identification information of the second / target synaesthesia node), identification information of the first terminal, triggering mode, identification information of the perception triggering event, threshold value and / or bias value corresponding to the perception triggering event, hysteresis coefficient, triggering time,

[0226] The triggering time interval, the number of perception measurement reports allowed to be reported, the indication information used to indicate whether to trigger the second synaesthesia node to send a perception measurement report to the first terminal when the leaving condition of the perception triggering event is met, the maximum number of terminals included in a perception measurement report, and the filtering parameters of the perception signal.

[0227] In some embodiments, the sensing triggering event includes at least one of the following:

[0228] The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold;

[0229] The quality of the perception signal of the first synaesthesia node is less than the second quality threshold;

[0230] The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value;

[0231] The quality of the perception signal of the second synaesthesia node is less than a third quality threshold;

[0232] The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold;

[0233] The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold;

[0234] The distance between the first synaesthesia node and the first terminal is greater than a first distance threshold;

[0235] The distance between the first synaesthesia node and the first terminal is less than a second distance threshold;

[0236] The distance between the first synaesthesia node and the first terminal is greater than the sum of the distance between the second synaesthesia node and the first terminal and the distance offset value;

[0237] The distance between the second synaesthesia node and the first terminal is less than a third distance threshold;

[0238] The distance between the second synaesthesia node and the first terminal is greater than a fourth distance threshold;

[0239] The distance between the first synaesthesia node and the first terminal is less than a fifth distance threshold, and the distance between the second synaesthesia node and the first terminal is greater than a sixth distance threshold.

[0240] In some embodiments, the perceived signal quality comprises at least one of the following:

[0241] Perceived signal-to-noise ratio, reference signal power, reference signal reception quality, signal-to-interference-and-noise ratio, and perception confidence.

[0242] S202: Receive a switching request message.

[0243] The switching request message is used to request to switch the first terminal from the first synaesthesia node to the target synaesthesia node.

[0244] In some embodiments, the handover request message includes at least one of the following:

[0245] Identification information of the first terminal, identification information of the target synaesthesia node, synaesthesia node switching time, configuration information of perception resources, perception requirement information for perceiving the first terminal, perception indicator information for perceiving the first terminal, perception mode information for perceiving the first terminal, and information of collaborative synaesthesia nodes.

[0246] In a possible implementation, the target synaesthesia node may receive a switching request message from a third synaesthesia node, the third synaesthesia node is used for perception management of the first synaesthesia node and the second synaesthesia node, or the third synaesthesia node is used for perception and communication management of the first synaesthesia node and the second synaesthesia node.

[0247] In some embodiments, the target synaesthesia node may also send a switching response message to the third synaesthesia node, the switching response message is used to trigger the third synaesthesia node to send a switching approval indication message to the first synaesthesia node. Then, when the switching is completed, a switching completion indication message is sent to the third synaesthesia node.

[0248] The switch approval indication message is used to instruct the first synaesthesia node to execute the synaesthesia service node switch of the first terminal; or, the switch approval indication message is used to instruct the first synaesthesia node to execute the perception service node switch of the first terminal.

[0249] In some embodiments, when agreeing that a switching indication message is used to instruct the first synaesthesia node to perform a switching of the perception service node of the first terminal, before sending a switching completion indication message to a third synaesthesia node, the target synaesthesia node may also receive a communication switching request message sent from the first synaesthesia node, and the communication switching request message is used to request switching of the communication service node of the first terminal.

[0250] In some embodiments, the handover response message may also be a handover rejection indication message.

[0251] In some embodiments, the target perception node may also reject the communication / perception switching request. At this time, the target perception node may send a rejection switching indication message to the third perception node, thereby triggering the third synaesthesia node to send a rejection switching indication message to the first synaesthesia node. The message may include the type of rejection switching (e.g., perception switching type or communication switching type), and / or the reason value of rejection, such as failure to meet the corresponding perception requirement or perception indicator.

[0252] In some embodiments, the handover response message may be a partial approval / partial rejection handover indication message.

[0253] In some embodiments, the target sensing node only accepts one of the communication switching or the sensing switching, and the target sensing node may send a partial switching acceptance / rejection message to the third sensing node, thereby triggering the third synaesthesia node to send a partial switching acceptance / rejection message to the first synaesthesia node. The message may include configuration information of the accepted switching type (e.g., sensing or communication), a rejected switching type indication (e.g., rejecting the communication node switching, or rejecting the sensing node switching), and / or a rejection reason value.

[0254] In another possible implementation manner, the target synaesthesia node may receive a switching request message from the first synaesthesia node.

[0255] In some embodiments, the target synaesthesia node may also send a switching response message to the first synaesthesia node.

[0256] In some embodiments, the target synaesthesia node may also send a synaesthesia path update request message to the third synaesthesia node, where the synaesthesia path update request message is used to request an update of the perception path or synaesthesia path of the first terminal.

[0257] In some embodiments, the synaesthesia path update request message includes at least one of the following:

[0258] The identification information of the first terminal, the perception requirement information, the perception index information, the perception mode information, and the collaborative synaesthesia node information of the target synaesthesia node.

[0259] In some embodiments, the target synaesthesia node may also send a resource release indication message to the first synaesthesia node, where the resource release indication message is used to instruct the first synaesthesia node to release the communication resources and / or perception resources corresponding to the first terminal.

[0260] In addition, the detailed description of step S201 can also refer to the relevant description of the above steps S101 to S102, which will not be repeated here.

[0261] Based on the technical solution provided by the present disclosure, the synaesthesia node makes a decision on switching based on the perception information of the terminal, thereby reducing the energy consumption of the terminal for signal measurement. In addition, for high-speed moving terminals (with a high switching frequency), the decision on switching can also be made based on the perception information of the terminal. Compared with the terminal frequently measuring reference signals and reporting the measurement results, the time delay for determining the decision on switching can be reduced, so as to perform timely switching.

[0262] like Figure 6 As shown in FIG. 1 , it is an interactive schematic diagram of the communication and perception method provided by the present disclosure, and the third synaesthesia node (such as the perception center 102) is used for the perception management of the first synaesthesia node and the second synaesthesia node. In this embodiment, each synaesthesia node can also be called a perception node. Figure 6 To explain:

[0263] Sa0, establish communication / perception fusion between the first perception node and each second perception node.

[0264] In some embodiments, the first sensing node may exchange information with the first terminal and the sensing center, and generate identification information of the first terminal. The identification information of the first terminal may include a communication ID, a sensing ID, and an association relationship between the communication ID and the sensing ID (such as establishing a synaesthesia ID) to perform synaesthesia fusion.

[0265] In some embodiments, the perception center may determine each cooperative perception node of the first perception node, that is, each second perception node (e.g., second perception node-1, second perception node-2, etc.). At this time, the perception center may also send the perception-related information of the first terminal (e.g., perception requirements, identification information of the first terminal, etc.) to the first perception node and each second perception node.

[0266] Thus, the first sensing node and each second sensing node exchange sensing information. For example, the first sensing node may receive a sensing measurement report obtained by sensing the first terminal from each second sensing node, and then perform sensing information fusion processing to obtain the sensing information of the first terminal. For details of this step, please refer to the relevant description in the above step S101, which will not be repeated here.

[0267] Sa1. The second perception node sends the perception measurement report to the first perception node.

[0268] Among them, the perception measurement report can be sent periodically or based on the satisfaction of specific conditions (such as satisfying the trigger conditions corresponding to the above-mentioned perception triggering event), or based on the request message of the first perception node.

[0269] Sa2: The first perception node makes a switching decision.

[0270] In some embodiments, the first sensing node may make a handover decision based on the collected sensing information and / or the measurement result reported by the first terminal. For example, the first sensing node decides to initiate a handover process of the terminal.

[0271] Sa3. The first perception node sends a switching request message to the perception center. At this time, the switching request message can also be called a perception switching request message.

[0272] The switching request message includes at least one of the identification information of the first terminal, the identification information of the first perception node, the identification information of the target perception node, the perception node switching time, the configuration information of the perception resources, the perception requirement information for perceiving the first terminal, the perception indicator information for perceiving the first terminal, the perception mode information for perceiving the first terminal, and the information of the collaborative perception node.

[0273] Sa4. The perception center sends a perception switching request message to the target perception node.

[0274] Sa5. The target perception node sends a switching response message to the perception center.

[0275] In some embodiments, the switching response message may be a switching approval indication message.

[0276] Exemplarily, when the target sensing node accepts the sensing switching request, the target sensing node may prepare the required sensing resources and send a switching consent indication message to the sensing center. The message may include the ID information of the first terminal, the configuration information of the sensing resources, the sensing requirement information that can be satisfied, and / or the sensing indicator information that can be satisfied.

[0277] In some embodiments, the handover response message may also be a handover rejection indication message.

[0278] In some embodiments, the target sensing node may also reject the sensing switching request. In this case, the target sensing node may send a switching rejection indication message to the sensing center. The message may include a rejection reason value, such as failure to meet the corresponding sensing requirement or sensing indicator.

[0279] Sa6. The perception center sends a perception switching command to the first perception node.

[0280] The perception switching command is used by the first perception node to execute the switching of the perception service node of the first terminal. The command may also include identification information of the first terminal.

[0281] Sa7. The first perception node sends a communication switching request message to the target perception node.

[0282] Sa8. The target perception node returns a communication switching request response message to the first perception node.

[0283] Sa9. Handover is initiated on the Radio Access Network (RAN) side.

[0284] In some embodiments, the first sensing node sends a handover command (eg, an RRC reconfiguration message) to the first terminal.

[0285] Thereby, the first terminal can be disconnected from the source cell and initiate a random access process to the target cell to access the target cell / target sensing node.

[0286] Sa10, RAN side switching is completed.

[0287] In some embodiments, the first terminal sends an RRC reconfiguration completion message to the target sensing node to complete the switching process.

[0288] Sa11, path switching update.

[0289] In some embodiments, the target sensing node initiates a path switching update process to a core network element (eg, AMF, user plane function (UPF)).

[0290] Sa12. The target perception node sends a perception switching completion message to the perception center, and / or reports perception information.

[0291] Sa13. The perception center sends a perception switching notification message to each collaborative perception node of the first perception node (such as the second perception node).

[0292] If the second sensing node no longer serves as a cooperative sensing node of the target / current sensing node, the notification message instructs the second sensing node to stop sensing the first terminal and release the corresponding sensing resources. If the second sensing node continues to serve as a cooperative sensing node of the target / current sensing node, the notification message informs the second sensing node of the information of the target / current sensing node so that the second sensing node, as a cooperative sensing node of the target sensing node, transmits the sensing information to the target / current sensing node.

[0293] Sa14. The target perception node sends a resource release notification message to the first perception node to instruct the first perception node to release the terminal context information and the corresponding communication resources and / or perception resources.

[0294] Among them, the present disclosure does not limit the sequence of the above steps Sa0 to Sa14, which is only one implementation method.

[0295] like Figure 7As shown in FIG. 1 , another interactive schematic diagram of the communication and perception method provided by the present disclosure is shown. The third synaesthesia node (e.g., perception center 102) is used for the perception management of the first synaesthesia node and the second synaesthesia node, and can also be called a perception center. In this embodiment, each synaesthesia node can also be called a perception node. Figure 7 To explain:

[0296] Step Sb0 to step Sb2 may refer to the relevant description in the above-mentioned step Sa0 to step Sa2, which will not be repeated here.

[0297] Sb3. The first perception node sends a switching request message to the target perception node. At this time, the switching request message can also be called a synaesthesia switching request message.

[0298] In addition to various information in the handover request message in the above step Sa3, the handover request may also include communication-related information, such as information included in the handover request Handover Required message.

[0299] Sb4. The target perception node sends a synaesthesia switching response message to the first perception node.

[0300] In some embodiments, the synaesthesia switching response message may be a switching consent indication message.

[0301] Exemplarily, when the target perception node accepts the communication / perception switching request, the target perception node may prepare the required communication / perception resources and send a handover consent indication message to the first perception node. The message may include the ID information of the first terminal, the configuration information of the communication / perception resources, the satisfiable perception requirement information, and / or the satisfiable perception indicator information, etc.

[0302] In some embodiments, the handover response message may also be a handover rejection indication message.

[0303] In some embodiments, the target perception node may also reject the communication / perception switching request. At this time, the target perception node may send a rejection switching indication message to the first perception node. The message may include the type of rejection switching (e.g., perception switching type or communication switching type), and / or the reason value of rejection, such as failure to meet the corresponding perception requirement or perception indicator.

[0304] In some embodiments, the handover response message may be a partial approval / partial rejection handover indication message. In some embodiments, the target sensing node only accepts one of the communication handover or the sensing handover, and the target sensing node may send a partial handover acceptance / rejection message to the first sensing node. The message may include configuration information of the accepted handover type (e.g., sensing or communication), a rejected handover type indication (e.g., rejection of communication node handover, or rejection of sensing node handover), and / or a rejection reason value.

[0305] Step Sb5-Step Sb7 can refer to the above-mentioned Step Sa9-Step Sa11, which will not be repeated here.

[0306] Sb8. The target perception node may send a perception switching request message to the perception center.

[0307] Among them, the perception switching request message may include at least one of the identification information of the first terminal, configuration information of the perception resources, satisfiable perception demand information, satisfiable perception indicator information, perception mode and other information.

[0308] Sb9. The perception center may send a switching request response message to the target perception node.

[0309] The switching request response message may include at least one of the following information: identification information of the first terminal, configuration information of perception resources, perception requirement information, perception indicator information, perception mode, information of collaborative perception nodes, and the like.

[0310] Step Sb10-Step Sb11 can refer to the above-mentioned Step Sa13-Step Sa14, which will not be repeated here.

[0311] The present disclosure does not limit the sequence of the above steps Sb0 to Sb11, which is only one implementation method.

[0312] like Figure 8 As shown in FIG. 1 , another interactive schematic diagram of the communication and perception method provided by the present disclosure is shown. The third synaesthesia node (for example, the synaesthesia center 202) is used for the perception and communication management of the first synaesthesia node and the second synaesthesia node, and can also be called a synaesthesia center. Figure 8 To explain:

[0313] Step Sc0 to step Sc6 may refer to the relevant descriptions in the above-mentioned steps Sb0 to step Sb6, which will not be repeated here.

[0314] The synaesthesia center here can be a comprehensive network element function body (such as integrated communication and perception control / management functions), or it can be a collection of multiple network element function bodies, for example, a collection of a perception center and an AMF (or a network element with similar functions), wherein the perception center and the AMF (or a network element with similar functions) can be connected through an interface.

[0315] Sc7. The target synaesthesia node sends a synaesthesia path switching request message to the synaesthesia center.

[0316] In some sets of embodiments, the synaesthesia path switching request message may also be referred to as a synaesthesia path updating request message, and the synaesthesia path updating request message is used to request switching / updating of the perception path or synaesthesia path of the first terminal.

[0317] The synaesthesia path switching / update request message includes at least one of the following: identification information of the first terminal, perception requirement information, perception indicator information, perception mode information, and collaborative synaesthesia node information of the target synaesthesia node.

[0318] Sc8, the synaesthesia center performs perception and communication switching control / management.

[0319] In some embodiments, the synaesthesia center can update the communication and perception pathways.

[0320] In some embodiments, the synaesthesia center is a collection of multiple network element functions, for example, a collection of a perception center and an AMF (or a network element with similar functions), and an interface exists between the perception center and the AMF. The AMF can also manage the perception center.

[0321] Therefore, in order to switch / update the perception path, the AMF can initiate a perception path switching / update process to the perception center. The AMF sends a perception path switching request message to the perception center, which may include the identification information of the first terminal, the configuration information of the perception resources, the satisfiable perception demand information, the satisfiable perception indicator information, the perception mode, and / or the information of the source / target perception node, etc.

[0322] Accordingly, the perception center may send a perception path switching request response message to the AMF. The message may include identification information of the first terminal, configuration information of perception resources, perception requirement information, perception indicator information, perception mode, and / or cooperative synaesthesia node information of the target synaesthesia node.

[0323] In addition, the synaesthesia center (or AMF) can also initiate a communication path switching / update process to the UPF.

[0324] Sc9. The synaesthesia center sends a synaesthesia path switching request response message to the target synaesthesia base station.

[0325] Exemplarily, the response message may include communication-related information (e.g., information included in a conventional path switch request response Path Switch Request Acknowledge message), and also includes perception-related information. The perception-related information may include identification information of the first terminal, configuration information of perception resources, perception requirement information, perception indicator information, perception mode, and / or information of cooperative perception nodes of the target synaesthesia node, etc.

[0326] Step Sc10-Step Sc11 can refer to the above-mentioned step Sa13-Step Sa14, which will not be repeated here.

[0327] The present disclosure does not limit the sequence of the above steps Sc0 to Sc11, which is only one implementation method.

[0328] like Fig. 9 As shown in FIG. 1 , another interactive schematic diagram of the communication and perception method provided by the present disclosure is shown. The third synaesthesia node (for example, the synaesthesia center 202) is used for the perception and communication management of the first synaesthesia node and the second synaesthesia node, and can also be called a synaesthesia center. Fig. 9 To explain:

[0329] Step Sd0 to step Sd2 may refer to the relevant description in the above-mentioned step Sa0 to step Sa2, which will not be repeated here.

[0330] Sd3. The first synaesthesia node sends a switching request message to the synaesthesia center. The switching request message may be a synaesthesia switching request message.

[0331] Sd4, the synaesthesia center controls / manages the switching of communication and perception.

[0332] In some embodiments, the synaesthesia center is a collection of multiple network element functional bodies, for example, a collection of a perception center and an AMF (or a network element with similar functions), and an interface exists between the perception center and the AMF. The AMF can also manage the perception center. In order to switch the perception path, the AMF sends a perception switching request message to the perception center, which may include the perception switching request information received by the AMF (i.e., the perception switching request information received by the above-mentioned synaesthesia center).

[0333] Accordingly, the perception center sends a perception switching request response message to the AMF, which may include the synaesthesia ID of the first terminal, information of the target synaesthesia node (such as the target base station / cell ID), configuration information of the perception resources, perception demand information, perception indicator information, perception mode, and / or, the collaborative perception node of the target perception node, etc.

[0334] In addition, the synaesthesia center (or AMF) can also initiate an update / modification process to the UPF to update / modify the UPF-related configuration information, such as the downlink communication data path address with the target anchor base station, update the PDU session configuration, etc.

[0335] Sd5: The synaesthesia center sends a switching request message to the target synaesthesia node. The switching request message may be a synaesthesia switching request message.

[0336] Sd6. The target synaesthesia node sends a switching response message to the perception center. The switching request message may be a synaesthesia switching response message.

[0337] In some embodiments, the switching response message may be a switching approval indication message.

[0338] Exemplarily, when the target perception node accepts the communication / perception switching request, the target perception node may prepare the required communication / perception resources and send a handover consent indication message to the first perception node. The message may include the ID information of the first terminal, the configuration information of the communication / perception resources, the satisfiable perception requirement information, and / or the satisfiable perception indicator information, etc.

[0339] In some embodiments, the handover response message may also be a handover rejection indication message.

[0340] In some embodiments, the target perception node may also reject the communication / perception switching request. At this time, the target perception node may send a rejection switching indication message to the first perception node. The message may include the type of rejection switching (e.g., perception switching type or communication switching type), and / or the reason value of rejection, such as failure to meet the corresponding perception requirement or perception indicator.

[0341] In some embodiments, the handover response message may be a partial approval / partial rejection handover indication message.

[0342] In some embodiments, the target sensing node only accepts one of the communication switching or the sensing switching, and the target sensing node may send a partial switching acceptance / rejection message to the first sensing node. The message may include configuration information of the accepted switching type (e.g., sensing or communication), a rejected switching type indication (e.g., rejecting the communication node switching, or rejecting the sensing node switching), and / or a rejection reason value.

[0343] Sd7. The synaesthesia center sends a synaesthesia switching command to the first synaesthesia node.

[0344] Step Sd8-Step Sd9 can refer to the relevant descriptions in the above-mentioned Step Sa9-Step Sa10, and will not be repeated here.

[0345] Sd10, the target synaesthesia node sends a synaesthesia switching completion message to the synaesthesia center.

[0346] Exemplarily, the synaesthesia center is a collection of multiple network element functions, for example, a collection of a perception center and an AMF (or a network element with similar functions), and an interface exists between the perception center and the AMF. The AMF can also manage the perception center. The AMF sends a perception switching completion message to the perception center.

[0347] Step Sd11-Step Sd12 can refer to the above-mentioned step Sa13-Step Sa14, and will not be repeated here.

[0348] The present disclosure does not limit the sequence of the above steps Sd0 to Sd12, which is only one implementation method.

[0349] In some embodiments, Fig.10 As shown, the present disclosure also provides another communication and perception method, which is applied to a first terminal, for example Figure 1 or Figure 2 The sensing target in the system shown, the method includes:

[0350] S301: Receive a perception configuration message from a first synaesthesia node.

[0351] The above-mentioned perception configuration message includes a preset perception event, and the first synaesthesia node is the current synaesthesia service node of the first terminal.

[0352] In some embodiments, the preset sensing event includes at least one of the following:

[0353] The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold;

[0354] The quality of the perception signal of the first synaesthesia node is less than the second quality threshold;

[0355] The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value;

[0356] The quality of the perception signal of the second synaesthesia node is less than a third quality threshold;

[0357] The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold;

[0358] The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold;

[0359] The perception result of the first synaesthesia node is greater than the first perception result threshold;

[0360] The perception result of the first synaesthesia node is less than the second perception result threshold;

[0361] The perception result of the second synaesthesia node is greater than the sum of the perception result of the first synaesthesia node and the perception result bias value;

[0362] The perception result of the second synaesthesia node is less than the third perception result threshold;

[0363] The perception result of the second synaesthesia node is greater than the fourth perception result threshold;

[0364] The perception result of the first synaesthesia node is less than the fifth perception result threshold, and the perception result of the second synaesthesia node is greater than the sixth perception result threshold.

[0365] In some embodiments, the sensing signal of the first synaesthesia node is a sensing signal sent by the current serving cell / base station; the sensing signal of the second synaesthesia node is a sensing signal sent by an adjacent cell / base station. The sensing result of the first synaesthesia node is a sensing result obtained based on the sensing signal sent by the current serving cell / base station; the sensing result of the second synaesthesia node is a sensing result obtained based on the sensing signal sent by the adjacent serving cell / base station.

[0366] In some embodiments, the perceived signal quality comprises at least one of the following:

[0367] Perceived signal-to-noise ratio, reference signal power, reference signal reception quality, signal-to-interference-and-noise ratio, and perception confidence.

[0368] In some embodiments, the perception result includes at least one of the following:

[0369] Doppler frequency shift, angle of arrival, signal propagation time of the perceived signal from the transmitter to the receiver, distance from the transmitter to the receiver of the perceived signal, and perception confidence.

[0370] In some embodiments, the awareness configuration message further includes first indication information, where the first indication information is used to indicate:

[0371] The preset perception event is used to trigger the communication signal measurement of the first terminal;

[0372] The preset perception event is used to trigger the communication signal measurement and perception signal measurement of the first terminal;

[0373] The preset perception event is used to trigger the perception signal measurement of the first terminal.

[0374] In some embodiments, the communication signal measurement may be an RRM measurement, or an L1 measurement, etc. That is, the first synaesthesia node may configure the communication measurement of the first terminal. At this time, the communication measurement may be configured based on granularities such as base station, cell group (per cellgroup / set), cell (per cell), TRP (per TRP), carrier frequency (per frequency), measurement object (perMeasObject) or reference signal beam (per RS / beam). When a preset perception event is triggered, the terminal may automatically activate or deactivate the communication measurement, and / or perception measurement, of the corresponding base station, cell group, cell, TRP, carrier frequency, measurement object or reference signal beam.

[0375] S302: Acquire a perception signal from at least one synaesthesia node.

[0376] In some embodiments, the first terminal may activate or deactivate communication signal measurement and / or perception signal measurement according to the perception signal.

[0377] For example, the first terminal may activate or deactivate communication signal measurement and / or perception signal measurement when the perception signal meets an entry or trigger condition of a preset perception event.

[0378] Exemplarily, when the perceived signal quality of the current serving cell / base station is better than a certain threshold, the above-mentioned preset perception event "the perceived signal quality of the first synaesthesia node is greater than the first quality threshold" is triggered at this time, and the first terminal can stop the communication measurement (such as RRM measurement, or L1 measurement) of the serving cell / base station, and / or, the adjacent cell / base station. When the perceived signal quality of the non-serving cell / base station (or adjacent cell / base station) is worse than a certain threshold, such as triggering the above-mentioned preset perception event "the perceived signal of the second synaesthesia node is less than the third quality threshold", the first terminal can stop the perception measurement and / or communication measurement (such as RRM measurement, or L1 measurement) of the cell / base station.

[0379] In some embodiments, the first terminal may also send a measurement or status report to the first synaesthesia node, for example, by sending the measurement or status report via a UE assistance information (UE assistance information, UAI) message or a measurement report message.

[0380] The measurement or status report may be used to indicate the measurement status information and / or measurement result of the first terminal on the cell / base station. Exemplarily, the measurement or status report specifically includes at least one of the following:

[0381] Information about base stations, cell groups, cells, TRPs, carrier frequencies, measurement objects or reference signal beams, such as corresponding identification IDs or configuration value indexes;

[0382] An indicator indicating that the associated communication measurement (such as RRM measurement, L1 measurement) is turned on / activated or stopped / deactivated;

[0383] an indicator indicating that the associated perception measurement is turned on / activated or stopped / deactivated;

[0384] Perceived signal quality;

[0385] Information or list of associated objects for which communication measurement is turned on / activated or stopped / deactivated, such as information or list of base stations, cell groups, cells, TRPs, carrier frequencies, measurement objects or reference signal beams;

[0386] The information or list of associated objects for which the perception measurement is turned on / activated or stopped / deactivated, such as the information or list of base stations, cell groups, cells, TRPs, carrier frequencies, measurement objects or reference signal beams.

[0387] In some embodiments, the first perception node may also dynamically start / stop or activate / deactivate communication measurements and / or perception measurements according to measurements or status reports reported by the first terminal, for example, through MAC CE, DCI signaling instructions.

[0388] In some embodiments, the sensing pattern is a sensing pattern sent by a base station and received by a terminal.

[0389] It should be noted that the first terminal can receive / measure the perception signals from multiple synaesthesia nodes. The perception signal can be a measurement reference signal (such as SSB, CSI-RS) or a newly designed waveform signal. That is, the measurement of the perception signal can be used to assist or replace the measurement of the traditional measurement reference signal.

[0390] Thus, the first terminal can assist in judging the quality of the communication link between the synaesthesia node and the first terminal according to the received perceived signal quality (such as perceived SNR, perceived signal RSRP / RSRQ / SINR, perceived confidence, etc.). Therefore, the first terminal can start / stop or activate / deactivate traditional reference signal measurement (such as RRM measurement, L1 measurement) and / or perception measurement according to the result of the perception measurement to reduce the measurement energy consumption overhead of the UE.

[0391] Based on the above embodiment, the terminal can use the measurement of the perceived signal to assist in determining whether signal measurement is required, thereby avoiding excessive signal measurements when unnecessary and reducing the measurement energy consumption overhead of the terminal.

[0392] In some embodiments, Fig.11 As shown, the present disclosure also provides another communication and perception method, which is applied to a first synaesthesia node, and the method includes:

[0393] S401. Send a perception configuration message to a first terminal, where the perception configuration message includes a preset perception event, and the perception configuration message is used to trigger the first terminal to activate or deactivate communication signal measurement and / or perception signal measurement.

[0394] In some embodiments, the preset sensing event includes at least one of the following:

[0395] The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold;

[0396] The quality of the perception signal of the first synaesthesia node is less than the second quality threshold;

[0397] The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value;

[0398] The quality of the perception signal of the second synaesthesia node is less than a third quality threshold;

[0399] The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold;

[0400] The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold;

[0401] The perception result of the first synaesthesia node is greater than the first perception result threshold;

[0402] The perception result of the first synaesthesia node is less than the second perception result threshold;

[0403] The perception result of the second synaesthesia node is greater than the sum of the perception result of the first synaesthesia node and the perception result bias value;

[0404] The perception result of the second synaesthesia node is less than the third perception result threshold;

[0405] The perception result of the second synaesthesia node is greater than the fourth perception result threshold;

[0406] The perception result of the first synaesthesia node is less than the fifth perception result threshold, and the perception result of the second synaesthesia node is greater than the sixth perception result threshold.

[0407] In some embodiments, the sensing signal of the first synaesthesia node is a sensing signal sent by the current serving cell / base station; the sensing signal of the second synaesthesia node is a sensing signal sent by an adjacent cell / base station. The sensing result of the first synaesthesia node is a sensing result obtained based on the sensing signal sent by the current serving cell / base station; the sensing result of the second synaesthesia node is a sensing result obtained based on the sensing signal sent by the adjacent serving cell / base station.

[0408] In some embodiments, the perceived signal quality comprises at least one of the following:

[0409] Perceived signal-to-noise ratio, reference signal power, reference signal reception quality, signal-to-interference-and-noise ratio, and perception confidence.

[0410] In some embodiments, the perception result includes at least one of the following:

[0411] Doppler frequency shift, angle of arrival, signal propagation time of the perceived signal from the transmitter to the receiver, distance from the transmitter to the receiver of the perceived signal, and perception confidence.

[0412] In some embodiments, the perception configuration message also includes first indication information, and the first indication information is used to indicate that a preset perception event is used to trigger communication signal measurement and / or perception signal measurement of the first terminal.

[0413] In addition, the detailed description of step S401 can also refer to the relevant description of the above steps S301 to S302, which will not be repeated here.

[0414] Based on the above embodiment, the terminal can use the measurement of the perceived signal to assist in determining whether signal measurement is required, thereby avoiding excessive signal measurements when unnecessary and reducing the measurement energy consumption overhead of the terminal.

[0415] In some embodiments, one or more synaesthesia nodes may receive / measure a sensing signal sent from the same sensing target (first terminal).

[0416] The sensing signal may be an uplink measurement reference signal (e.g., SRS) or a newly designed waveform signal. The synaesthesia nodes may exchange the sensing information received / measured by each other, thereby assisting in determining the quality of the communication link between the synaesthesia node and the first terminal. In some embodiments, the sensing mode may be a sensing mode in which the terminal sends and the base station receives.

[0417] It should be understood that in order to compare the quality of the communication / perception link between each synaesthesia node and the first terminal, it is necessary to determine whether the perception signal received by each synaesthesia node is a perception signal sent from the same perception target (first terminal).

[0418] like Fig.12 As shown in FIG. 1 , a schematic diagram of an interaction of the communication and perception method provided by the present disclosure is shown. The third synaesthesia node (e.g., the perception center 102 or the synaesthesia center 202) is used for the perception management of the first synaesthesia node and the second synaesthesia node, or the perception and communication management, and can also be referred to as a perception / synaesthesia center. Fig.12 To explain:

[0419] Se0. The first terminal establishes a communication connection with the first synaesthesia node.

[0420] The first synaesthesia node may be a current service base station, such as a synaesthesia anchor base station. At this time, the first synaesthesia node may provide communication access services for the first terminal, and the first synaesthesia node may also serve as a perception fusion site, such as realizing the functions of the perception center 102 or the synaesthesia center 202.

[0421] Se1. The first synaesthesia node configures perception resources for the first terminal.

[0422] Among them, the perception resources may include time-frequency domain resources, transmission period, measurement window, etc. of the perception signal. Furthermore, the first synaesthesia node (current serving base station / cell) may also send the configured perception resources to the first terminal, for example, through an RRC message or a new perception resource configuration message. Thus, the first terminal may send the perception signal on the corresponding perception resource.

[0423] Se2. The first synaesthesia node interacts with adjacent synaesthesia nodes to perceive resource configuration.

[0424] In some embodiments, the first synaesthesia node may send a message to an adjacent synaesthesia node (eg, a second synaesthesia node) to configure the sensing resources for the first terminal.

[0425] In an example, the first synaesthesia node may directly send a message to an adjacent synaesthesia node to configure the perception resource for the first terminal.

[0426] Exemplarily, the current serving base station / cell (first synaesthesia node) may interact with an adjacent base station (eg, a cooperative synaesthesia node) to configure the sensing resources for the first terminal, so as to determine that the transmission source of the sensing signal received by the adjacent synaesthesia node is from the same terminal.

[0427] In another example, the first synaesthesia node may also send a message to configure the perception resource for the first terminal to an adjacent synaesthesia node through the synaesthesia / perception center.

[0428] Exemplarily, the first synaesthesia node may send a message to the synaesthesia / perception center to configure the perception resource for the first terminal. Then, the synaesthesia / perception center sends the received perception configuration resource to the adjacent synaesthesia node.

[0429] Se3. Determine a collaborative perception node (a second synaesthesia node) and generate identification information of the first terminal.

[0430] The identification information may include a global perception / synaesthesia ID.

[0431] Exemplarily, each synaesthesia node can send the received perception signal and the acquired relevant information of the first terminal (such as the perception signal quality, the location / trajectory information of the first terminal, the moving speed information, the moving direction information, etc.) to the first synaesthesia node or the perception / synaesthesia center. The first synaesthesia node or the perception / synaesthesia center can compare the location / trajectory, movement speed, movement direction and other information of the perception target to determine whether the perception information collected by each synaesthesia node is the perception of the same perception target, so that the perception target (first terminal) can be assigned a global perception / synaesthesia ID. The first synaesthesia node or the perception / synaesthesia center then sends the global perception / synaesthesia ID to the adjacent synaesthesia nodes.

[0432] The present disclosure does not limit the sequence of the above steps Se1 to Se3, which is only one implementation method.

[0433] Se4. The adjacent synaesthesia node (cooperative synaesthesia node) interacts with the current service node (first synaesthesia node) to perceive information.

[0434] For example, the cooperative synaesthesia node interacts with the current service node, the first synaesthesia node, to perceive the measurement report and the measurement result.

[0435] Exemplarily, each cooperative synaesthesia node may send the perception information of the first terminal to the first synaesthesia node. The perception information may be sent periodically, or based on the satisfaction of certain specific conditions (such as based on a perception event trigger), or based on a request message from the first synaesthesia node.

[0436] The perception information may include the global perception / synaesthesia ID of the first terminal, the distance between the first terminal and the synaesthesia node, the trajectory / position information of the first terminal, the moving speed of the first terminal, the moving direction of the first terminal, the perception signal quality, and / or the perception confidence, etc.

[0437] Se5. Initiate the switching process.

[0438] In some embodiments, the first synaesthesia node may determine whether it is necessary to trigger the switching of the synaesthesia service node of the first terminal according to the received perception information.

[0439] When it is necessary to trigger the switching of the synaesthesia service node of the first terminal, a suitable target synaesthesia node is selected to initiate the switching process.

[0440] The above mainly introduces the solution provided by the present disclosure from the perspective of the interaction between various devices or network elements. It can be understood that in order to realize the above functions, each device or network element includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the algorithm steps of each example described in the embodiments disclosed herein, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0441] Fig.13 FIG. 1 is a schematic diagram showing the composition of a communication and sensing device provided by an embodiment of the present disclosure. Fig.13 As shown, the communication and perception device 1300 can be applied to a first synaesthesia node, and includes an acquisition module 1301 and a sending module 1302 .

[0442] The acquisition module 1301 is used to acquire perception information obtained by perceiving the first terminal.

[0443] The sending module 1302 is used to send a switching request message according to the perception information, where the switching request message is used to request switching of the synaesthesia service node of the first terminal.

[0444] In some embodiments, the acquisition module 1301 is specifically used to:

[0445] Receiving a perception measurement report from a second synaesthesia node; the perception measurement report is used to indicate perception information obtained by the second synaesthesia node from perceiving the first terminal;

[0446] According to the perception measurement report from the second synaesthesia node and the perception measurement report of the first synaesthesia node, the perception information perceived by the first terminal is obtained, and the second synaesthesia node is a collaborative synaesthesia node that can collaborate with the first synaesthesia node in the synaesthesia process of the first terminal.

[0447] In some embodiments, the perception measurement report includes at least one of the following:

[0448] identification information of the second synaesthesia node, identification information of the first terminal, identification information of the satisfied perception triggering event, perception signal quality information, the distance between the first terminal and the second synaesthesia node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the perception confidence.

[0449] In some embodiments, before receiving the perception measurement report from the first synaesthesia node, the sending module 1302 is further configured to send trigger configuration information to the second synaesthesia node, where the trigger configuration information is used to configure a trigger condition for the perception measurement report.

[0450] In some embodiments, the trigger configuration information includes at least one of the following:

[0451] identification information of the first synaesthesia node, identification information of the first terminal, triggering mode, identification information of the perception triggering event, threshold value and / or bias value corresponding to the perception triggering event, hysteresis coefficient, triggering time, triggering time interval, number of perception measurement reports allowed to be sent, indication information used to indicate whether to trigger the second synaesthesia node to send a perception measurement report to the first terminal when the leaving condition of the perception triggering event is met, the maximum number of terminals included in a perception measurement report, and filtering parameters of the perception signal.

[0452] In some embodiments, the sensing triggering event includes at least one of the following:

[0453] The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold;

[0454] The quality of the perception signal of the first synaesthesia node is less than the second quality threshold;

[0455] The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value;

[0456] The quality of the perception signal of the second synaesthesia node is less than a third quality threshold;

[0457] The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold;

[0458] The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold;

[0459] The distance between the first synaesthesia node and the first terminal is greater than a first distance threshold;

[0460] The distance between the first synaesthesia node and the first terminal is less than a second distance threshold;

[0461] The distance between the first synaesthesia node and the first terminal is greater than the sum of the distance between the second synaesthesia node and the first terminal and the distance offset value;

[0462] The distance between the second synaesthesia node and the first terminal is less than a third distance threshold;

[0463] The distance between the second synaesthesia node and the first terminal is greater than a fourth distance threshold;

[0464] The distance between the first synaesthesia node and the first terminal is less than a fifth distance threshold, and the distance between the second synaesthesia node and the first terminal is greater than a sixth distance threshold.

[0465] In some embodiments, the perceived signal quality comprises at least one of the following:

[0466] Perceived signal-to-noise ratio, reference signal power, reference signal reception quality, signal-to-interference-and-noise ratio, and perception confidence.

[0467] In some embodiments, the handover request message includes at least one of the following:

[0468] Identification information of the first terminal, identification information of the target synaesthesia node, synaesthesia node switching time, configuration information of perception resources, perception requirement information for perceiving the first terminal, perception indicator information for perceiving the first terminal, perception mode information for perceiving the first terminal, and information of the collaborative synaesthesia node;

[0469] The target synaesthesia node is a target synaesthesia service node to which the first terminal switches, and the target synaesthesia node is determined in at least one second synaesthesia node.

[0470] In some embodiments, the sending module 1302 is specifically used to: determine, according to the perception information, a target synaesthesia node to which the first terminal switches in at least one second synaesthesia service node; and send a switching request message to a third synaesthesia node, where the switching request message includes identification information of the target synaesthesia node.

[0471] In some embodiments, the third synaesthesia node is used for perception management of the first synaesthesia node and the second synaesthesia node; or, the third synaesthesia node is used for perception and communication management of the first synaesthesia node and the second synaesthesia node.

[0472] In some embodiments, the acquisition module 1301 is configured to receive a handover consent indication message from a third synaesthesia node.

[0473] In some embodiments, the switch approval indication message is used to instruct the first synaesthesia node to perform a switch of the synaesthesia service node of the first terminal; or, the switch approval indication message is used to instruct the first synaesthesia node to perform a switch of the perception service node of the first terminal.

[0474] In some embodiments, when the switching indication message is agreed to be used to instruct the first synaesthesia node to perform the switching of the perception service node of the first terminal, before sending the switching completion indication message to the third synaesthesia node, the sending module 1302 is also used to: send a communication switching request message to the second synaesthesia node, and the communication switching request message is used to request switching of the communication service node of the first terminal.

[0475] In some embodiments, the sending module 1302 is further used to: determine, according to the perception information, a target synaesthesia node to which the first terminal performs switching in at least one second synaesthesia service node; and send a switching request message to the target synaesthesia node.

[0476] In some embodiments, the acquisition module 1301 is further used to: receive a switching response message from the target synaesthesia node. The switching response message is used to indicate:

[0477] Accepting a switching request from the first synaesthesia node;

[0478] rejecting the switching request of the first synaesthesia node;

[0479] Accepting part of the switching request of the first synaesthesia node;

[0480] Alternatively, part of the switching request of the first synaesthesia node is rejected.

[0481] In some embodiments, the acquisition module 1301 is further used to: receive a resource release indication message from a target synaesthesia node, where the resource release indication message is used to instruct the first synaesthesia node to release communication resources and / or perception resources corresponding to the first terminal.

[0482] For a more detailed description of the acquisition module 1301 and the sending module 1302, as well as a more detailed description of each technical feature therein and a description of the beneficial effects, etc., please refer to the corresponding method embodiment section above, which will not be repeated here.

[0483] Fig.14 FIG. 1 is a schematic diagram showing the composition of a communication and sensing device provided by an embodiment of the present disclosure. Fig.14 As shown, the communication and perception device 1400 can be applied to a target synaesthesia node, and includes a sending module 1401 and a receiving module 1402.

[0484] The sending module 1401 is configured to send a perception measurement report of the first terminal to the first synaesthesia node.

[0485] The receiving module 1402 is configured to receive a switching request message, where the switching request message is used to request to switch the first terminal from the first synaesthesia node to the target synaesthesia node.

[0486] In some embodiments, the perception measurement report includes at least one of the following:

[0487] identification information of the target synaesthesia node, identification information of the first terminal, identification information of the satisfied perception triggering event, perception signal quality information, the distance between the first terminal and the target synaesthesia node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the perception confidence.

[0488] In some embodiments, before sending the perception measurement report of the first terminal to the first synaesthesia node, the receiving module 1402 is further used to receive trigger configuration information from the first synaesthesia node, where the trigger configuration information is used to configure a trigger condition for the perception measurement report;

[0489] In some embodiments, the sending module is specifically configured to send the perception measurement report of the first terminal to the first synaesthesia node when a trigger condition is met.

[0490] In some embodiments, the trigger configuration information includes at least one of the following:

[0491] Identification information of the first synaesthesia node, identification information of the first terminal, triggering mode, identification information of the perception triggering event, threshold value and / or bias value corresponding to the perception triggering event, hysteresis coefficient, trigger time, trigger time interval, number of perception measurement reports allowed to be reported, indication information used to indicate whether to trigger the second synaesthesia node to send a perception measurement report to the first terminal when the leaving condition of the perception triggering event is met, the maximum number of terminals included in a perception measurement report, and filtering parameters of the perception signal.

[0492] In some embodiments, the sensing triggering event includes at least one of the following:

[0493] The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold;

[0494] The quality of the perception signal of the first synaesthesia node is less than the second quality threshold;

[0495] The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value;

[0496] The quality of the perception signal of the second synaesthesia node is less than a third quality threshold;

[0497] The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold;

[0498] The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold;

[0499] The distance between the first synaesthesia node and the first terminal is greater than a first distance threshold;

[0500] The distance between the first synaesthesia node and the first terminal is less than a second distance threshold;

[0501] The distance between the first synaesthesia node and the first terminal is greater than the sum of the distance between the second synaesthesia node and the first terminal and the distance offset value;

[0502] The distance between the second synaesthesia node and the first terminal is less than a third distance threshold;

[0503] The distance between the second synaesthesia node and the first terminal is greater than a fourth distance threshold;

[0504] The distance between the first synaesthesia node and the first terminal is less than a fifth distance threshold, and the distance between the second synaesthesia node and the first terminal is greater than a sixth distance threshold.

[0505] In some embodiments, the perceived signal quality comprises at least one of the following:

[0506] Perceived signal-to-noise ratio, reference signal power, reference signal reception quality, signal-to-interference-and-noise ratio, and perception confidence.

[0507] In some embodiments, the handover request message includes at least one of the following:

[0508] Identification information of the first terminal, identification information of the target synaesthesia node, synaesthesia node switching time, configuration information of perception resources, perception requirement information for perceiving the first terminal, perception indicator information for perceiving the first terminal, perception mode information for perceiving the first terminal, and information of collaborative synaesthesia nodes.

[0509] In some embodiments, the receiving module 1402 is specifically used to: receive a switching request message from a third synaesthesia node, the third synaesthesia node is used for perception management of the first synaesthesia node and the second synaesthesia node, or the third synaesthesia node is used for perception and communication management of the first synaesthesia node and the second synaesthesia node.

[0510] In some embodiments, the sending module 1401 is further used to send a switching response message to the third synaesthesia node, and the switching response message is used to trigger the third synaesthesia node to send a switching consent indication message to the first synaesthesia node; when the switching is completed, a switching completion indication message is sent to the third synaesthesia node.

[0511] In some embodiments, the switch approval indication message is used to instruct the first synaesthesia node to perform a switch of the synaesthesia service node of the first terminal; or, the switch approval indication message is used to instruct the first synaesthesia node to perform a switch of the perception service node of the first terminal.

[0512] In some embodiments, when the consent switching indication message is used to instruct the first synaesthesia node to execute the perception service node switching of the first terminal, the receiving module 1402 is also used to receive a communication switching request message sent from the first synaesthesia node, and the communication switching request message is used to request switching of the communication service node of the first terminal.

[0513] In some embodiments, the receiving module 1402 is further configured to receive a switching request message from the first synaesthesia node.

[0514] In some embodiments, the sending module 1401 is further configured to send a switching response message to the first synaesthesia node.

[0515] In some embodiments, the sending module 1401 is further used to send a synaesthesia path update request message to the third synaesthesia node, where the synaesthesia path update request message is used to request to update the perception path or synaesthesia path of the first terminal.

[0516] In some embodiments, the synaesthesia path update request message includes at least one of the following:

[0517] The identification information of the first terminal, the perception requirement information, the perception index information, the perception mode information, and the collaborative synaesthesia node information of the target synaesthesia node.

[0518] In some embodiments, the sending module 1401 is further used to send a resource release indication message to the first synaesthesia node, where the resource release indication message is used to instruct the first synaesthesia node to release the communication resources and / or perception resources corresponding to the first terminal.

[0519] For a more detailed description of the sending module 1401, the receiving module 1402, a more detailed description of each technical feature therein, and a description of the beneficial effects, etc., please refer to the above-mentioned corresponding method embodiment part, which will not be repeated here.

[0520] Fig.15 FIG. 1 is a schematic diagram showing the composition of a communication and sensing device provided by an embodiment of the present disclosure. Fig.15 As shown, the communication and perception device 1500 can be applied to a first terminal, and includes a receiving module 1501. In some embodiments, the communication and perception device 1500 can also include a processing module 1502.

[0521] The receiving module 1501 is configured to receive a perception configuration message from a first synaesthesia node, where the perception configuration message includes a preset perception event. The first synaesthesia node is a current synaesthesia service node of the first terminal.

[0522] The receiving module 1501 is further configured to obtain a perception signal from at least one synaesthesia node.

[0523] In some embodiments, the processing module 1502 is used to activate or deactivate communication signal measurement and / or perception signal measurement according to the perception signal.

[0524] In some embodiments, the processing module 1502 is specifically configured to activate or deactivate communication signal measurement and / or perception signal measurement when the perception signal satisfies an entry or trigger condition of a preset perception event.

[0525] In some embodiments, the preset sensing event includes at least one of the following:

[0526] The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold;

[0527] The quality of the perception signal of the first synaesthesia node is less than the second quality threshold;

[0528] The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value;

[0529] The quality of the perception signal of the second synaesthesia node is less than a third quality threshold;

[0530] The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold;

[0531] The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold;

[0532] The perception result of the first synaesthesia node is greater than the first perception result threshold;

[0533] The perception result of the first synaesthesia node is less than the second perception result threshold;

[0534] The perception result of the second synaesthesia node is greater than the sum of the perception result of the first synaesthesia node and the perception result bias value;

[0535] The perception result of the second synaesthesia node is less than the third perception result threshold;

[0536] The perception result of the second synaesthesia node is greater than the fourth perception result threshold;

[0537] The perception result of the first synaesthesia node is less than the fifth perception result threshold, and the perception result of the second synaesthesia node is greater than the sixth perception result threshold.

[0538] In some embodiments, the perceived signal quality comprises at least one of the following:

[0539] Perceived signal-to-noise ratio, reference signal power, reference signal reception quality, signal-to-interference-and-noise ratio, and perception confidence.

[0540] In some embodiments, the perception result includes at least one of the following:

[0541] Doppler frequency shift, angle of arrival, signal propagation time of the perceived signal from the transmitter to the receiver, distance from the transmitter to the receiver of the perceived signal, and perception confidence.

[0542] In some embodiments, the awareness configuration message further includes first indication information, where the first indication information is used to indicate:

[0543] The preset perception event is used to trigger the communication signal measurement of the first terminal;

[0544] The preset perception event is used to trigger the communication signal measurement and perception signal measurement of the first terminal;

[0545] The preset perception event is used to trigger the perception signal measurement of the first terminal.

[0546] For a more detailed description of the above-mentioned receiving module 1501, processing module 1502, a more detailed description of each technical feature therein, and a description of the beneficial effects, etc., please refer to the above-mentioned corresponding method embodiment part, which will not be repeated here.

[0547] Fig.16 FIG. 1 is a schematic diagram showing the composition of a communication and sensing device provided by an embodiment of the present disclosure. Fig.16 As shown, the communication and perception device 1600 can also be applied to the first synaesthesia node, including a sending module 1601.

[0548] The sending module 1601 is used to send a perception configuration message to the first terminal, where the perception configuration message includes a preset perception event, and the perception configuration message is used to trigger the first terminal to activate or deactivate communication signal measurement and / or perception signal measurement.

[0549] In some embodiments, the preset sensing event includes at least one of the following:

[0550] The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold;

[0551] The quality of the perception signal of the first synaesthesia node is less than the second quality threshold;

[0552] The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value;

[0553] The quality of the perception signal of the second synaesthesia node is less than a third quality threshold;

[0554] The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold;

[0555] The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold;

[0556] The perception result of the first synaesthesia node is greater than the first perception result threshold;

[0557] The perception result of the first synaesthesia node is less than the second perception result threshold;

[0558] The perception result of the second synaesthesia node is greater than the sum of the perception result of the first synaesthesia node and the perception result bias value;

[0559] The perception result of the second synaesthesia node is less than the third perception result threshold;

[0560] The perception result of the second synaesthesia node is greater than the fourth perception result threshold;

[0561] The perception result of the first synaesthesia node is less than the fifth perception result threshold, and the perception result of the second synaesthesia node is greater than the sixth perception result threshold.

[0562] In some embodiments, the perceived signal quality comprises at least one of the following:

[0563] Perceived signal-to-noise ratio, reference signal power, reference signal reception quality, signal-to-interference-and-noise ratio, and perception confidence.

[0564] In some embodiments, the perception result includes at least one of the following:

[0565] Doppler frequency shift, angle of arrival, signal propagation time of the perceived signal from the transmitter to the receiver, distance from the transmitter to the receiver of the perceived signal, and perception confidence.

[0566] In some embodiments, the perception configuration message also includes first indication information, and the first indication information is used to indicate that a preset perception event is used to trigger communication signal measurement and / or perception signal measurement of the first terminal.

[0567] For a more detailed description of the sending module 1601, a more detailed description of each technical feature therein, and a description of the beneficial effects, etc., please refer to the corresponding method embodiment part above, which will not be repeated here.

[0568] It should be noted that Fig.13 , Fig.14 , Fig.15 or Fig.16 The modules in the can also be called units, for example, the sending module can be called a sending unit. Fig.13 , Fig.14 , Fig.15 or Fig.16 In the illustrated embodiment, the names of the modules may not be the names shown in the figure. For example, the sending module may be called a communication module, and the receiving module may be called a communication module.

[0569] Fig.13 , Fig.14 , Fig.15 or Fig.16If each unit or module in the embodiment is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods of each embodiment of the present disclosure. The storage medium for storing computer software products includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0570] In the case of implementing the functions of the above-mentioned integrated modules in the form of hardware, an embodiment of the present disclosure provides a structural diagram of a communication device, which may include the above-mentioned communication and perception device 1300, communication and perception device 1400, communication and perception device 1500 or communication and perception device 1600. Fig.17 As shown, the communication and perception device 1700 includes: a processor 1702, a communication interface 1703, and a bus 1704. Optionally, the communication and perception device 1700 may also include a memory 1701.

[0571] The processor 1702 may be a processor that implements or executes various exemplary logic blocks, modules, and circuits described in conjunction with the contents of the present disclosure. The processor 1702 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the contents of the present disclosure. The processor 1702 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0572] The communication interface 1703 is used to connect with other devices via a communication network, such as Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0573] The memory 1701 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0574] As a possible implementation, the memory 1701 may exist independently of the processor 1702, and the memory 1701 may be connected to the processor 1702 via a bus 1704 to store instructions or program codes. When the processor 1702 calls and executes the instructions or program codes stored in the memory 1701, the method provided in the embodiment of the present disclosure can be implemented.

[0575] In another possible implementation, the memory 1701 may also be integrated with the processor 1702 .

[0576] The bus 1704 may be an extended industry standard architecture (EISA) bus, etc. The bus 1704 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.17 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0577] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment or device is divided into different functional modules to complete all or part of the functions described above.

[0578] The embodiment of the present disclosure also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by computer instructions to instruct the relevant hardware, and the program can be stored in the above computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be the memory or memory of any of the above embodiments. The above computer-readable storage medium can also be an external storage device of the above device or apparatus, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the above device or apparatus. Further, the above computer-readable storage medium can also include both the internal storage unit of the above device or apparatus and an external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above device or apparatus. The above computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0579] The embodiments of the present disclosure also provide a computer program product, which includes a computer program. When the computer program product is run on a computer, the computer is enabled to execute any one of the methods provided in the above embodiments.

[0580] Although the present disclosure is described herein in conjunction with various embodiments, in the process of implementing the present disclosure claimed for protection, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps.

[0581] "A" or "an" does not exclude a plurality of cases. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0582] Although the present disclosure has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present disclosure. Accordingly, this specification and the drawings are merely exemplary illustrations of the present disclosure as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present disclosure. Obviously, those skilled in the art may make various modifications and variations to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

[0583] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A communication and perception method, characterized in that: Applied to the first synaesthesia node, the method comprises: Acquire perception information obtained by the first terminal; A switching request message is sent according to the perception information, where the switching request message is used to request switching of the synaesthesia service node of the first terminal.

2. The method according to claim 1, characterized in that The acquiring the perception information obtained by the first terminal perception includes: Receiving a perception measurement report from a second synaesthesia node; the perception measurement report is used to indicate perception information obtained by the second synaesthesia node from perceiving the first terminal; The perception information of the first terminal is obtained according to the perception measurement report from the second synaesthesia node and the perception measurement report of the first synaesthesia node, and the second synaesthesia node is a collaborative synaesthesia node that can collaborate with the first synaesthesia node in the synaesthesia process of the first terminal.

3. The method according to claim 2, characterized in that The perception measurement report includes at least one of the following: identification information of the second synaesthesia node, identification information of the first terminal, identification information of the satisfied perception triggering event, perception signal quality information, the distance between the first terminal and the second synaesthesia node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and perception confidence.

4. The method according to claim 2, characterized in that: Before receiving the perception measurement report from the first synaesthesia node, the method further includes: Sending trigger configuration information to the second synaesthesia node, where the trigger configuration information is used to configure a trigger condition for the perception measurement report.

5. The method according to claim 4, characterized in that The trigger configuration information includes at least one of the following: The identification information of the first synaesthesia node, the identification information of the first terminal, the triggering mode, the identification information of the perception triggering event, the threshold value and / or bias value corresponding to the perception triggering event, the hysteresis coefficient, the triggering time, the triggering time interval, the number of the perception measurement reports allowed to be sent, the indication information used to indicate whether to trigger the second synaesthesia node to send the perception measurement report to the first terminal when the leaving condition of the perception triggering event is met, the maximum number of terminals included in the perception measurement report, and the filtering parameters of the perception signal.

6. The method according to claim 5, characterized in that The perception triggering event includes at least one of the following: The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold; The quality of the perception signal of the first synaesthesia node is less than a second quality threshold; The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and a quality offset value; The quality of the perception signal of the second synaesthesia node is less than a third quality threshold; The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold; The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold; The distance between the first synaesthesia node and the first terminal is greater than a first distance threshold; The distance between the first synaesthesia node and the first terminal is less than a second distance threshold; The distance between the first synaesthesia node and the first terminal is greater than the sum of the distance between the second synaesthesia node and the first terminal and a distance offset value; The distance between the second synaesthesia node and the first terminal is less than a third distance threshold; The distance between the second synaesthesia node and the first terminal is greater than a fourth distance threshold; The distance between the first synaesthesia node and the first terminal is smaller than a fifth distance threshold, and the distance between the second synaesthesia node and the first terminal is larger than a sixth distance threshold.

7. The method according to claim 6, characterized in that The perceived signal quality includes at least one of the following: Perceived signal-to-noise ratio, reference signal power, reference signal reception quality, signal-to-interference-and-noise ratio, and perception confidence.

8. The method according to claim 1, characterized in that The handover request message includes at least one of the following: identification information of the first terminal, identification information of the target synaesthesia node, synaesthesia node switching time, configuration information of perception resources, perception requirement information for perception of the first terminal, perception indicator information for perception of the first terminal, perception mode information for perception of the first terminal, and information of the collaborative synaesthesia node; The target synaesthesia node is a target synaesthesia service node to which the first terminal switches, and the target synaesthesia node is determined in at least one second synaesthesia node.

9. The method according to claim 1, characterized in that: The sending of the handover request message according to the perception information includes: Determining, according to the perception information, a target synaesthesia node to which the first terminal is to be switched in at least one second synaesthesia service node; The switching request message is sent to a third synaesthesia node, wherein the switching request message includes identification information of the target synaesthesia node.

10. The method according to claim 9, characterized in that The third synaesthesia node is used for perception management of the first synaesthesia node and the second synaesthesia node; or, The third synaesthesia node is used for perception and communication management between the first synaesthesia node and the second synaesthesia node.

11. The method according to claim 9, characterized in that The method further comprises: A handover consent indication message is received from the third synaesthesia node.

12. The method according to claim 11, characterized in that The switch consent indication message is used to instruct the first synaesthesia node to execute the synaesthesia service node switch of the first terminal; or, the switch consent indication message is used to instruct the first synaesthesia node to execute the perception service node switch of the first terminal.

13. The method according to claim 12, characterized in that In a case where the handover approval indication message is used to instruct the first synaesthesia node to perform the perception service node handover of the first terminal, before sending the handover completion indication message to the third synaesthesia node, the method further includes: A communication switching request message is sent to the second synaesthesia node, where the communication switching request message is used to request switching of the communication service node of the first terminal.

14. The method according to claim 1, characterized in that The sending a switching request message according to the perception information includes: Determining, according to the perception information, a target synaesthesia node to which the first terminal is to be switched in at least one second synaesthesia service node; The switching request message is sent to the target synaesthesia node.

15. The method according to claim 14, characterized in that The method further comprises: Receive a switching response message from the target synaesthesia node; wherein the switching response message is used to indicate: Accepting a switching request from the first synaesthesia node; rejecting the switching request of the first synaesthesia node; Accepting part of the switching request of the first synaesthesia node; Alternatively, part of the switching request of the first synaesthesia node is rejected.

16. The method according to any one of claims 10 to 15, characterized in that The method further comprises: A resource release indication message is received from the target synaesthesia node, where the resource release indication message is used to instruct the first synaesthesia node to release communication resources and / or perception resources corresponding to the first terminal.

17. A communication and perception method, characterized in that, Applied to a target synaesthesia node, the method comprises: Sending a perception measurement report of the first terminal to the first synaesthesia node; A switching request message is received, where the switching request message is used to request that the first terminal be switched from the first synaesthesia node to the target synaesthesia node.

18. The method according to claim 17, characterized in that The perception measurement report includes at least one of the following: identification information of the target synaesthesia node, identification information of the first terminal, identification information of the satisfied perception triggering event, perception signal quality information, the distance between the first terminal and the target synaesthesia node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and perception confidence.

19. The method according to claim 17, characterized in that Before sending the perception measurement report of the first terminal to the first synaesthesia node, the method further includes: receiving trigger configuration information from the first synaesthesia node, where the trigger configuration information is used to configure a trigger condition for the perception measurement report; The sending the perception measurement report of the first terminal to the first synaesthesia node includes: When the trigger condition is met, a perception measurement report of the first terminal is sent to the first synaesthesia node.

20. The method according to claim 19, characterized in that The trigger configuration information includes at least one of the following: The identification information of the first synaesthesia node, the identification information of the first terminal, the triggering mode, the identification information of the perception triggering event, the threshold value and / or bias value corresponding to the perception triggering event, the hysteresis coefficient, the triggering time, the triggering time interval, the number of the perception measurement reports allowed to be reported, the indication information used to indicate whether to trigger the second synaesthesia node to send a perception measurement report to the first terminal when the leaving condition of the perception triggering event is met, the maximum number of terminals included in the perception measurement report, and the filtering parameters of the perception signal.

21. The method according to claim 20, characterized in that The perception triggering event includes at least one of the following: The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold; The quality of the perception signal of the first synaesthesia node is less than a second quality threshold; The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and a quality offset value; The quality of the perception signal of the second synaesthesia node is less than a third quality threshold; The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold; The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold; The distance between the first synaesthesia node and the first terminal is greater than a first distance threshold; The distance between the first synaesthesia node and the first terminal is less than a second distance threshold; The distance between the first synaesthesia node and the first terminal is greater than the sum of the distance between the second synaesthesia node and the first terminal and a distance offset value; The distance between the second synaesthesia node and the first terminal is less than a third distance threshold; The distance between the second synaesthesia node and the first terminal is greater than a fourth distance threshold; The distance between the first synaesthesia node and the first terminal is smaller than a fifth distance threshold, and the distance between the second synaesthesia node and the first terminal is larger than a sixth distance threshold.

22. The method according to claim 21, characterized in that The perceived signal quality includes at least one of the following: The perceived signal includes a signal-to-noise ratio, a reference signal power, a reference signal reception quality, a signal-to-interference-and-noise ratio, and a perceived confidence.

23. The method according to claim 17, characterized in that The handover request message includes at least one of the following: The identification information of the first terminal, the identification information of the target synaesthesia node, the synaesthesia node switching time, the configuration information of the perception resources, the perception requirement information for perceiving the first terminal, the perception indicator information for perceiving the first terminal, the perception mode information for perceiving the first terminal, and the information of the collaborative synaesthesia node.

24. The method according to claim 17, characterized in that The receiving of the switching request message comprises: A switching request message is received from a third synaesthesia node, where the third synaesthesia node is used for perception management of the first synaesthesia node and the second synaesthesia node, or the third synaesthesia node is used for perception and communication management of the first synaesthesia node and the second synaesthesia node.

25. The method according to claim 24, characterized in that The method further comprises at least one of the following: Sending a switching response message to the third synaesthesia node, wherein the switching response message is used to trigger the third synaesthesia node to send a switching consent indication message to the first synaesthesia node; When the switching is completed, a switching completion indication message is sent to the third synaesthesia node.

26. The method according to claim 25, characterized in that The switch consent indication message is used to instruct the first synaesthesia node to execute the synaesthesia service node switch of the first terminal; or, the switch consent indication message is used to instruct the first synaesthesia node to execute the perception service node switch of the first terminal.

27. The method according to claim 26, characterized in that In a case where the handover approval indication message is used to instruct the first synaesthesia node to perform the perception service node handover of the first terminal, before sending the handover completion indication message to the third synaesthesia node, the method further includes: A communication switching request message is received from the first synaesthesia node, where the communication switching request message is used to request switching of a communication service node of the first terminal.

28. The method according to claim 18, characterized in that The receiving of the switching request message comprises: A switching request message is received from the first synaesthesia node.

29. The method according to claim 28, characterized in that The method further comprises: A switching response message is sent to the first synaesthesia node.

30. The method according to claim 28, characterized in that The method further comprises: A synaesthesia path update request message is sent to the third synaesthesia node, where the synaesthesia path update request message is used to request an update of a perception path or a synaesthesia path of the first terminal.

31. The method according to claim 30, characterized in that The synaesthesia path update request message includes at least one of the following: The identification information, perception requirement information, perception indicator information, perception mode information of the first terminal, and the collaborative synaesthesia node information of the target synaesthesia node.

32. The method according to claim 18, characterized in that The method further comprises: A resource release indication message is sent to the first synaesthesia node, where the resource release indication message is used to instruct the first synaesthesia node to release communication resources and / or perception resources corresponding to the first terminal.

33. A communication and perception method, characterized in that, Applied to a first terminal, the method includes: Receiving a perception configuration message from a first synaesthesia node, the perception configuration message including a preset perception event, the first synaesthesia node being a current synaesthesia service node of the first terminal; A sensory signal is obtained from at least one synaesthesia node.

34. The method according to claim 33, characterized in that The method further comprises: According to the perception signal, communication signal measurement and / or perception signal measurement is activated or deactivated.

35. The method according to claim 34, characterized in that The activating or deactivating communication signal measurement and / or perception signal measurement according to the perception signal includes: When the perception signal satisfies an entry or trigger condition of the preset perception event, communication signal measurement and / or perception signal measurement is activated or deactivated.

36. The method according to claim 33, characterized in that The preset sensing event includes at least one of the following: The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold; The quality of the perception signal of the first synaesthesia node is less than a second quality threshold; The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value; The quality of the perception signal of the second synaesthesia node is less than a third quality threshold; The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold; The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold; The perception result of the first synaesthesia node is greater than a first perception result threshold; The perception result of the first synaesthesia node is less than a second perception result threshold; The perception result of the second synaesthesia node is greater than the sum of the perception result of the first synaesthesia node and the perception result offset value; The perception result of the second synaesthesia node is less than a third perception result threshold; The perception result of the second synaesthesia node is greater than a fourth perception result threshold; The perception result of the first synaesthesia node is less than a fifth perception result threshold, and the perception result of the second synaesthesia node is greater than a sixth perception result threshold.

37. The method according to claim 36, characterized in that The perceived signal quality includes at least one of the following: The perceived signal includes a signal-to-noise ratio, a reference signal power, a reference signal reception quality, a signal-to-interference-and-noise ratio, and a perceived confidence.

38. The method according to claim 36, characterized in that The perception result includes at least one of the following: Doppler frequency shift, angle of arrival, signal propagation time of the perception signal from the transmitting end to the receiving end, distance from the transmitting end to the receiving end of the perception signal, and perception confidence.

39. The method according to claim 33, characterized in that The awareness configuration message further includes first indication information, where the first indication information is used to indicate: The preset perception event is used to trigger communication signal measurement of the first terminal; The preset perception event is used to trigger communication signal measurement and perception signal measurement of the first terminal; The preset perception event is used to trigger perception signal measurement of the first terminal.

40. A communication and perception method, characterized in that, Applied to the first synaesthesia node, the method comprises: A perception configuration message is sent to a first terminal, where the perception configuration message includes a preset perception event, and the perception configuration message is used to trigger the first terminal to activate or deactivate communication signal measurement and / or perception signal measurement.

41. The method according to claim 40, characterized in that The preset sensing event includes at least one of the following: The quality of the perception signal of the first synaesthesia node is greater than a first quality threshold; The quality of the perception signal of the first synaesthesia node is less than a second quality threshold; The quality of the perceived signal of the second synaesthesia node is greater than the sum of the quality of the perceived signal of the first synaesthesia node and the quality offset value; The quality of the perception signal of the second synaesthesia node is less than a third quality threshold; The quality of the perception signal of the second synaesthesia node is greater than a fourth quality threshold; The quality of the perceived signal of the first synaesthesia node is less than a fifth quality threshold, and the quality of the perceived signal of the second synaesthesia node is greater than a sixth quality threshold; The perception result of the first synaesthesia node is greater than a first perception result threshold; The perception result of the first synaesthesia node is less than a second perception result threshold; The perception result of the second synaesthesia node is greater than the sum of the perception result of the first synaesthesia node and the perception result offset value; The perception result of the second synaesthesia node is less than a third perception result threshold; The perception result of the second synaesthesia node is greater than a fourth perception result threshold; The perception result of the first synaesthesia node is less than a fifth perception result threshold, and the perception result of the second synaesthesia node is greater than a sixth perception result threshold.

42. The method according to claim 41, characterized in that The perceived signal quality includes at least one of the following: The perceived signal includes a signal-to-noise ratio, a reference signal power, a reference signal reception quality, a signal-to-interference-and-noise ratio, and a perceived confidence.

43. The method according to claim 41, characterized in that The perception result includes at least one of the following: Doppler frequency shift, arrival angle, signal propagation time of the perception signal from the transmitting end to the receiving end, distance from the transmitting end to the receiving end of the perception signal, and perception confidence.

44. The method according to claim 40, characterized in that The perception configuration message also includes first indication information, where the first indication information is used to indicate that the preset perception event is used to trigger communication signal measurement and / or perception signal measurement of the first terminal.

45. A communication and sensing device, characterized in that: include: Memory and processor; Memory and processor coupling; The memory is used to store instructions executable by the processor; When the processor executes the instructions, the method according to any one of claims 1 to 44 is performed.

46. ​​A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a processor, the processor executes the method according to any one of claims 1 to 44.

47. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed on a computer, causes the computer to perform the method according to any one of claims 1 to 44.

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