Sensing mode switching method and device and communication equipment

Abstract

The invention discloses a sensing mode switching method and device and communication equipment, and belongs to the technical field of communication, and the method comprises the steps that a first node obtains a first target index value; the first node determines whether to switch a sensing mode of a sensing target from a first sensing mode to a second sensing mode based on the first target index value; wherein the signal sending node of the first signal and the signal receiving node of the first signal are different nodes in the first sensing mode, and the signal sending node of the first signal and the signal receiving node of the first signal are the same node in the second sensing mode. The first target index value is a sensing-related index value measured by a first sensing node, and the first sensing node is a signal receiving node of the first signal in the first sensing mode.

Description

Technical Field

[0001] This application belongs to the field of communication technologies, and particularly relates to a method and apparatus for switching sensing modes and a communication device. Background Art

[0002] In related technologies, a sensing node in a mobile communication network usually performs sensing measurements on a sensing target (e.g., a specific entity target or a specific area) using a certain predetermined or pre-configured sensing mode. In some cases (e.g., the state of the sensed object changes, the environment of the sensed area changes, or the state of the sensing node changes), the sensing node may not be able to accurately perform sensing measurements on the sensing target, which will result in poor reliability of the sensing measurements. Summary of the Invention

[0003] Embodiments of this application provide a method and apparatus for switching sensing modes and a communication device, which can solve the problem of poor reliability of sensing measurements.

[0004] In a first aspect, a method for switching sensing modes is provided, including:

[0005] A first node obtains a first target metric value;

[0006] The first node determines whether to switch the sensing mode for the sensing target from a first sensing mode to a second sensing mode based on the first target metric value;

[0007] Wherein, in the first sensing mode, the signal sending node and the signal receiving node of a first signal are different nodes, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are the same node. The first target metric value is a metric value related to sensing measured by a first sensing node, and in the first sensing mode, the first sensing node is the signal receiving node of the first signal.

[0008] In a second aspect, a method for switching sensing modes is provided, including:

[0009] A first sensing node obtains a first target metric value;

[0010] The first sensing node performs a first operation;

[0011] The first operation includes at least one of the following:

[0012] The first sensing node sends the first target metric value to a first node;

[0013] The first sensing node determines whether to switch the sensing mode for the sensing target from a first sensing mode to a second sensing mode based on the first target metric value;

[0014] Among them, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes under the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node under the second sensing mode, the first sensing node is the signal receiving node of the first signal under the first sensing mode, and the first target metric value is the metric value related to sensing measured by the first sensing node.

[0015] In a third aspect, a sensing mode switching method is provided, including:

[0016] The second sensing node performs a second operation;

[0017] The second operation includes at least one of the following:

[0018] In the case of receiving a first request message, the second sensing node performs a sensing operation on a sensing target according to a second sensing mode, obtains at least one of a measured value of a sensed measurement quantity, a sensing result, and a third target metric value, and sends a first response message corresponding to the first request message. The first request message is used to request the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode. The first response message carries at least one of the measured value of the sensed measurement quantity, the sensing result, and the third target metric value, or the first response message indicates whether the second sensing node agrees to perform a sensing operation on the sensing target according to the second sensing mode. The third target metric value is the metric value related to sensing measured by the second sensing node;

[0019] In the case of receiving a switching command, the second sensing node obtains a fourth target metric value and determines whether to send a switching success message based on the fourth target metric value. The switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode. The switching success message is used to indicate that the sensing mode for the sensing target has been successfully switched from the first sensing mode to the second sensing mode. The fourth target metric value is the metric value related to sensing measured by the second sensing node;

[0020] Among them, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes under the first sensing mode, and the signal sending node of the first signal and the signal receiving node of the first signal are the same node under the second sensing mode.

[0021] In a fourth aspect, a sensing mode switching device is provided. The first node includes the sensing mode switching device, including:

[0022] An obtaining module, configured to obtain a first target metric value;

[0023] A switching module, configured to determine whether to switch the sensing mode of a sensing target from a first sensing mode to a second sensing mode based on the first target metric value;

[0024] Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are the same node. The first target metric value is a metric value related to sensing measured by a first sensing node, and in the first sensing mode, the first sensing node is the signal receiving node of the first signal.

[0025] In a fifth aspect, a sensing mode switching device is provided. The first sensing node includes the sensing mode switching device, and includes:

[0026] An obtaining module, configured to obtain a first target metric value;

[0027] An execution module, configured to execute a first operation;

[0028] The first operation includes at least one of the following:

[0029] The first sensing node sends the first target metric value to a first node;

[0030] The first sensing node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target metric value;

[0031] Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are the same node. In the first sensing mode, the first sensing node is the signal receiving node of the first signal, and the first target metric value is a metric value related to sensing measured by the first sensing node.

[0032] In a sixth aspect, a sensing mode switching device is provided. The second sensing node includes the sensing mode switching device, and includes:

[0033] An execution module, configured to execute a second operation;

[0034] The second operation includes at least one of the following:

[0035] Upon receiving the first request message, the second sensing node performs a sensing operation on the sensing target according to a second sensing manner, obtains at least one of a measured value of a sensed measurement quantity, a sensing result, and a third target index value, and sends a first response message corresponding to the first request message. The first request message is used to request the second sensing node to perform a sensing operation on the sensing target according to the second sensing manner. The first response message carries at least one of the measured value of the sensed measurement quantity, the sensing result, and the third target index value, or the first response message indicates whether the second sensing node agrees to perform a sensing operation on the sensing target according to the second sensing manner. The third target index value is an index value related to sensing measured by the second sensing node;

[0036] Upon receiving a handover command, the second sensing node obtains a fourth target index value and determines whether to send a handover success message based on the fourth target index value. The handover command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing manner. The handover success message is used to indicate that the sensing manner for the sensing target has been successfully switched from a first sensing manner to a second sensing manner. The fourth target index value is an index value related to sensing measured by the second sensing node;

[0037] Wherein, in the first sensing manner, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes, and in the second sensing manner, the signal sending node of the first signal and the signal receiving node of the first signal are the same node.

[0038] In a seventh aspect, a communication device is provided. The communication device includes a processor and a memory. The memory stores a program or instruction that can run on the processor. When the program or instruction is executed by the processor, the steps of the method described in the first aspect, the second aspect, or the third aspect are implemented.

[0039] In an eighth aspect, a communication device is provided, including a processor and a communication interface. Wherein, the processor or the communication interface is configured to:

[0040] Obtain a first target index value;

[0041] Determine whether to switch the sensing manner for the sensing target from a first sensing manner to a second sensing manner based on the first target index value;

[0042] Among them, the signal sending node and the signal receiving node of the first signal are different nodes under the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node under the second sensing mode, the first target metric value is the metric value related to sensing measured by the first sensing node, and the first sensing node is the signal receiving node of the first signal under the first sensing mode.

[0043] In a ninth aspect, a communication device is provided, including a processor and a communication interface. Among them, the processor or the communication interface is used for:

[0044] Obtain a first target metric value;

[0045] Execute a first operation;

[0046] The first operation includes at least one of the following:

[0047] The first sensing node sends the first target metric value to the first node;

[0048] The first sensing node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target metric value;

[0049] Among them, the signal sending node and the signal receiving node of the first signal are different nodes under the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node under the second sensing mode, the first sensing node is the signal receiving node of the first signal under the first sensing mode, and the first target metric value is the metric value related to sensing measured by the first sensing node.

[0050] In a tenth aspect, a communication device is provided, including a processor and a communication interface. Among them, the processor or the communication interface is used for:

[0051] Execute a second operation;

[0052] The second operation includes at least one of the following:

[0053] Upon receiving the first request message, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measured value of a sensed measurement quantity, a sensing result, and a third target index value, and sends a first response message corresponding to the first request message. The first request message is used to request the second sensing node to perform a sensing operation on the sensing target according to the second sensing method. The first response message carries at least one of the measured value of the sensed measurement quantity, the sensing result, and the third target index value, or the first response message indicates whether the second sensing node agrees to perform a sensing operation on the sensing target according to the second sensing method. The third target index value is an index value related to sensing measured by the second sensing node.

[0054] Upon receiving a handover command, the second sensing node obtains a fourth target index value and determines whether to send a handover success message based on the fourth target index value. The handover command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing method. The handover success message is used to indicate that the sensing method for the sensing target has been successfully switched from the first sensing method to the second sensing method. The fourth target index value is an index value related to sensing measured by the second sensing node.

[0055] Among them, in the first sensing method, the signal sending node and the signal receiving node of the first signal are different nodes, and in the second sensing method, the signal sending node and the signal receiving node of the first signal are the same node.

[0056] In an eleventh aspect, a sensing method switching system is provided, including: a first node, a first sensing node, and a second sensing node. The first node can be used to execute the steps of the method described in the first aspect, the first sensing node can be used to execute the steps of the method described in the second aspect, and the second sensing node can be used to execute the steps of the method described in the third aspect.

[0057] In a twelfth aspect, a readable storage medium is provided. A program or instruction is stored on the readable storage medium. When the program or instruction is executed by a processor, the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect are implemented.

[0058] In a thirteenth aspect, a chip is provided. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run a program or instruction to implement the method described in the first aspect, or the method described in the second aspect, or the method described in the third aspect.

[0059] In a fourteenth aspect, a computer program / program product is provided, which is stored in a storage medium and executed by at least one processor to implement the steps of the method described in the first aspect or the second aspect or the third aspect.

[0060] In an embodiment of the present application, a first node obtains a first target metric value; the first node determines whether to switch the sensing mode of a sensing target from a first sensing mode to a second sensing mode based on the first target metric value; wherein, in the first sensing mode, the signal sending node and the signal receiving node of a first signal are different nodes, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, the first target metric value is a metric value related to sensing measured by a first sensing node, and in the first sensing mode, the first sensing node is the signal receiving node of the first signal. In this way, when sensing and measuring a sensing target through the first sensing mode, it is determined whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the metric value related to sensing measured by the first sensing node, so that the sensing mode of the sensing target can be more matched with the state of the sensing target or the sensing environment, etc., thereby improving the reliability of sensing measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is a block diagram of a wireless communication system to which an embodiment of the present application can be applied;

[0062] Figure 2 is one of the flowcharts of a sensing mode switching method provided by an embodiment of the present application;

[0063] Figure 3 is a multipath schematic diagram of a channel response in a first dimension;

[0064] Figure 4 is another flowchart of a sensing mode switching method provided by an embodiment of the present application;

[0065] Figure 5 is yet another flowchart of a sensing mode switching method provided by an embodiment of the present application;

[0066] Figure 6 is one of the schematic diagrams of switching from the first sensing mode to the second sensing mode;

[0067] Figure 7 is another schematic diagram of switching from the first sensing mode to the second sensing mode;

[0068] Figure 8 is one of the structural schematic diagrams of a sensing mode switching device provided by an embodiment of the present application;

[0069] Figure 9 It is the second structural schematic diagram of a sensing mode switching device provided by an embodiment of the present application;

[0070] Figure 10 It is the third structural schematic diagram of a sensing mode switching device provided by an embodiment of the present application;

[0071] Figure 11 It is the structural schematic diagram of a communication device provided by an embodiment of the present application;

[0072] Figure 12 It is the structural schematic diagram of a terminal provided by an embodiment of the present application;

[0073] Figure 13 It is one of the structural schematic diagrams of a network-side device provided by an embodiment of the present application;

[0074] Figure 14 It is the second structural schematic diagram of a network-side device provided by an embodiment of the present application. Detailed implementation manners

[0075] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, rather than all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0076] The terms "first", "second", etc. in the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are usually of the same type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "or" in the present application means at least one of the connected objects. For example, "A or B" covers three scenarios, namely, Scenario 1: including A and not including B; Scenario 2: including B and not including A; Scenario 3: including both A and B. The character " / " generally indicates an "or" relationship between the associated objects before and after.

[0077] The term "indication" in this application can be either a direct indication (or an explicit indication) or an indirect indication (or an implicit indication). Among them, a direct indication can be understood as that the sender clearly tells the receiver specific information, operations to be performed, request results, etc. in the sent indication; an indirect indication can be understood as that the receiver determines the corresponding information according to the indication sent by the sender, or makes a judgment and determines the operations to be performed or request results, etc. according to the judgment result.

[0078] It should be noted that the technology described in the embodiments of this application is not limited to the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system, and can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), or other systems. The terms "system" and "network" in the embodiments of this application are often used interchangeably, and the described technology can be used in the above-mentioned systems and radio technologies, as well as in other systems and radio technologies. The following description describes the New Radio (NR) system for example purposes, and the NR term is used in most of the following descriptions, but these technologies can also be applied to systems other than the NR system, such as the 6th Generation (6G) communication system. th Generation, 6G) communication system.

[0079] Figure 1The block diagram of a wireless communication system to which the embodiments of the present application can be applied is shown. The wireless communication system includes a terminal 11 and a network-side device 12. Among them, the terminal 11 can be a mobile phone, a tablet personal computer, a laptop computer, a notebook computer, a personal digital assistant (PDA), a handheld computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR), a virtual reality (VR) device, a robot, a wearable device, a flight vehicle, a vehicle user equipment (VUE), a shipborne device, a pedestrian user equipment (PUE), a smart home (home appliances with wireless communication functions, such as refrigerators, TVs, washing machines, or furniture, etc.), a game console, a personal computer (PC), a teller machine, or a self-service machine, etc., which are terminal-side devices. Wearable devices include: smart watches, smart bracelets, smart earphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart ankle chains, etc.), smart wristbands, smart clothing, etc. Among them, the vehicle user equipment can also be referred to as a vehicle terminal, a vehicle controller, a vehicle module, a vehicle component, a vehicle chip, or a vehicle unit, etc. It should be noted that the specific type of the terminal 11 is not limited in the embodiments of the present application. The network-side device 12 can include an access network device or a core network device. Among them, the access network device can also be referred to as a radio access network (RAN) device, a radio access network function, or a radio access network unit. The access network device can include a base station, a wireless local area network (WLAN) access point (AP), or a wireless fidelity (WiFi) node, etc.Among them, the base station can be referred to as Node B (NB), Evolved Node B (eNB), the next generation Node B (gNB), New Radio Node B (NR Node B), access point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home Node B (HNB), home evolved Node B, Transmission Reception Point (TRP), or some other suitable term in the art. As long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiments of this application, only the base station in the NR system is taken as an example for introduction, and the specific type of the base station is not limited.

[0080] The core network equipment may include but is not limited to at least one of the following: core network nodes, core network functions, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (L-NEF), Binding Support Function (BSF), Application Function (AF), Location Management Function (LMF), Gateway Mobile Location Centre (GMLC), Network Data Analytics Function (NWDAF), etc. It should be noted that in the embodiments of this application, only the core network equipment in the NR system is taken as an example for introduction, and the specific type of the core network equipment is not limited.

[0081] For ease of understanding, some terms related to the embodiments of this application are explained below:

[0082] 1. Communication and sensing integration:

[0083] In recent decades, wireless communication and radar sensing (Communication & Sensing, C&S) have been developing in parallel, but with limited intersection. They have many commonalities in signal processing algorithms, devices, and to some extent, system architectures. In recent years, the coexistence, cooperation, and joint design of these two systems have received increasing attention from researchers.

[0084] Early on, extensive research was conducted on the coexistence of communication systems and radar systems. The focus was on developing effective interference management techniques to enable two separately deployed systems to operate smoothly without interfering with each other. Although radar and communication systems may be in the same location or even physically integrated, they transmit two different signals in the time / frequency domain. They share the same resources through cooperation to minimize the interference between them when working simultaneously. Corresponding measures include beamforming, cooperative spectrum sharing, primary-secondary spectrum sharing, dynamic coexistence, etc. However, effective interference cancellation usually has strict requirements for node mobility and information exchange between nodes. Therefore, the improvement of spectral efficiency is actually limited. Since the interference in coexistence systems is caused by transmitting two independent signals, it is natural to ask whether we can use a single transmitted signal for both communication and radar sensing simultaneously. Radar systems usually use specially designed waveforms, such as short pulses and chirps, which can achieve high-power radiation and simplify receiver processing. However, these waveforms are not essential for radar detection. Passive radar or passive sensing, which uses different radio signals as sensing signals, is a good example.

[0085] Machine learning, especially deep learning techniques, has further promoted the potential of using non-dedicated radio signals for radar sensing. With these technologies, traditional radar is evolving towards more general wireless sensing. Here, wireless sensing can broadly refer to retrieving information from received radio signals, rather than the communication data modulated onto the signal at the transmitter. For wireless sensing related to the target location, common signal processing methods can be used to estimate dynamic parameters such as the target signal reflection delay, angle of arrival (AOA), angle of departure (AOD), Doppler, etc.; for sensing the physical characteristics of the target, it can be achieved by measuring the intrinsic mode signals of the device, object, or living being. These two sensing methods can be respectively called sensing parameter estimation and pattern recognition. In this sense, wireless sensing refers to more general sensing technologies and applications using radio signals.

[0086] Integrated Sensing and Communication (ISAC) has the potential to integrate wireless sensing into large-scale mobile networks, referred to here as Perceptive Mobile Networks (PMNs). PMNs can evolve from the current 5G mobile networks and are expected to become an omnipresent wireless sensing network while providing stable and high-quality mobile communication services. It can be built on top of the existing mobile network infrastructure without significant changes to the network structure and equipment. It will unleash the maximum capacity of the mobile network and avoid the high infrastructure costs of separately building new wide-area wireless sensing networks. With the expansion of coverage, the integrated communication and sensing capabilities are expected to enable many new applications. Perceptive Mobile Networks can provide both communication and wireless sensing services simultaneously, and due to its large broadband coverage and powerful infrastructure, it has the potential to become an omnipresent wireless sensing solution. Its jointly coordinated communication and sensing capabilities will enhance the productivity of our society and contribute to the emergence of a large number of new applications that cannot be effectively realized by existing sensor networks. Some early work on passive sensing using mobile signals has demonstrated its potential. For example, traffic monitoring, weather forecasting, and rainfall remote sensing based on radio signals of the Global System for Mobile Communications (GSM). Perceptive Mobile Networks can be widely applied to communication and sensing in the fields of transportation, communication, energy, precision agriculture, and security, while existing solutions are either infeasible or inefficient. It can also provide complementary sensing capabilities to existing sensor networks, with unique day-night operation functions and the ability to penetrate fog, leaves, and even solid objects. Some common sensing services are shown in Table 1 below.

[0087] Table 1 Classification of Common Sensing Services

[0088]

[0089]

[0090] In a mobile communication network, a base station (including one or more Transmission Reception Points (TRPs) on the base station) and a User Equipment (UE) (including one or more sub-arrays / panels (Panels) on the UE) can serve as sensing nodes participating in integrated sensing / communication services. By transmitting and receiving sensing signals between nodes, it is possible to sense a certain area or a certain entity target. The sensing signal can be a signal that does not contain transmission information, such as existing LTE / NR synchronization and reference signals, including Synchronization Signal and PBCH block (SSB) signals, Channel State Information-Reference Signal (CSI-RS), Demodulation Reference Signal (DMRS), Sounding Reference Signal (SRS), Positioning Reference Signal (PRS), Phase-tracking reference signal (PTRS), etc. It can also be a single-frequency continuous wave (CW), frequency-modulated continuous wave (FMCW), and ultra-wideband Gaussian pulse commonly used in radar; it can also be a newly designed dedicated sensing signal with good correlation characteristics and low Peak to Average Power Ratio (PAPR), or a newly designed integrated sensing / communication signal that not only carries certain information but also has good sensing performance. Hereinafter, the above-mentioned sensing signals are uniformly referred to as the first signals.

[0091] According to whether the sensing nodes are the same device, two sensing methods can be divided: A transmits and B receives, and A transmits and receives by itself. A transmits and B receives means that the sensing nodes A and B are not the same device and are physically separated; A transmits and receives by itself means that the transmission and reception of the sensing signal are performed by the same device, and the sensing node A senses by receiving the signal echo sent by itself. Hereinafter, the above-mentioned A transmits and B receives sensing is uniformly referred to as the first sensing, and the corresponding sensing method is the first sensing method; A transmits and receives by itself sensing is referred to as the second sensing, and the corresponding sensing method is the second sensing method.

[0092] A node that sends and / or receives sensing signals is called a node participating in sensing (or sensing node). The sensing node can be a base station or a UE. The device that determines the sensing node after handover and the sensing method of the sensing node after handover can be a base station, a UE, or a device in the core network, such as a Sensing Function (SF), an Access and Mobility Management Function (AMF), a sensing application server in the core network, etc. Hereinafter, the devices in the above core network are uniformly referred to as the first devices.

[0093] 2. Sensing measurement quantities

[0094] The sensing measurement quantities can be classified into the following 4 categories:

[0095] (1) First-level measurement quantities (received signal / raw channel information), including: the complex result of the received signal / channel response, amplitude / phase, I / Q channels and their operation results (the operations include addition, subtraction, multiplication, division, matrix addition, subtraction, multiplication, matrix transpose, trigonometric relation operations, square root operations, power operations, etc., and the threshold detection results and maximum / minimum value extraction results of the above operation results; the operations also include Fast Fourier Transform (FFT) / Inverse Fast Fourier Transform (IFFT), Discrete Fourier Transform (DFT) / Inverse Discrete Fourier Transform (IDFT), 2D-FFT, 3D-FFT, matched filtering, autocorrelation operation, wavelet transform, digital filtering, etc., and the threshold detection results and maximum / minimum value extraction results of the above operation results);

[0096] (2) Second-level measurement quantities (basic measurement quantities), including: time delay, Doppler, angle, intensity, and their multi-dimensional combined representations;

[0097] (3) Third-level measurement quantities (basic attributes / status), including: distance, speed, orientation, spatial position, acceleration;

[0098] (4) Fourth-level measurement quantities (advanced attributes / status), including: whether the target exists, trajectory, action, expression, vital signs, quantity, imaging result, weather, air quality, shape, material, composition.

[0099] Optionally, the above sensing measurement quantities also include corresponding tag information, including at least one of the following:

[0100] Perceived signal identification information; perceived measurement configuration identification information; perceived service information (e.g., perceived service ID); data subscription ID; measurement quantity usage (communication, perception, communication and sensing); time information; perceived node information (e.g., UE ID, node location, device orientation); perceived link information (e.g., perceived link sequence number, transceiver node identification); measurement quantity description information (form, e.g., amplitude value, phase value, complex value combining amplitude and phase; resource type, e.g., time-domain measurement result, frequency-domain resource measurement result); measurement quantity index information (e.g., SNR, perceived SNR).

[0101] 3. Perceived parameter configuration information

[0102] The perceived-related parameter configuration information includes at least one of the following:

[0103] Waveform type, such as OFDM, SC-FDMA, OTFS, frequency-modulated continuous wave FMCW, pulse signal, etc.;

[0104] Subcarrier spacing: For example, the subcarrier spacing of an OFDM system is 30KHz;

[0105] Guard interval: The time interval between the end of the signal transmission time and the time when the latest echo signal of the signal is received; this parameter is proportional to the maximum perceived distance; for example, it can be calculated by 2dmax / c, where dmax is the maximum perceived distance (belonging to the perceived requirement), for example, for a self-transmitting and self-receiving perceived signal, dmax represents the maximum distance from the perceived signal transceiver point to the signal emission point; in some cases, the OFDM signal cyclic prefix CP can act as the minimum guard interval;

[0106] Bandwidth: This parameter is inversely proportional to the range resolution and can be obtained by c / 2 / delta_d, where delta_d is the range resolution (belonging to the perceived requirement); c is the speed of light;

[0107] Burst duration: This parameter is inversely proportional to the rate resolution (belonging to the perceived requirement), this parameter is the time span of the perceived signal, mainly for calculating the Doppler frequency shift; this parameter can be calculated by c / 2 / delta_v / fc; where, delta_v is the velocity resolution; fc is the carrier frequency of the perceived signal;

[0108] Time-domain interval: This parameter can be calculated by c / 2 / fc / v_range; where, v_range is the maximum rate minus the minimum speed (belonging to the perceived requirement); this parameter is the time interval between two adjacent perceived signals;

[0109] Transmitted signal power, for example, taking a value every 2dBm from -20dBm to 23dBm;

[0110] Signal formats, such as SRS, DMRS, PRS, etc., or other predefined signals, as well as information such as related sequence formats;

[0111] Signal direction; for example, the direction of the sensing signal or beam information;

[0112] Time resources, such as the time slot index or symbol index of the time slot where the sensing signal is located; among them, time resources are divided into two types. One is one-time time resources, such as sending an omnidirectional sensing signal in one symbol. The other is non-one-time time resources, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time). Each group of periodic time resources sends sensing signals in the same direction, and the beam directions on different groups of periodic time resources are different;

[0113] Frequency resources, including the center frequency point, bandwidth, RB or subcarrier, Point A, starting bandwidth position, etc. of the sensing signal;

[0114] QCL relationship. For example, the sensing signal includes multiple resources, and each resource has a QCL with an SSB. QCL includes Type A, B, C or D;

[0115] Antenna configuration information.

[0116] Among them, the antenna configuration information includes:

[0117] The antenna element ID or antenna port ID for transmitting and / or receiving the sensing signal;

[0118] The panel ID + element ID for transmitting and / or receiving the sensing signal;

[0119] The position information of the antenna element for transmitting and / or receiving the sensing signal relative to a local reference point on the antenna array (which can be represented by Cartesian coordinates (x, y, z) or spherical coordinates representation);

[0120] The position information of the panel for transmitting and / or receiving the sensing signal relative to a local reference point on the antenna array (which can be represented by Cartesian coordinates (x, y, z) or spherical coordinates ()), and the position information of the antenna elements for transmitting the sensing signal within these selected panels relative to a unified reference point of the panel (such as the center point of the panel) (which can be represented by Cartesian coordinates (x, y, z) or spherical coordinates ());

[0121] The bitmap information of the antenna element. For example, the bitmap uses "1" to indicate that the element is selected for transmitting and / or receiving sensing signals, and uses "0" to indicate that the element is not selected; or uses "0" to indicate that the element is selected and "1" to indicate that the element is not selected;

[0122] The bitmap information of the array panel and the bitmap information of the elements within the selected panel. For example, the bitmap uses "1" to indicate that the element is selected for transmitting and / or receiving sensing signals, and uses "0" to indicate that the element is not selected; or uses "0" to indicate that the element is selected and "1" to indicate that the element is not selected.

[0123] Next, in conjunction with the accompanying drawings, through some embodiments and their application scenarios, the sensing mode switching method, device, and communication device provided by the embodiments of the present application will be described in detail.

[0124] See Figure 2 , Figure 2 is a flowchart of a sensing mode switching method provided by an embodiment of the present application. As Figure 2 shown, the sensing mode switching method includes the following steps:

[0125] Step 101, the first node obtains the first target metric value;

[0126] Step 102, the first node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target metric value;

[0127] Wherein, in the first sensing mode, the signal transmitting node of the first signal and the signal receiving node of the first signal are different nodes, and in the second sensing mode, the signal transmitting node of the first signal and the signal receiving node of the first signal are the same node. The first target metric value is a metric value related to sensing measured by the first sensing node, and in the first sensing mode, the first sensing node is the signal receiving node of the first signal.

[0128] In one implementation, the first node may determine to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode when the first target metric value meets the target condition; or may compare the first target metric value with a preset threshold, and when the first target metric value is greater than the preset threshold, determine to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; or may compare the first target metric value with a preset threshold, and when the first target metric value is less than or equal to the preset threshold, determine to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; and so on. This embodiment does not limit this.

[0129] Optionally, the first target metric value includes at least one of the following:

[0130] A metric value related to received power; a metric value related to interference or noise power; a metric value related to both received power and interference or noise power.

[0131] Optionally, the metric value related to received power includes: a first metric value; or

[0132] The metric value related to interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or

[0133] The metric value related to both received power and interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value;

[0134] Wherein, the first metric value is determined based on the linear average of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0135] The second metric value is determined based on the difference between the total received power and the first metric value;

[0136] The third metric value is determined based on the difference between the total received power and the received power of the first signal;

[0137] The fourth metric value is determined based on the difference between the received power of the first signal and the first metric value;

[0138] The fifth metric value is determined based on the quotient of the first metric value and the second metric value;

[0139] The sixth metric value is determined based on the quotient of the first metric value and the third metric value;

[0140] The seventh metric value is determined based on the quotient of the first metric value and the fourth metric value;

[0141] The eighth metric value is determined based on the quotient of the first metric value and the total received power;

[0142] Wherein, the total received power is the linear average of all received power on the time-frequency domain resource unit carrying the first signal.

[0143] In one implementation, the first target metric value can be the value of the target metric, and the target metric can refer to a sensing-related metric measured by a receiving device such as a base station / UE, and can include at least one of the following three categories:

[0144] Indicators related to received power; indicators related to interference or noise power; indicators related to both received power and interference or noise power. Indicators related to both received power and interference or noise power may include: indicators related to Signal to Interference plus Noise Ratio (SINR) / Signal-to-Noise Ratio (SNR) / Signal to Interference Ratio (SIR) / Reference Signal Received Quality (RSRQ).

[0145] It should be noted that the indicator value is the value of a certain indicator. For example, the indicator value related to received power is the value of the indicator related to received power; the indicator value related to interference or noise power is the value of the indicator related to interference or noise power; the indicator value related to both received power and interference or noise power is the value of the indicator related to both received power and interference or noise power; the first indicator value is the value of the first indicator; the second indicator value is the value of the second indicator; the third indicator value is the value of the third indicator; the fourth indicator value is the value of the fourth indicator; the fifth indicator value is the value of the fifth indicator; the sixth indicator value is the value of the sixth indicator; the seventh indicator value is the value of the seventh indicator; the eighth indicator value is the value of the eighth indicator.

[0146] Among them, the indicators related to received power may include:

[0147] The first indicator (received power of the path associated with the sensing target): the linear average value (in W) of the received power of the path associated with the sensing target in the channel response measured for the first signal on the resource unit carrying the first signal. The resource unit is a time-domain and / or frequency-domain resource unit; the first signal may be: a sensing signal such as a dedicated signal for sensing services, or a communication signal such as a reference signal, a synchronization signal, etc. The linear average value refers to the arithmetic average of linear values.

[0148] Among them, the indicators related to interference or noise power may include at least one of the following:

[0149] The second indicator, the third indicator, the fourth indicator.

[0150] Among them, the second indicator may be the linear average value of the power of the paths other than the path associated with the sensing target in the channel response of the first signal on the target resource, and the sum of the linear average values of the interference and noise power of other signals other than the first signal on the target resource or other resources (such as resources configured by high-layer signaling) (in W); among them, the target resource may be a time-frequency domain resource unit carrying the first signal;

[0151] Second Indicator = Total Received Power - First Indicator; where the total received power can be expressed as: the linear average value (in W) of the total received power on the target resource (including the received power of signals from serving cells and non-serving cells, adjacent channel interference, thermal noise, etc.); or, Total Received Power = RSSI * K1, where K1 is a coefficient, the measurement resource of RSSI is the target resource or other resources (such as resources configured by high-layer signaling), and the definition of RSSI is the same as that in 3GPP TS38.215;

[0152] Among them, the third indicator can be the linear average value (in W) of the interference and noise power of signals other than the first signal on the target resource or other resources (such as resources configured by high-layer signaling); among them, the target resource can be the time-frequency domain resource unit carrying the first signal;

[0153] Third Indicator = Total Received Power - First Signal Received Power; where the first signal received power is the RSRP of the first signal, and the definition of RSRP is the same as that in TS38.215.

[0154] Among them, the fourth indicator can be the linear average value (in W) of the power of other paths except the perceived target-related path in the channel response of the first signal on the target resource;

[0155] Fourth Indicator = RSRP of the First Signal - First Indicator;

[0156] Among them, the indicators related to perceived SINR / SNR / SIR / RSRQ can include at least one of the following:

[0157] Fifth Indicator, Sixth Indicator, Seventh Indicator, Eighth Indicator.

[0158] Among them,

[0159] Fifth Indicator (the first perceived SINR / SNR / SIR) = First Indicator / Second Indicator;

[0160] Sixth Indicator (the second perceived SINR / SNR / SIR) = First Indicator / Third Indicator;

[0161] Seventh Indicator (the third perceived SINR / SNR / SIR) = First Indicator / Fourth Indicator;

[0162] Eighth Indicator (perceived RSRQ) = K2 * First Indicator / Total Received Power, where K2 is a coefficient;

[0163] It should be understood that " / " is the division operation. By way of example, First Indicator / Second Indicator means the quotient obtained by dividing the first indicator by the second indicator.

[0164] In one implementation, the calculation method of the first indicator is as follows:

[0165] The terminal performs channel estimation based on the transmitted first signal X(k) and the received signal Y(k) corresponding to the first signal to obtain the channel response H(k) = Y(k) / X(k), where k = 0, 1, 2,..., K - 1 represents the resource unit index. After the terminal obtains the channel response H(k), it transforms it to the first dimension and determines the paths associated with the sensing target in the first dimension. Then, it calculates the power of the paths associated with the sensing target as the first metric. If the paths associated with the sensing target include multiple paths, it calculates the sum of the powers of the multiple paths as the first metric.

[0166] Among them, the first dimension includes one of the following:

[0167] Delay dimension; Doppler dimension; Azimuth angle dimension; Elevation angle dimension.

[0168] Among the delay dimension, Doppler dimension, azimuth angle dimension, and elevation angle dimension, dimensions combined with at least two of them. For example, delay-Doppler dimension, delay-Doppler-angle dimension, etc.;

[0169] For example, if H(f) is the channel response, where f = 0, 1, 2,..., N - 1 represents the frequency domain sampling points (such as subcarrier indices), then it can be transformed to the delay dimension (the first dimension) by performing an inverse Fourier transform on H(f); Another example, if H(f, t) is the channel response, where f = 0, 1, 2,..., N - 1 represents the frequency domain sampling points (such as subcarrier indices), and t = 0, 1, 2,..., M - 1 represents the time domain sampling points (such as OFDM symbol indices), then it can be transformed to the delay-Doppler dimension (the first dimension) by performing an inverse Fourier transform along the frequency domain dimension and a Fourier transform along the time domain dimension on H(f, t); Another example, if H(f, t, s) is the channel response, where f = 0, 1, 2,..., N - 1 represents the frequency domain sampling points (such as subcarrier indices), t = 0, 1, 2,..., M - 1 represents the time domain sampling points (such as OFDM symbol indices), and s = 0, 1, 2,..., P - 1 represents the spatial domain sampling points (antenna indices or port indices), then it can be transformed to the delay-Doppler-angle dimension (i.e., the first dimension) by performing an inverse Fourier transform along the frequency domain dimension, a Fourier transform along the time domain dimension, and a Fourier transform along the antenna domain dimension on H(f, t, s).

[0170] Method for determining the paths associated with the sensing target (simply referred to as sensing paths) in the channel response measured for the first signal:

[0171] (1) Determine the first path set. The paths in the first path set include the paths in all the paths whose amplitude / power / intensity / energy exceed a certain threshold after the channel response is transformed to the first dimension. For example Figure 3Among them, the paths with diameters 0, 1, 2, and 3 are the paths in the first diameter set; a certain threshold can be set to be higher than the noise threshold or higher than the noise interference threshold. It should be noted that determining the first diameter set is optional, and the paths associated with the sensing target can be determined only according to step (2).

[0172] (2) Select the paths that meet the first condition from the first diameter set or from all paths as the paths associated with the sensing target.

[0173] The first condition includes at least one of the following:

[0174] The amplitude / power / intensity / energy of the path exceeds a preset threshold or is within a preset range; for example, the preset threshold is 5 times higher than the noise threshold.

[0175] The Doppler of the path exceeds a preset threshold or is within a preset range.

[0176] The time delay of the path exceeds a preset threshold or is within a preset range.

[0177] The angle of the path exceeds a preset threshold or is within a preset range.

[0178] The difference in amplitude / power / intensity / energy between the path and the first-arrival path (such as the LOS path) or the reference path (such as the signal path reflected by a known target (such as a Reconfigurable Intelligent Surface (RIS) / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is within a preset range.

[0179] The Doppler difference between the path and the first-arrival path (such as the LOS path) or the reference path (such as the signal path reflected by a known target (such as RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is within a preset range.

[0180] The time delay difference between the path and the first-arrival path (such as the LOS path) or the reference path (such as the signal path reflected by a known target (such as RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is within a preset range.

[0181] The angle difference between the path and the first-arrival path (such as the LOS path) or the reference path (such as the signal path reflected by a known target (such as RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is within a preset range.

[0182] The amplitude / power / intensity / energy or phase of the path satisfies a specific modulation rule, and the specific modulation rule is the modulation rule of the Tag / Backscatter device / RIS, that is, the path associated with the sensing target can be the path modulated and reflected by the Tag / Backscatter device / RIS.

[0183] The above first condition can also be based on the results of statistics over a period of time; for example, within a preset time window, the proportion of the above indicators (such as the Doppler of the path, the time delay of the path, etc.) exceeding a preset threshold or falling within a preset interval range reaches a preset proportion, or within a preset time window, the number of times the above indicators (such as the Doppler of the path, the time delay of the path, etc.) exceed a preset threshold or fall within a preset interval range reaches a preset number;

[0184] Among them, the preset threshold or the set interval range is sent by other devices to the receiving device and determined by other devices according to the sensing prior information or sensing requirements. Or, the preset threshold or the set interval range is determined by the receiving device according to the sensing prior information or sensing requirements.

[0185] Among them, the sensing prior information or sensing requirements include the following information:

[0186] Sensing service or sensing service type; sensing target area; sensing object type; number of sensing targets.

[0187] Perception service or perception service type: The perception service can be, for example, detecting the presence of a target, positioning, speed detection, distance detection, angle detection, acceleration detection, material analysis, component analysis, shape detection, category classification, Radar Cross Section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip reading, gait recognition, facial expression recognition, facial recognition, breathing monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / atmospheric pressure monitoring, air quality monitoring, weather condition monitoring, environment reconstruction, terrain and landform, building / vegetation distribution detection, pedestrian or vehicle flow detection, crowd density / vehicle density detection, etc.; The perception service type can classify multiple different perception services according to certain characteristics. For example, it can be classified into detection-type perception services (such as intrusion detection, fall detection), parameter estimation-type perception services (distance, angle, speed calculation), recognition-type perception services (action recognition, identity recognition), etc. according to function. It can also be classified according to the perception range (close-range perception, medium-range perception, long-range perception), according to the perception fineness (coarse-grained perception, fine-grained perception, etc.), according to power consumption / energy consumption, according to resource occupancy, etc. If the perception service is breathing monitoring, the corresponding normal breathing frequency can be judged according to the gender and age of a person (for example, male: 13 - 21 times per minute, female: 15 - 20 times per minute; adult: 12 - 20 times per minute, child: about 30 - 40 times per minute), which can be used as perception prior information.

[0188] Perception target area: It refers to the position area of the perception object, or the position area where imaging or environment reconstruction needs to be performed; for example, determining the preset interval range of the time delay of the perception target association path according to the approximate position / distance of the perception object.

[0189] Perception object type: Classify the perception objects according to the possible motion characteristics of the perception objects. Each perception object type contains information such as the motion speed range, motion acceleration range, and typical RCS range of typical perception objects.

[0190] Number of perception targets; for example, the perception result of a camera can be used as a kind of perception prior information to obtain the number of perception targets.

[0191] For example Figure 3 In, paths 0, 1, 2, 3 are paths in the first path set, where paths 2, 3 are perception paths that meet the first condition (for example, their time delays meet the preset threshold), and paths 0, 1 are paths associated with other scatterers. Figure 3 It is a multipath schematic diagram of the channel response in the first dimension (time delay dimension, Doppler dimension, azimuth angle dimension, or elevation angle dimension). In Figure 3In it, the horizontal axis is the first dimension, and the vertical axis is the normalized amplitude / power / intensity / energy.

[0192] For frequency range 1, the reference point of the first metric can be the antenna connector of a receiving device such as a terminal. For frequency range 1, if the receiving device has multiple receiving channels, the first metric measured and reported by the receiving device shall not be lower than the metric of any single receiving channel. For frequency range 2, the first metric measured by a certain receiving channel needs to be obtained by measuring the combined signals on multiple antenna elements corresponding to this receiving channel.

[0193] In one implementation, the calculation method of the first metric is as follows:

[0194] Optionally, when calculating the received power of the perceived target associated path, it can also be the difference between the power of the perceived target associated path in the first dimension and as the first metric, where N 1 represents the number of paths associated with the perceived target. is the average power of multiple paths outside the first path set in the first dimension.

[0195] Optionally, a calculation method of the received power of a first signal is as follows:

[0196] The received power of the first signal can be that after the receiving device obtains the channel response H(k), it transforms it into the first dimension, determines the first path set in the first dimension, and then calculates the sum of the powers of all paths in the first path set.

[0197] Optionally, another calculation method of the received power of a first signal is as follows:

[0198] The received power of the first signal can also be the difference between the sum of the powers of all paths in the first path set in the first dimension and where N 2 represents the number of paths in the first path set.

[0199] In one implementation, the calculation method of the total received power is as follows:

[0200] Total received power

[0201] In one implementation, the calculation method of the second metric is as follows:

[0202] The channel response H(k) is subjected to a first filtering process to obtain H filter1 (k), and then according to Hfilter1 The first filtered received signal Y(k) is calculated from (k) and the first signal X(k), i.e., Y(k) = H(k)X(k). Then, the received signal Y(k) is subtracted from the first filtered received signal Y(k) to obtain the interference and noise signal Y'(k), i.e., Y'(k) = Y(k) - Y(k). Then, a second metric is calculated. filter1 (k), i.e., Y filter1 (k) = H filter1 (k)X(k). Then the received signal Y(k) is subtracted from the first filtered received signal Y filter1 (k) to obtain the interference and noise signal Y σ1 (k), i.e., Y σ1 (k) = Y(k) - Y filter1 (k), and then a second metric is calculated.

[0203] Among them, the first filtering process is used to eliminate noise and interference in the first dimension and paths not associated with the perceived target. For example, the first filtering process sets the amplitude / power / intensity / energy of paths other than those associated with the perceived target in Figure 3 to zero. The channel response H(k) after the first filtering process does not contain noise and interference and paths not associated with the perceived target, but only contains paths associated with the perceived target. filter1 (k) does not contain noise and interference and paths not associated with the perceived target, but only contains paths associated with the perceived target.

[0204] In one implementation, the third metric is calculated as follows:

[0205] The channel response H(k) is subjected to a second filtering process to obtain H filter2 (k), and then the second filtered received signal Y filter2 (k) is calculated from H filter2 (k) and the first signal X(k), i.e., Y filter2 (k) = H filter2 (k)X(k). Then the received signal Y(k) is subtracted from the second filtered received signal Y filter2 (k) to obtain the interference and noise signal Y σ2 (k), i.e., Y σ2 (k) = Y(k) - Y filter2 (k), and then the third metric is calculated.

[0206] The second filtering process can be a noise interference suppression process in the first dimension (e.g., setting the amplitude / power / intensity / energy of paths other than the first path set in Figure 3 to zero), or MMSE filtering. The channel response H filter2 (k) after the second filtering process does not contain noise and interference, but only contains paths in the first path set.

[0207] In one implementation, the third metric is calculated as follows:

[0208] According to the average power of multiple paths outside the first path set in the first dimension The third index P is calculated σ2 , that is where N represents the number of sampling points in the first dimension.

[0209] It should be noted that if the receiving device determines multiple sensing targets, or the receiving device obtains the number of sensing targets according to sensing prior information or sensing requirements, there are the following methods:

[0210] Method 1: Calculate the target index of each sensing target separately. For example, in Figure 3 the paths associated with each sensing target are determined respectively, and then the corresponding target indexes of each sensing target are calculated respectively; when calculating the second index corresponding to a certain sensing target (such as sensing target A), there are two methods: assuming there are two sensing targets in total: A and B, the second index of sensing target A = total received power - the first index of sensing target A; or, the second index of sensing target A = total received power - the first index of sensing target A - the first index of sensing target B; similarly, there are also two calculation methods for the fourth index: assuming there are two sensing targets in total: A and B, the fourth index of sensing target A = RSRP of the first signal - the first index of sensing target A; or, the fourth index of sensing target A = RSRP of the first signal - the first index of sensing target A - the first index of sensing target B.

[0211] Method 2: Calculate a target index for multiple sensing targets. For example, in Figure 3 the paths associated with any sensing target are determined, and then these paths are all regarded as the paths associated with the sensing target; it is equivalent to regarding multiple sensing targets as a virtual sensing target, and then calculating the target index corresponding to the virtual sensing target.

[0212] In an embodiment of the present application, a first node obtains a first target metric value; the first node determines whether to switch the sensing mode of a sensing target from a first sensing mode to a second sensing mode based on the first target metric value; wherein, in the first sensing mode, the signal sending node of a first signal and the signal receiving node of the first signal are different nodes, and in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, the first target metric value is a metric value related to sensing measured by a first sensing node, and in the first sensing mode, the first sensing node is the signal receiving node of the first signal. In this way, when the sensing target is sensed and measured through the first sensing mode, it is determined whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the metric value related to sensing measured by the first sensing node, so that the sensing mode of the sensing target can be more matched with the state of the sensing target or the sensing environment, etc., thereby improving the reliability of sensing measurement.

[0213] Optionally, the first node obtaining the first target metric value includes:

[0214] The first node receives a handover measurement report sent by the first sensing node, and the content of the handover measurement report includes the first target metric value.

[0215] In this embodiment, it is determined whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode through the first target metric value in the handover measurement report, so that the sensing mode of the sensing target can be more matched with the state of the sensing target or the sensing environment, etc., thereby improving the reliability of sensing measurement.

[0216] Optionally, before the first node obtains the first target metric value, the method further includes:

[0217] When a preset event occurs, the first node sends a handover measurement request to the first sensing node, and the handover measurement request is used to obtain the first target metric value;

[0218] The preset event includes:

[0219] A second target metric value obtained by the first sensing node meets a target condition;

[0220] Wherein, the second target metric value is a metric value related to sensing measured by the first sensing node.

[0221] In addition, the second target metric value may be the value of a target metric, and the target metric has been described before and will not be elaborated here.

[0222] In this embodiment, when the metric value related to sensing (the second target metric value) measured by the first sensing node meets the target condition, the first node sends a handover measurement request to the first sensing node. The handover measurement request is used to obtain the first target metric value, so as to support triggering the handover measurement request when the sensing performance of the first sensing node deteriorates, and then determining whether to perform a sensing mode handover, so that the sensing mode for the sensing target can be more matched with the state of the sensing target or the sensing environment, etc., thereby improving the reliability of sensing measurement.

[0223] Optionally, when it is determined to switch the sensing mode for the sensing target from the first sensing mode to the second sensing mode, the method further includes:

[0224] The first node sends first request information to the candidate target node. The first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode;

[0225] The first node receives the first response information sent by the candidate target node, and determines the target sensing node based on the first response information.

[0226] In this embodiment, the first node sends first request information to the candidate target node. The first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode; the first node receives the first response information sent by the candidate target node, and determines the target sensing node based on the first response information. Thus, the first node can determine the target sensing node based on the first response information of the candidate target node to the first request information.

[0227] Optionally, determining the target sensing node based on the first response information includes at least one of the following:

[0228] Selecting the target sensing node from the candidate target nodes whose first response information meets the target condition. The first response information includes at least one of the measured value of the sensing measurement quantity, the sensing result, and the third target metric value, where the third target metric value is the metric value related to sensing measured by the candidate target node.

[0229] When the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing mode, selecting the target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

[0230] Among them, the third target metric value can be the value of the target metric. The target metric has been described before and will not be elaborated here.

[0231] Among them, the target sensing node may be a sensing node that performs a sensing operation after switching the sensing method of the sensing target from the first sensing method to the second sensing method.

[0232] Among them, the node-related information of the candidate target node may include at least one of the following:

[0233] 1) Location information of the candidate target node;

[0234] 2) Antenna panel orientation information of the candidate target node;

[0235] 3) Status information of the candidate target node, including information such as moving speed, moving direction, and the time period of staying stationary / moving);

[0236] 4) Sensing capability information of the candidate target node, including UE sensing coverage range, maximum available bandwidth for sensing, maximum sustainable time of the sensing service, supported sensing signal types and frame formats, UE antenna array information (array type, number of antennas, array aperture, antenna polarization characteristics, element gain and directivity characteristics, etc.);

[0237] 5) Resource information currently available for sensing of the candidate target node, including time resources (number of symbols, number of time slots, number of frames, etc.), frequency resources (number of Resource Blocks (RB), number of Resource Elements (RE), total bandwidth, available frequency band position, etc.), antenna resources (number of antennas / antenna sub-arrays), phase modulation resources (number of hardware phase shifters), orthogonal code resources (orthogonal code length and quantity), etc.;

[0238] 6) Channel state information of the candidate target node, including at least one of the channel transfer function / channel impulse response of at least one communication link, Channel Quality Indicator (CQI), Precoding Matrix Indicator (PMI), CSI-RS resource indicator, SSB resource indicator, layer indicator (LI), rank indicator (RI), and L1-RSRP, etc.

[0239] In this embodiment, a target sensing node is selected from the candidate target nodes that satisfy the target conditions, and the first response information includes at least one of the measured value of the sensing measurement quantity, the sensing result, and the third target index value; or, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node. Thus, it supports selecting a candidate target node with better sensing performance as the target sensing node, enabling the sensing method of the target sensing node for the sensing target to be more matched with the state of the sensing target or the sensing environment, etc., thereby improving the reliability of sensing measurement.

[0240] Optionally, the target condition includes at least one of the following:

[0241] (1) The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset range within a first preset time period;

[0242] (2) The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within a first preset range within a first preset time period reaches a first preset number of times;

[0243] (3) The difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node remains within a second preset range within a second preset time period;

[0244] (4) The number of times the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node is within a second preset range within a second preset time period reaches a second preset number of times;

[0245] (5) The measured value of at least one target index value obtained by the target measurement node remains within a third preset range within a third preset time period;

[0246] (6) The number of times the measured value of at least one target index value obtained by the target measurement node is within a third preset range within a third preset time period reaches a third preset number of times;

[0247] (7) The difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node remains within a fourth preset range within a fourth preset time period;

[0248] (8) The number of times the difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node is within a fourth preset range within a fourth preset time period reaches a fourth preset number of times;

[0249] (9) The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset range within a first preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset range within a fifth preset time period;

[0250] (10) The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within a first preset range within a first preset time period reaches a first preset number of times, and the number of times the measured value of at least one communication measurement quantity obtained is within a fifth preset range within a fifth preset time period reaches a fifth preset number of times;

[0251] (11) At least one target index value obtained by the target measurement node remains within a third preset range within a third preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset range within a fifth preset time period;

[0252] (12) The number of times that at least one target index value obtained by the target measurement node is within the third preset range within the third preset time period reaches a third preset number of times, and the number of times that the measured value of at least one communication measurement quantity obtained is within the fifth preset range within the fifth preset time period reaches a fifth preset number of times;

[0253] (13) The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the source node remains within a sixth preset range within a sixth preset time period;

[0254] (14) The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the source node is within the sixth preset range within the sixth preset time period reaches a sixth preset number of times;

[0255] (15) The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the sensing service quality QoS;

[0256] (16) The state of the sensing target changes;

[0257] (17) The positions of the nodes participating in sensing change;

[0258] Wherein, the target index value includes a first target index value, a second target index value or a third target index value;

[0259] The source node includes the signal sending node or the signal receiving node of the first signal in the first sensing mode.

[0260] In one implementation manner, the target condition includes at least one of the following:

[0261] The measured value of at least one sensing measurement quantity of the target measurement node remains within a preset range within a preset time period, or the number of times it falls within the preset range within the preset time period reaches a preset number of times;

[0262] The difference between the measured value of at least one sensing measurement quantity of the target measurement node and the corresponding measured value of the sensing measurement quantity obtained by the source node remains within a preset range within a preset time period, or the number of times it falls within the preset range within the preset time period reaches a preset number of times;

[0263] The measured value of at least one target index of the target measurement node remains within a preset range within a preset time period, or the number of times it falls within the preset range within the preset time period reaches a preset number of times;

[0264] The difference between at least one target index measurement value of the target measurement node and the corresponding target index measurement value obtained by the source node remains within a preset interval within a preset time period, or the number of times it falls within the preset interval within the preset time period reaches a preset number of times;

[0265] The measurement values of at least one sensed measurement quantity and at least one communication measurement quantity of the target measurement node both remain within a preset interval within a preset time period, or the number of times they both fall within the preset interval within the preset time period reaches a preset number of times;

[0266] At least one target index measurement value and at least one communication measurement quantity measurement value of the target measurement node remain within a preset interval within a preset time period, or the number of times they both fall within the preset interval within the preset time period reaches a preset number of times;

[0267] The difference between at least one sensed result of the target measurement node and the corresponding sensed result of the source node remains within a preset interval within a preset time period, or the number of times it falls within the preset interval within the preset time period reaches a preset number of times;

[0268] The configuration information of at least one sensing parameter used by the target measurement node (see the explanation of the foregoing sensing parameter configuration information) meets the minimum configuration requirements of sensing QoS;

[0269] The state of the sensing target changes (the state includes position, speed, etc.);

[0270] The positions of the nodes participating in sensing change.

[0271] It should be noted that the preset interval can be greater than (or greater than or equal to) the first threshold, or less than (or less than or equal to) the first threshold, or between the first threshold and the second threshold.

[0272] Among them, the target measurement node can refer to a node that measures the index values related to sensing (such as the first target index value, the second target index value, or the third target index value). When determining whether the first target index value measured by the first sensing node meets the target conditions, the target measurement node can refer to the first sensing node; when determining whether the second target index value measured by the first sensing node meets the target conditions, the target measurement node can refer to the first sensing node; when determining whether the third target index value measured by the candidate target node meets the target conditions, the target measurement node can refer to the candidate target node.

[0273] It should be noted that the target measurement node may be a node that performs sensing services and switching measurements before the sensing mode is switched (such as the first sensing node), or a candidate target node in the process of executing the switching process. When the target condition is applied to the determination of the second target index value, the target measurement node is the first sensing node, and can be applied to (1)-(14), (16)-(17) in the target condition content entries, where the difference from the corresponding value obtained by the source node may refer to the comparison between the first sensing node and its own historical measurement value or historical sensing result. When the target condition is applied to the decision of triggering the switching measurement (for example, determining whether to switch based on the target index and the target condition), the target measurement node may be the first sensing node, and can be applied to the target condition content entries (1)-(14). That is to say, the target index and the target condition can be used in the switching measurement as the basis for whether to switch. The target condition can also be used for target sensing node selection. At this time, the target measurement node may be a candidate target node, and can be applied to the target condition content entries (1)-(15), where the difference from the corresponding value obtained by the source node may refer to the comparison between the candidate target node and the measurement value or sensing result of the first sensing node.

[0274] Optionally, in the first sensing mode, the first node is the signal sending node of the first signal.

[0275] See Figure 4 , Figure 4 is a flowchart of a sensing mode switching method provided by an embodiment of the present application. As Figure 4 shown, the sensing mode switching method includes the following steps:

[0276] Step 201, the first sensing node obtains the first target index value;

[0277] The first sensing node performs a first operation;

[0278] The first operation includes at least one of the following:

[0279] The first sensing node sends the first target index value to the first node;

[0280] The first sensing node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target index value;

[0281] Among them, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes under the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node under the second sensing mode, the first sensing node is the signal receiving node of the first signal under the first sensing mode, and the first target metric value is the metric value related to sensing measured by the first sensing node.

[0282] Optionally, the first sensing node sending the first target metric value to the first node includes:

[0283] The first sensing node sends a handover measurement report to the first node, and the content of the handover measurement report includes the first target metric value.

[0284] Optionally, the first sensing node obtaining the first target metric value includes:

[0285] When a preset event occurs, the first sensing node performs a handover measurement to obtain the first target metric value;

[0286] The preset event includes:

[0287] The second target metric value obtained by the first sensing node meets the target condition;

[0288] Among them, the second target metric value is the metric value related to sensing measured by the first sensing node.

[0289] Optionally, when it is determined that the sensing mode for the sensing target is to be switched from the first sensing mode to the second sensing mode, the method further includes:

[0290] The first sensing node sends a first request message to a candidate target node, and the first request message is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode;

[0291] The first node receives a first response message sent by the candidate target node and determines a target sensing node based on the first response message.

[0292] Optionally, determining the target sensing node based on the first response message includes at least one of the following:

[0293] Selecting a target sensing node from the candidate target nodes whose first response message meets the target condition, where the first response message includes at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target metric value, and the third target metric value is the metric value related to sensing measured by the candidate target node.

[0294] In the case that the first response message indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing method, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

[0295] Optionally, the first target metric value, the second target metric value, or the third target metric value includes at least one of the following:

[0296] A metric value related to the received power; a metric value related to the interference or noise power; a metric value related to both the received power and the interference or noise power.

[0297] Optionally, the metric value related to the received power includes: a first metric value; or

[0298] The metric value related to the interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or

[0299] The metric value related to both the received power and the interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value;

[0300] Wherein, the first metric value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0301] The second metric value is determined based on the difference between the total received power and the first metric value;

[0302] The third metric value is determined based on the difference between the total received power and the received power of the first signal;

[0303] The fourth metric value is determined based on the difference between the received power of the first signal and the first metric value;

[0304] The fifth metric value is determined based on the quotient of the first metric value and the second metric value;

[0305] The sixth metric value is determined based on the quotient of the first metric value and the third metric value;

[0306] The seventh metric value is determined based on the quotient of the first metric value and the fourth metric value;

[0307] The eighth metric value is determined based on the quotient of the first metric value and the total received power;

[0308] Wherein, the total received power is the linear average value of all the received powers on the time-frequency domain resource unit carrying the first signal.

[0309] Optionally, the target condition includes at least one of the following:

[0310] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period;

[0311] The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times;

[0312] The difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node remains within a second preset interval within a second preset time period;

[0313] The number of times the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0314] The measured value of at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0315] The number of times the measured value of at least one target index value obtained by the target measurement node is within the third preset interval within the third preset time period reaches a third preset number of times;

[0316] The difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node remains within a fourth preset interval within a fourth preset time period;

[0317] The number of times the difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node is within the fourth preset interval within the fourth preset time period reaches a fourth preset number of times;

[0318] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset interval within a fifth preset time period;

[0319] The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times, and the number of times the measured value of at least one communication measurement quantity obtained is within the fifth preset interval within the fifth preset time period reaches a fifth preset number of times;

[0320] At least one target index value obtained by the target measurement node remains within a third preset range within a third preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset range within a fifth preset time period;

[0321] The number of times that at least one target index value obtained by the target measurement node is within the third preset range within the third preset time period reaches a third preset number of times, and the number of times that the measured value of at least one communication measurement quantity obtained is within the fifth preset range within the fifth preset time period reaches a fifth preset number of times;

[0322] The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the source node remains within a sixth preset range within a sixth preset time period;

[0323] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the source node is within the sixth preset range within the sixth preset time period reaches a sixth preset number of times;

[0324] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of sensing QoS;

[0325] The state of the sensing target changes;

[0326] The positions of the nodes participating in sensing change;

[0327] Wherein, the target index value includes a first target index value, a second target index value, or a third target index value;

[0328] The source node includes the signal sending node or the signal receiving node of the first signal in the first sensing mode.

[0329] It should be noted that, as the implementation manner of the first sensing node corresponding to the embodiment shown in Figure 2 The same or corresponding implementation manners can refer to the relevant descriptions of the embodiment shown in Figure 2 For the sake of avoiding repeated description, this embodiment will not be elaborated here.

[0330] Refer to Figure 5 , Figure 5 is a flowchart of a sensing mode switching method provided by an embodiment of the present application. As shown in Figure 5 The sensing mode switching method includes the following steps:

[0331] Step 301, the second sensing node performs a second operation;

[0332] The second operation includes at least one of the following:

[0333] Upon receiving the first request message, the second sensing node performs a sensing operation on the sensing target according to a second sensing method, obtains at least one of a measured value of a sensed measurement quantity, a sensing result, and a third target index value, and sends a first response message corresponding to the first request message. The first request message is used to request the second sensing node to perform a sensing operation on the sensing target according to the second sensing method. The first response message carries at least one of the measured value of the sensed measurement quantity, the sensing result, and the third target index value, or the first response message indicates whether the second sensing node agrees to perform a sensing operation on the sensing target according to the second sensing method. The third target index value is an index value related to sensing measured by the second sensing node;

[0334] Upon receiving a handover command, the second sensing node obtains a fourth target index value and determines whether to send a handover success message based on the fourth target index value. The handover command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing method. The handover success message is used to indicate that the sensing method for the sensing target has been successfully switched from a first sensing method to a second sensing method. The fourth target index value is an index value related to sensing measured by the second sensing node;

[0335] Wherein, in the first sensing method, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes, and in the second sensing method, the signal sending node of the first signal and the signal receiving node of the first signal are the same node.

[0336] Wherein, the fourth target index value may be the value of a target index, and the target index has been described previously and will not be elaborated here.

[0337] Wherein, the second sensing node may be a candidate target node or a target sensing node.

[0338] In this embodiment, upon receiving a handover command, the second sensing node obtains a fourth target index value and determines whether to send a handover success message based on the fourth target index value. The handover of the sensing method adopts a soft handover process, so as to support the source node to end the first sensing method only when it ensures that the target sensing node starts to perform sensing according to the second sensing method and has good sensing performance, so that the sensing of the sensing target is not interrupted.

[0339] Optionally, the second sensing node determines whether to send a handover success message based on the fourth target index value, including:

[0340] When the fourth target index value meets the target condition, the second sensing node sends a handover success message to the first node or the first sensing node.

[0341] Optionally, the third target metric value or the fourth target metric value includes at least one of the following:

[0342] A metric value related to received power; a metric value related to interference or noise power; a metric value related to both received power and interference or noise power.

[0343] Optionally, the metric value related to received power includes: a first metric value; or

[0344] The metric value related to interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or

[0345] The metric value related to both received power and interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value;

[0346] Wherein, the first metric value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0347] The second metric value is determined based on the difference between the total received power and the first metric value;

[0348] The third metric value is determined based on the difference between the total received power and the received power of the first signal;

[0349] The fourth metric value is determined based on the difference between the received power of the first signal and the first metric value;

[0350] The fifth metric value is determined based on the quotient of the first metric value and the second metric value;

[0351] The sixth metric value is determined based on the quotient of the first metric value and the third metric value;

[0352] The seventh metric value is determined based on the quotient of the first metric value and the fourth metric value;

[0353] The eighth metric value is determined based on the quotient of the first metric value and the total received power;

[0354] Wherein, the total received power is the linear average value of all the received power on the time-frequency domain resource unit carrying the first signal.

[0355] Optionally, the target condition includes at least one of the following:

[0356] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period;

[0357] The number of times that the measured value of at least one sensed measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number of times;

[0358] The difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node remains within a second preset interval within a second preset time period;

[0359] The number of times that the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node is within a second preset interval within a second preset time period reaches a second preset number of times;

[0360] The measured value of at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0361] The number of times that the measured value of at least one target index value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number of times;

[0362] The difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node remains within a fourth preset interval within a fourth preset time period;

[0363] The number of times that the difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number of times;

[0364] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period, and the measured value of at least one communication measurement quantity obtained by the target measurement node remains within a fifth preset interval within a fifth preset time period;

[0365] The number of times that the measured value of at least one sensed measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number of times, and the number of times that the measured value of at least one communication measurement quantity obtained by the target measurement node is within a fifth preset interval within a fifth preset time period reaches a fifth preset number of times;

[0366] The measured value of at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period, and the measured value of at least one communication measurement quantity obtained by the target measurement node remains within a fifth preset interval within a fifth preset time period;

[0367] The number of times that at least one target index value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number, and the number of times that the measured value of at least one communication measurement quantity obtained reaches a fifth preset number within a fifth preset interval within a fifth preset time period;

[0368] The difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the source node is maintained within a sixth preset interval within a sixth preset time period;

[0369] The number of times that the difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the source node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

[0370] The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of perception QoS;

[0371] The state of the perception target changes;

[0372] The positions of the nodes participating in the perception change;

[0373] Wherein, the target index value includes a third target index value or a fourth target index value;

[0374] The source node includes the signal sending node or the signal receiving node of the first signal in the first perception mode.

[0375] It should be noted that when determining whether the fourth target index value measured by the second perception node meets the target condition, the target measurement node may refer to the second perception node.

[0376] It should be noted that this embodiment is used as Figure 2 or Figure 4 The implementation manner corresponding to the candidate target node or the target perception node in the embodiment shown, and the specific implementation manner can refer to Figure 2 or Figure 4 The relevant description of the embodiment shown. To avoid repeated description, this embodiment will not be elaborated here.

[0377] The following uses several specific embodiments to illustrate the perception mode switching method provided by the embodiments of the present application:

[0378] Nodes participating in the integrated sensing / communication service in a mobile communication network can perform the integrated sensing / communication service in two different ways: by sending / receiving signals between different nodes or by a node sending and receiving signals by itself. Since the state of the sensing target or the sensing environment may change, in order to ensure the performance of the integrated sensing / communication service, the network may need to switch between different sensing methods and different sensing nodes. Currently, the relevant processes for the above sensing switching are not yet perfect.

[0379] Embodiments of this application define target metrics for assisting in sensing method switching. In the embodiments of this application, a first device or a sensing source node (base station / UE) obtains the target metrics and decides whether to switch and selects a target sensing node based on the target metrics.

[0380] In a mobile communication network, the sensing method switching can be from a first sensing method to a second sensing method. Figure 6 A switching schematic diagram is given. Among them, considering that the sensing nodes in the network may change before and after the switching, and the sensing node after the switching may be a base station or a UE, there are 6 combinations for the above switching. Specifically:

[0381] 1) The first sensing of base station-UE is switched to the second sensing of the base station (Case 1);

[0382] 2) The first sensing of base station-base station is switched to the second sensing of the base station (Case 2);

[0383] 3) The first sensing of base station-UE is switched to the second sensing of the UE (Case 3);

[0384] 4) The first sensing of UE-UE is switched to the second sensing of the UE (Case 4);

[0385] 5) The first sensing of UE-UE is switched to the second sensing of the base station (Case 5);

[0386] 6) The first sensing of base station-base station is switched to the second sensing of the UE (Case 6).

[0387] Figure 7 Schematic diagrams of different combinations in the above switching cases are given. Among them, in order to indicate that the sensing nodes may be different devices, base stations A, B, C and UEs A, B, C are used for distinction.

[0388] The following uses embodiments to illustrate the switching steps, processes, and necessary information interactions for the above cases 1 to 6 respectively.

[0389] It should be noted that Figure 2 or Figure 4 or Figure 5The first node in the embodiment may include the source first node or the first device in the following embodiments, Figure 2 or Figure 4 or Figure 5 The first sensing node in the embodiment may include the source second node in the following embodiments, Figure 2 or Figure 4 or Figure 5 The second sensing node in the embodiment may include the target node (i.e., the target sensing node) or the candidate target node in the following embodiments.

[0390] Embodiment 1:

[0391] The sensing node switching method in this embodiment can be regarded as a conventional switching method for sensing nodes.

[0392] This embodiment illustrates: This embodiment describes the process and interaction content of the first node - second node performing the first sensing and switching to the first node / second node / third node for the second sensing. Among them, the first node, the second node, and the third node can be a base station or a UE. The third node is a node different from the first node and the second node. In this embodiment, the node performing the first sensing before switching is called the source node (including the source first node and the source second node), and the node performing the second sensing after switching is called the target node (i.e., the target sensing node).

[0393] Among them, the source first node is the sensing node that sends the first signal, and the source second node is the sensing node that receives the second signal.

[0394] Step (11): The network performs handover measurement.

[0395] In this step, the source second node performs the handover measurement.

[0396] Optionally, before the source second node performs the handover measurement, the first device or the source first node sends a handover measurement request to the source second node.

[0397] Before the source second node performs the handover measurement, the first device or the source first node sends the handover measurement configuration information required for the handover measurement to the source second node; alternatively, the handover measurement configuration information is included in the handover measurement request.

[0398] Optionally, the source second node sends a handover measurement report to the source first node or the first device.

[0399] The handover measurement configuration information includes at least one of the following:

[0400] 1) Measurement object: One or more first signals indicating the source first node and / or candidate target node to be measured, as well as the perceived measurement quantities related to the first signal (see the aforementioned explanation of the perceived measurement quantities) and the perceived parameter configuration information (see the aforementioned explanation of the perceived parameter configuration information);

[0401] 2) Handover measurement report configuration: including the reporting principle, for example, it can be periodic reporting or event-triggered principle; it also includes the measurement report format, such as the maximum number of cells and the number of beams reported, etc.;

[0402] 3) Measurement events and related parameters: including measurement event definitions, event-related parameters, handover decision conditions, etc.;

[0403] 4) Measurement ID: That is, the measurement identifier, and each measurement ID corresponds to a measurement object and a handover measurement report configuration.

[0404] The handover measurement report includes at least one of the measurement results of the perceived measurement quantities required for handover measurement and the target indicators.

[0405] The perceived measurement quantities required for handover measurement may include the perceived measurement quantities of the current perceived service.

[0406] In addition, the trigger events for triggering the handover measurement in step (11) include at least one of the following:

[0407] 1) The target indicators obtained by the source node meet the target conditions. The explanations of the target indicators and target conditions have been described in the above embodiments and will not be repeated here.

[0408] 2) The state of the perceived target changes (the state includes position, speed, etc.);

[0409] 3) The positions of the source first node and / or the source second node change;

[0410] 4) The environment of the perceived area changes (such as the appearance of obstacles);

[0411] 5) The communication measurement quantities obtained by the source second node reach a preset threshold. The communication measurement quantities include at least one of the following: Reference Signal Received Power (RSRP), Signal Noise Ratio (SNR), Signal to Interference plus Noise Ratio (SINR), Reference Signal Received Quality (RSRQ), Received Signal Strength Indicator (RSSI), bit error rate, block error rate, throughput, spectral efficiency, etc.

[0412] 6) The available sensing resources of the source first node and / or the source second node change. For example, when other high-priority sensing / communication / communication-sensing integrated services occur suddenly, it is necessary to evaluate whether to initiate a sensing handover process based on the remaining available sensing resources.

[0413] Step (12): The source first node or the source second node decides whether to initiate a handover based on the handover measurement report.

[0414] Optionally, the source first node or the source second node reports the handover measurement report to the first device, and the first device decides whether to initiate a handover request.

[0415] If the handover is not initiated, the subsequent processing can be to maintain or end the current first sensing.

[0416] If the handover is initiated, the source node (the source first node or the source second node) or the first device decides which node will be switched to the second sensing mode. Specifically, it is divided into the following situations:

[0417] Situation 1: The source first node decides to switch and let the source second node or the third node perform the second sensing.

[0418] The source first node sends a first request message to at least one candidate target node. The first request message requests the first request message recipient to perform the second sensing after the sensing mode handover is completed.

[0419] Optionally, the source first node sends a first indication message to the first device. The first indication message notifies the first indication message recipient that the third node will perform the second sensing after the sensing mode handover.

[0420] Optionally, the source first node sends a second indication message to the source second node. The second indication message instructs the second indication message recipient not to participate in sensing anymore after the sensing mode handover is completed.

[0421] Among them, the candidate target nodes include the source second node.

[0422] Case 2: The source second node decides to switch to the source first node or the third node to perform the second sensing.

[0423] The source second node sends first request information to at least one candidate target node.

[0424] Optionally, the source second node sends first indication information to the first device.

[0425] Optionally, the source second node sends second indication information to the source first node.

[0426] Among them, the candidate target nodes include the source first node.

[0427] The meanings of the first request information, the first indication information, and the second indication information are as described in Case 1.

[0428] Case 3: The first device decides to switch to the source first node, or the source second node, or the third node to perform the second sensing in the second sensing mode.

[0429] The first device sends first request information to at least one candidate target node.

[0430] Optionally, the first device sends first indication information to the source first node and / or the source second node.

[0431] Optionally, the first device sends second indication information to the source first node and / or the source second node.

[0432] Among them, the candidate target nodes include the source first node and the source second node.

[0433] The meanings of the first request information, the first indication information, and the second indication information are as described in Case 1.

[0434] Case 4: The source node decides to actively switch to perform the second sensing. In this case, the candidate target nodes include the source first node or the source second node, and the third node.

[0435] The source first node or the source second node sends third indication information to the first device, and the third indication information is used to indicate that the recipient of the third indication information can perform the second sensing after the sensing mode switching is completed by the sender of the third indication information.

[0436] Optionally, the first request information may include a soft handover request.

[0437] It should be noted that the above candidate target nodes can be determined based on at least one of the following information:

[0438] 1) The location information of the candidate target nodes;

[0439] 2) Candidate target node antenna panel orientation information;

[0440] 3) Status information of the candidate target node, including information such as moving speed, moving direction, and the time period of staying stationary / moving;

[0441] 4) Sensing capability information of the candidate target node, including UE sensing coverage range, maximum bandwidth available for sensing, maximum sustainable time of the sensing service, types of sensing signals and frame formats that can be supported, UE antenna array information (array type, number of antennas, array aperture, antenna polarization characteristics, element gain, and directivity characteristics, etc.);

[0442] 5) Resource information currently available for sensing of the candidate target node, including time resources (number of symbols, number of time slots, number of frames, etc.), frequency resources (number of Resource Blocks (RBs), number of Resource Elements (REs), total bandwidth, available frequency band position, etc.), antenna resources (number of antennas / antenna sub-arrays), phase modulation resources (number of hardware phase shifters), orthogonal code resources (orthogonal code length and quantity), etc.;

[0443] 6) Channel state information of the candidate target node, including at least one of the channel transfer function / channel impulse response of the communication link, Channel Quality Indicator (CQI), Precoding Matrix Indicator (PMI), CSI-RS resource indicator, SSB resource indicator, Layer Indicator (LI), Rank Indicator (RI), and L1-RSRP, etc.

[0444] It should be noted that the above first request information further includes at least one of the following information:

[0445] 1) Sensing requirements, including sensing target area / object type, required sensing functions, sensing purpose, sensing results, etc.;

[0446] 2) Perceived QoS, including at least one of the following: perceived resolution (which can be further divided into: ranging resolution, angle measurement resolution, velocity measurement resolution, imaging resolution, etc.), perceived accuracy (which can be further divided into: ranging accuracy, angle measurement accuracy, velocity measurement accuracy, positioning accuracy, etc.), perceived range (which can be further divided into: ranging range, velocity measurement range, angle measurement range, imaging range, etc.), perceived latency (the time interval from the sending of the perceived signal to obtaining the perceived result, or the time interval from the initiation of the perceived requirement to obtaining the perceived result), perceived update rate (for example, the time interval between two adjacent executions of perception and obtaining the perceived result), detection probability (for example, the probability of being correctly detected when the perceived object exists), false alarm probability (for example, the probability of erroneously detecting the perceived target when the perceived object does not exist), perceived security, perceived privacy;

[0447] 3) Perceived measurement quantity;

[0448] 4) Perceived measurement result, including the perceived result directly or indirectly obtained based on at least one perceived measurement quantity;

[0449] 5) Perceived conditions, including at least one of the perceived start time, perceived end time, perceived duration, etc.;

[0450] 6) Prior information of the perceived target or perceived area, including at least one of the perceived target type, the approximate location / area where the perceived target is located, the historical state of the perceived target (such as speed, angle, distance, acceleration, spatial orientation), etc.;

[0451] 7) Decision condition for successful switching of the perceived mode. For example, it indicates that the measurement results of at least one perceived measurement quantity and / or communication measurement quantity reach a preset threshold or fall within a preset interval within a preset time / preset number of times.

[0452] Step (13): The candidate target node decides whether to accept performing the second perception after switching the perceived mode, which is divided into the following two cases:

[0453] Case 1: The candidate target node agrees to switch.

[0454] The candidate target node sends a first response message to the first request message sender (source node or the first device), and the first response message indicates to the first request message sender that, after the switching of the perceived mode is completed, the first response message sender agrees to perform the second perception.

[0455] Optionally, the candidate target node feeds back the proposed first parameter configuration information in the first response message. The first parameter configuration information is used for the parameter configuration of the candidate target node to perform the second perception. This first parameter configuration information is the parameter configuration information proposed by the candidate target node and is fed back in the first response message.

[0456] The explanation of the first parameter configuration information refers to the aforementioned perception parameter configuration information.

[0457] If the first request message includes a soft handover request and the candidate target node agrees and supports the soft handover, optionally, the first parameter configuration information includes soft handover parameter configuration information.

[0458] Case 2: The candidate target node does not agree to the handover.

[0459] Optionally, the candidate target node sends a first rejection message to the sender of the first request message (source node or the first device), and the first rejection message is used to indicate to the sender of the first request message that the first rejection message sender does not perform the second perception.

[0460] It should be noted that the candidate target node may not reply with the first rejection message, and it is determined that the candidate target node does not agree to perform the second perception when the source first node / first device waits for a timeout.

[0461] If no candidate target node agrees to perform the second perception within the preset waiting time, the subsequent processing can be one of the following: i. The source node or the first device re-determines the candidate target node; ii. Maintain the current first perception; iii. End the current first perception.

[0462] Step (14): The source node or the first device determines at least one target node (i.e., the target perception node) among the candidate target nodes based on the received first response message as the perception node that performs the second perception after the handover.

[0463] The source node or the first device can directly select the target node, and the source node or the first device can determine based on the information it holds that the selected target node performing the second perception can meet the perception requirements and perception QoS.

[0464] The source node or the first device sends a handover command to the target node, and the handover command is used to notify the target perception node to perform the second perception operation.

[0465] Optionally, the source node or the first device feeds back the proposed second parameter configuration information in the handover command. The second parameter configuration information is used for the perception parameter configuration of the target node to perform the second perception.

[0466] The content type of the second parameter configuration information is the same as that of the first parameter configuration information. The second parameter configuration information is sent by the source node or the first device and is the parameter configuration of the target node proposed by the source node or the first device. The actual target node finally adopts the first parameter configuration information or the second parameter configuration information, which is decided by the target node itself.

[0467] Optionally, the second parameter configuration information includes soft handover parameter configuration information.

[0468] Step (15): The target node performs a second sensing. Specifically, the subsequent processing is divided into the following two cases:

[0469] Case 1: The soft handover method is adopted. Based on at least one of the first request information, the first parameter configuration information, and the second parameter configuration information, the target node configures sensing parameters and performs a second sensing.

[0470] After obtaining at least one sensing measurement result and / or sensing result, or after the obtained target metric meets the target condition, the target node sends a handover success message to the source node or the first device.

[0471] Optionally, the source node or the first device sends a handover success message to the source second device. After receiving the handover success message, the source first node and / or the source second node ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.).

[0472] Case 2: The hard handover method is adopted. While performing step (14), the source node or the first device does not need to wait for the handover success message. At least one of the source first node and the source second node ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);

[0473] Step (16): Optionally, at least one of the source first node, the source second node, and the first device sends some or all of the historical sensing measurements and / or historical sensing results, and the sensing target / area prior information to the target node.

[0474] Embodiment 2:

[0475] The sensing node handover method of this embodiment can be regarded as a conditional handover method of the sensing node.

[0476] The difference between this embodiment and Embodiment 1 lies in the process and interaction content of describing the handover method as conditional handover. The definitions of the corresponding terms are the same as those in Embodiment 1 and will not be elaborated here.

[0477] Step (21): The same as step (11) of Embodiment 1.

[0478] Step (22): The same as step (12) of Embodiment 1.

[0479] Step (23): The candidate target node decides whether to accept performing a second sensing after switching the sensing mode, which is divided into the following cases:

[0480] Case 1: If the candidate target node agrees to the handover, the following process is executed:

[0481] 23-1) The candidate target node configures sensing parameters based on at least one of the first request information and the first parameter configuration information, and performs a second sensing.

[0482] 23-2) After performing at least one sensing measurement, the candidate target node sends a first response message to the source node or the first device. The first response message indicates that the sender of the first request information agrees to perform the second sensing after the sensing mode switch is completed.

[0483] The first response message includes at least one of the following:

[0484] 1) The measurement results of at least one preset target metric, the target metric;

[0485] 2) The measurement results and / or sensing results of at least one sensing measurement performed for the second sensing;

[0486] Optionally, the first response message may further include at least one of the following:

[0487] 1) The second parameter configuration information. The second parameter configuration information is used for the target node to configure sensing parameters for the second sensing;

[0488] 2) The measurement results of communication measurement quantities.

[0489] 23-3) The source node or the first device waits for the first response message of the candidate target node within a preset time. After receiving the first response messages sent by at least one candidate target node that meet the target conditions, select at least one of the above candidate target nodes as the sensing node that performs the second sensing after the switch.

[0490] The content type of the second parameter configuration information is the same as that of the first parameter configuration information.

[0491] If the first request information includes a soft handover request and the candidate target node agrees and supports soft handover, optionally, the second parameter configuration information includes soft handover parameter configuration information.

[0492] Case 2: The candidate target node does not agree to the handover.

[0493] Optionally, the candidate target node sends a first rejection message to the sender of the first request information (source node or first device). The first rejection message indicates that the sender of the first request information does not perform the second sensing.

[0494] If no candidate target node agrees to perform the second sensing within the preset waiting time, the subsequent processing can be one of the following: i. The source node or the first device re-determines the candidate target node; ii. Cancel the handover and maintain the current first sensing; iii. End the current first sensing.

[0495] It should be noted that when the source node or the first device cannot determine the target node, at least one (usually multiple) candidate target nodes are made to perform the second sensing first, and feedback the sensing measurement quantity / sensing result and the target index; if the source node or the first device finds a candidate target node that meets the handover condition, then select this sensing node as the target node, and cancel the handover for other candidate target nodes and release the sensing resources.

[0496] Step (14): After the source node or the first device determines the target node, send a handover confirmation message to the target node. The handover confirmation message is used to notify the recipient of the handover confirmation message that it will perform the second sensing operation subsequently.

[0497] Optionally, after the source node or the first device determines the target node, send a handover cancellation message to other candidate target nodes except the target node; the handover cancellation message is used to notify other candidate target nodes to cancel the execution of the second sensing and release the reserved sensing resources. After receiving the handover cancellation message, other candidate target nodes release the reserved sensing resources.

[0498] It should be noted that the source node or the first device may not send a handover cancellation message, and when other candidate target nodes time out, other candidate target nodes release the reserved sensing resources.

[0499] Step (15): The target node performs the sensing service, and the source first node and / or the source second node release the sensing resources. Specifically, the following operations are performed:

[0500] 1) The target node configures sensing parameters based on at least one of the first request information, the first parameter configuration information, and the second parameter configuration information, and performs the second sensing.

[0501] 2) The source first node and / or the source second node stop performing the first sensing and release the sensing resources.

[0502] Optionally, the source first node, the source second node, and the first device send some or all of the historical sensing measurement quantities and / or historical sensing results, and the prior information of the sensing target / area to the target node.

[0503] For the sensing mode switching method provided in the embodiments of the present application, the execution subject may be a sensing mode switching device. In the embodiments of the present application, taking the sensing mode switching device as an example to execute the sensing mode switching method, the sensing mode switching device provided in the embodiments of the present application is described.

[0504] Please refer to Figure 8 , Figure 8 which is a structural diagram of a sensing mode switching device provided in the embodiments of the present application. The first node includes the sensing mode switching device, asFigure 8 As shown in , the sensing mode switching device 400 includes:

[0505] An acquisition module 401, configured to acquire a first target metric value;

[0506] A switching module 402, configured to determine whether to switch the sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target metric value;

[0507] Wherein, in the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes, in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, the first target metric value is a metric value related to sensing measured by a first sensing node, and in the first sensing mode, the first sensing node is the signal receiving node of the first signal.

[0508] Optionally, the acquisition module is specifically configured to:

[0509] Receive a handover measurement report sent by the first sensing node, where the content of the handover measurement report includes the first target metric value.

[0510] Optionally, the device further includes:

[0511] A first sending module, configured to send a handover measurement request to the first sensing node when a preset event occurs, where the handover measurement request is used to acquire the first target metric value;

[0512] The preset event includes:

[0513] A second target metric value satisfies a target condition, where the second target metric value is a metric value related to sensing measured by the first sensing node.

[0514] Optionally, when it is determined to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the device further includes:

[0515] A second sending module, configured to send a first request message to a candidate target node, where the first request message is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode;

[0516] A receiving module, configured to receive a first response message sent by the candidate target node, and determine a target sensing node based on the first response message.

[0517] Optionally, the receiving module is specifically configured to perform at least one of the following:

[0518] Select a target sensing node from the candidate target nodes where the first response message meets the target conditions. The first response message includes at least one of a measurement value of a sensing measurement quantity, a sensing result, and a third target index value, and the third target index value is an index value related to sensing measured by the candidate target node.

[0519] When the first response message indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing method, select a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

[0520] Optionally, the first target index value or the second target index value or the third target index value includes at least one of the following:

[0521] An index value related to received power; an index value related to interference or noise power; an index value related to both received power and interference or noise power.

[0522] Optionally, the index value related to received power includes: a first index value; or

[0523] The index value related to interference or noise power includes at least one of the following: a second index value, a third index value, a fourth index value; or

[0524] The index value related to both received power and interference or noise power includes at least one of the following: a fifth index value, a sixth index value, a seventh index value, an eighth index value;

[0525] Among them, the first index value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0526] The second index value is determined based on the difference between the total received power and the first index value;

[0527] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0528] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0529] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0530] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0531] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0532] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0533] Wherein, the total received power is the linear average of all received powers on the time-frequency domain resource unit carrying the first signal.

[0534] Optionally, the target condition includes at least one of the following:

[0535] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period;

[0536] The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times;

[0537] The difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node remains within a second preset interval within a second preset time period;

[0538] The number of times the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0539] The measured value of at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0540] The number of times the measured value of at least one target index value obtained by the target measurement node is within the third preset interval within the third preset time period reaches a third preset number of times;

[0541] The difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node remains within a fourth preset interval within a fourth preset time period;

[0542] The number of times the difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node is within the fourth preset interval within the fourth preset time period reaches a fourth preset number of times;

[0543] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset interval within a fifth preset time period;

[0544] The number of times that the measurement value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches the first preset number, and the number of times that the measurement value of at least one communication measurement quantity obtained is within the fifth preset interval within the fifth preset time period reaches the fifth preset number;

[0545] At least one target index value obtained by the target measurement node is maintained within the third preset interval within the third preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within the fifth preset interval within the fifth preset time period;

[0546] The number of times that at least one target index value obtained by the target measurement node is within the third preset interval within the third preset time period reaches the third preset number, and the number of times that the measurement value of at least one communication measurement quantity obtained is within the fifth preset interval within the fifth preset time period reaches the fifth preset number;

[0547] The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node is maintained within the sixth preset interval within the sixth preset time period;

[0548] The number of times that the difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node is within the sixth preset interval within the sixth preset time period reaches the sixth preset number;

[0549] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the sensing service quality QoS;

[0550] The state of the sensing target changes;

[0551] The positions of the nodes participating in sensing change;

[0552] Wherein, the target index value includes a first target index value, a second target index value or a third target index value;

[0553] The source node includes the signal sending node or the signal receiving node of the first signal in the first sensing mode.

[0554] Optionally, in the first sensing mode, the first node is the signal sending node of the first signal.

[0555] The sensing mode switching device in the embodiments of the present application may be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal or other devices other than terminals. Exemplarily, the terminal may include, but is not limited to, the types of terminals 11 listed above, and other devices may be servers, Network Attached Storage (NAS), etc., which are not specifically limited in the embodiments of the present application.

[0556] The sensing mode switching device provided in the embodiments of the present application can implement Figure 2 each process implemented by the method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein again.

[0557] Please refer to Figure 9 , Figure 9 which is a structural diagram of a sensing mode switching device provided in the embodiments of the present application. The first sensing node includes the sensing mode switching device. As Figure 9 shown, the sensing mode switching device 500 includes:

[0558] An acquisition module 501, configured to acquire a first target metric value;

[0559] An execution module 502, configured to execute a first operation;

[0560] The first operation includes at least one of the following:

[0561] The first sensing node sends the first target metric value to a first node;

[0562] The first sensing node determines whether to switch the sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target metric value;

[0563] Wherein, in the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes, in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, in the first sensing mode, the first sensing node is the signal receiving node of the first signal, and the first target metric value is a metric value related to sensing measured by the first sensing node.

[0564] Optionally, the execution module is specifically configured to:

[0565] Send a handover measurement report to the first node, where the content of the handover measurement report includes the first target metric value.

[0566] Optionally, the acquisition module is specifically configured to:

[0567] In the case of a preset event occurring, perform a handover measurement to obtain a first target metric value;

[0568] The preset event includes:

[0569] The second target metric value obtained by the first sensing node satisfies a target condition;

[0570] Wherein, the second target metric value is a metric value related to sensing measured by the first sensing node.

[0571] Optionally, in the case of determining that the sensing method for the sensing target is to be switched from a first sensing method to a second sensing method, the device further includes:

[0572] A sending module, configured to send a first request message to a candidate target node, where the first request message is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing method;

[0573] A receiving module, configured to receive a first response message sent by the candidate target node, and determine a target sensing node based on the first response message.

[0574] Optionally, the receiving module is specifically configured to perform at least one of the following:

[0575] Select a target sensing node from the candidate target nodes for which the first response message satisfies the target condition, where the first response message includes at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target metric value, and the third target metric value is a metric value related to sensing measured by the candidate target node.

[0576] In the case where the first response message indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing method, select a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

[0577] Optionally, the first target metric value or the second target metric value or the third target metric value includes at least one of the following:

[0578] A metric value related to received power; a metric value related to interference or noise power; a metric value related to both received power and interference or noise power.

[0579] Optionally, the metric value related to received power includes: a first metric value; or

[0580] The metric value related to interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or

[0581] The index values related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0582] Among them, the first index value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0583] The second index value is determined based on the difference between the total received power and the first index value;

[0584] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0585] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0586] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0587] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0588] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0589] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0590] Among them, the total received power is the linear average value of all the received powers on the time-frequency domain resource unit carrying the first signal.

[0591] Optionally, the target condition includes at least one of the following:

[0592] The measured value of at least one sensing measurement obtained by the target measurement node remains within a first preset interval within a first preset time period;

[0593] The number of times the measured value of at least one sensing measurement obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times;

[0594] The difference between the measured value of at least one sensing measurement obtained by the target measurement node and the measured value of the corresponding sensing measurement obtained by the source node remains within a second preset interval within a second preset time period;

[0595] The number of times the difference between the measured value of at least one sensing measurement obtained by the target measurement node and the measured value of the corresponding sensing measurement obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0596] At least one target metric value obtained by the target measurement node remains within a third preset range during a third preset time period;

[0597] The number of times that at least one target metric value obtained by the target measurement node is within a third preset range during a third preset time period reaches a third preset number of times;

[0598] The difference between at least one target metric value obtained by the target measurement node and the corresponding target metric value obtained by the source node remains within a fourth preset range during a fourth preset time period;

[0599] The number of times that the difference between at least one target metric value obtained by the target measurement node and the corresponding target metric value obtained by the source node is within a fourth preset range during a fourth preset time period reaches a fourth preset number of times;

[0600] The measurement value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset range during a first preset time period, and the measurement value of at least one communication measurement quantity obtained remains within a fifth preset range during a fifth preset time period;

[0601] The number of times that the measurement value of at least one sensed measurement quantity obtained by the target measurement node is within a first preset range during a first preset time period reaches a first preset number of times, and the number of times that the measurement value of at least one communication measurement quantity obtained is within a fifth preset range during a fifth preset time period reaches a fifth preset number of times;

[0602] At least one target metric value obtained by the target measurement node remains within a third preset range during a third preset time period, and the measurement value of at least one communication measurement quantity obtained remains within a fifth preset range during a fifth preset time period;

[0603] The number of times that at least one target metric value obtained by the target measurement node is within a third preset range during a third preset time period reaches a third preset number of times, and the number of times that the measurement value of at least one communication measurement quantity obtained is within a fifth preset range during a fifth preset time period reaches a fifth preset number of times;

[0604] The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the source node remains within a sixth preset range during a sixth preset time period;

[0605] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the source node is within a sixth preset range during a sixth preset time period reaches a sixth preset number of times;

[0606] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements for sensing QoS;

[0607] The state of the sensed target changes;

[0608] The positions of the nodes participating in sensing change;

[0609] Wherein, the target metric value includes a first target metric value, a second target metric value, or a third target metric value;

[0610] The source node includes the signal sending node or the signal receiving node of the first signal in the first sensing mode.

[0611] The sensing mode switching device in the embodiments of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. This electronic device can be a terminal or other devices other than terminals. Exemplarily, the terminal can include, but is not limited to, the types of terminals 11 listed above, and other devices can be servers, Network Attached Storage (NAS), etc., which are not specifically limited in the embodiments of the present application.

[0612] The sensing mode switching device provided in the embodiments of the present application can implement Figure 4 each process implemented by the method embodiments and achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0613] Please refer to Figure 10 , Figure 10 is a structural diagram of a sensing mode switching device provided in the embodiments of the present application. The second sensing node includes the sensing mode switching device. As Figure 10 shown, the sensing mode switching device 600 includes:

[0614] An execution module 601, configured to execute a second operation;

[0615] The second operation includes at least one of the following:

[0616] When receiving the first request message, the second sensing node performs a sensing operation on the sensed target according to the second sensing mode, obtains at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target metric value, and sends a first response message corresponding to the first request message. The first request message is used to request the second sensing node to perform a sensing operation on the sensed target according to the second sensing mode. The first response message carries at least one of the measured value of the sensing measurement quantity, the sensing result, and the third target metric value, or the first response message indicates whether the second sensing node agrees to perform a sensing operation on the sensed target according to the second sensing mode. The third target metric value is a metric value related to sensing measured by the second sensing node;

[0617] Upon receiving a handover command, the second sensing node obtains a fourth target metric value and determines whether to send a handover success message based on the fourth target metric value. The handover command is used to notify the second sensing node to perform a sensing operation on a sensing target in a second sensing manner. The handover success message is used to indicate that the sensing manner for the sensing target has been successfully switched from a first sensing manner to a second sensing manner. The fourth target metric value is a metric value related to sensing measured by the second sensing node.

[0618] Wherein, in the first sensing manner, the signal transmitting node of the first signal and the signal receiving node of the first signal are different nodes, and in the second sensing manner, the signal transmitting node of the first signal and the signal receiving node of the first signal are the same node.

[0619] Optionally, the execution module is specifically configured to:

[0620] Send a handover success message to the first node or the first sensing node when the fourth target metric value meets the target condition.

[0621] Optionally, the third target metric value or the fourth target metric value includes at least one of the following:

[0622] A metric value related to received power; a metric value related to interference or noise power; a metric value related to both received power and interference or noise power.

[0623] Optionally, the metric value related to received power includes: a first metric value; or

[0624] The metric value related to interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or

[0625] The metric value related to both received power and interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value;

[0626] Wherein, the first metric value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0627] The second metric value is determined based on the difference between the total received power and the first metric value;

[0628] The third metric value is determined based on the difference between the total received power and the received power of the first signal;

[0629] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0630] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0631] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0632] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0633] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0634] Wherein, the total received power is the linear average of all the received powers on the time-frequency domain resource unit carrying the first signal.

[0635] Optionally, the target condition includes at least one of the following:

[0636] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period;

[0637] The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times;

[0638] The difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node remains within a second preset interval within a second preset time period;

[0639] The number of times the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0640] The measured value of at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0641] The number of times the measured value of at least one target index value obtained by the target measurement node is within the third preset interval within the third preset time period reaches a third preset number of times;

[0642] The difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node remains within a fourth preset interval within a fourth preset time period;

[0643] The number of times that the difference between at least one target metric value obtained by the target measurement node and the corresponding target metric value obtained by the source node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0644] The measured values of at least one sensed measurement quantity obtained by the target measurement node are maintained within a first preset interval within a first preset time period, and the measured values of at least one communication measurement quantity obtained are maintained within a fifth preset interval within a fifth preset time period;

[0645] The number of times that the measured values of at least one sensed measurement quantity obtained by the target measurement node are within a first preset interval within a first preset time period reaches a first preset number, and the number of times that the measured values of at least one communication measurement quantity obtained are within a fifth preset interval within a fifth preset time period reaches a fifth preset number;

[0646] At least one target metric value obtained by the target measurement node is maintained within a third preset interval within a third preset time period, and the measured values of at least one communication measurement quantity obtained are maintained within a fifth preset interval within a fifth preset time period;

[0647] The number of times that at least one target metric value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number, and the number of times that the measured values of at least one communication measurement quantity obtained are within a fifth preset interval within a fifth preset time period reaches a fifth preset number;

[0648] The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node is maintained within a sixth preset interval within a sixth preset time period;

[0649] The number of times that the difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

[0650] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of sensing QoS;

[0651] The state of the sensing target changes;

[0652] The positions of the nodes participating in sensing change;

[0653] Wherein, the target metric value includes a third target metric value or a fourth target metric value;

[0654] The source node includes the signal sending node or the signal receiving node of the first signal in the first sensing mode.

[0655] The sensing mode switching device in the embodiments of the present application may be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal or other devices other than terminals. Exemplarily, the terminal may include, but is not limited to, the types of the above-listed terminal 11, and other devices may be servers, Network Attached Storage (NAS), etc., which are not specifically limited in the embodiments of the present application.

[0656] The sensing mode switching device provided in the embodiments of the present application can implement Figure 5 each process implemented by the method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein again.

[0657] As Figure 11 shown, the embodiments of the present application further provide a communication device 700, including a processor 701 and a memory 702. A program or instruction that can run on the processor 701 is stored on the memory 702. When the program or instruction is executed by the processor 701, each step of the above-described sensing mode switching method embodiments is implemented, and the same technical effects can be achieved.

[0658] The embodiments of the present application further provide a terminal, including a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run a program or instruction to implement the steps in the method embodiments as Figure 2 , Figure 4 or Figure 5 shown. This terminal embodiment corresponds to the above terminal-side method embodiments. Each implementation process and implementation manner of the above method embodiments can be applied to this terminal embodiment, and the same technical effects can be achieved. Specifically, Figure 12 is a schematic hardware structure diagram of a terminal for implementing the embodiments of the present application.

[0659] The terminal 800 includes, but is not limited to, at least some components such as a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809, and a processor 810.

[0660] Those skilled in the art can understand that the terminal 800 may further include a power source (such as a battery) for supplying power to each component. The power source may be logically connected to the processor 810 through a power management system, so as to implement functions such as management of charging, discharging, and power consumption management through the power management system. Figure 12 The terminal structure shown in does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which are not described herein again.

[0661] It should be understood that in the embodiments of the present application, the input unit 804 may include a Graphics Processing Unit (GPU) 8041 and a microphone 8042. The graphics processor 8041 processes the image data of the static pictures or videos obtained by the image capturing device (such as a camera) in the video capturing mode or the image capturing mode. The display unit 806 may include a display panel 8061, and the display panel 8061 may be configured in the form of, for example, a liquid crystal display, an organic light emitting diode, etc. The user input unit 807 includes at least one of a touch panel 8071 and other input devices 8072. The touch panel 8071 is also referred to as a touch screen. The touch panel 8071 may include two parts, a touch detection device and a touch controller. The other input devices 8072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be elaborated herein.

[0662] In the embodiments of the present application, after receiving the downlink data from the network side device, the radio frequency unit 801 may transmit it to the processor 810 for processing; in addition, the radio frequency unit 801 may send the uplink data to the network side device. Generally, the radio frequency unit 801 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0663] The memory 809 can be used to store software programs or instructions as well as various data. The memory 809 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data. Among them, the first storage area may store an operating system, application programs or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 809 may include a volatile memory or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM), and a direct rambus random access memory (DRRAM). The memory 809 in the embodiments of the present application includes but is not limited to these and any other suitable types of memories.

[0664] The processor 810 may include one or more processing units; optionally, the processor 810 integrates an application processor and a modem processor. Among them, the application processor mainly processes operations related to the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor may not be integrated into the processor 810 either.

[0665] When the terminal is the first node:

[0666] Among them, the processor 810 is used to:

[0667] Obtain a first target metric value;

[0668] Based on the first target metric value, determine whether to switch the sensing method for the sensing target from a first sensing method to a second sensing method;

[0669] Among them, under the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes. Under the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node. The first target metric value is the metric value related to sensing measured by the first sensing node. Under the first sensing mode, the first sensing node is the signal receiving node of the first signal.

[0670] Optionally, the radio frequency unit 801 is configured to:

[0671] Receive a handover measurement report sent by the first sensing node, where the content of the handover measurement report includes the first target metric value.

[0672] Optionally, the radio frequency unit 801 is configured to: When a preset event occurs, send a handover measurement request to the first sensing node, where the handover measurement request is used to obtain the first target metric value;

[0673] The preset event includes:

[0674] The second target metric value obtained by the first sensing node meets the target condition;

[0675] Among them, the second target metric value is the metric value related to sensing measured by the first sensing node.

[0676] Optionally, when it is determined that the sensing mode for the sensing target is to be switched from the first sensing mode to the second sensing mode, the radio frequency unit 801 is configured to:

[0677] Send a first request message to a candidate target node, where the first request message is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode;

[0678] Receive a first response message sent by the candidate target node, and determine a target sensing node based on the first response message.

[0679] Optionally, the processor 810 is specifically configured to perform at least one of the following:

[0680] Select a target sensing node from the candidate target nodes whose first response message meets the target condition. The first response message includes at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target metric value, and the third target metric value is the metric value related to sensing measured by the candidate target node.

[0681] When the first response message indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing method, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

[0682] Optionally, the first target metric value, the second target metric value, or the third target metric value includes at least one of the following:

[0683] A metric value related to the received power; a metric value related to the interference or noise power; a metric value related to both the received power and the interference or noise power.

[0684] Optionally, the metric value related to the received power includes: a first metric value; or

[0685] The metric value related to the interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or

[0686] The metric value related to both the received power and the interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value;

[0687] Wherein, the first metric value is determined based on the linear average of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0688] The second metric value is determined based on the difference between the total received power and the first metric value;

[0689] The third metric value is determined based on the difference between the total received power and the received power of the first signal;

[0690] The fourth metric value is determined based on the difference between the received power of the first signal and the first metric value;

[0691] The fifth metric value is determined based on the quotient of the first metric value and the second metric value;

[0692] The sixth metric value is determined based on the quotient of the first metric value and the third metric value;

[0693] The seventh metric value is determined based on the quotient of the first metric value and the fourth metric value;

[0694] The eighth metric value is determined based on the quotient of the first metric value and the total received power;

[0695] Wherein, the total received power is the linear average of all the received power on the time-frequency domain resource unit carrying the first signal.

[0696] Optionally, the target condition includes at least one of the following:

[0697] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period;

[0698] The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times;

[0699] The difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node remains within a second preset interval within a second preset time period;

[0700] The number of times the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0701] The measured value of at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0702] The number of times the measured value of at least one target index value obtained by the target measurement node is within the third preset interval within the third preset time period reaches a third preset number of times;

[0703] The difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node remains within a fourth preset interval within a fourth preset time period;

[0704] The number of times the difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node is within the fourth preset interval within the fourth preset time period reaches a fourth preset number of times;

[0705] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset interval within a fifth preset time period;

[0706] The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times, and the number of times the measured value of at least one communication measurement quantity obtained is within the fifth preset interval within the fifth preset time period reaches a fifth preset number of times;

[0707] At least one target index value obtained by the target measurement node remains within the third preset range within the third preset time period, and the measured value of at least one communication measurement quantity obtained remains within the fifth preset range within the fifth preset time period;

[0708] The number of times that at least one target index value obtained by the target measurement node is within the third preset range within the third preset time period reaches the third preset number of times, and the number of times that the measured value of at least one communication measurement quantity obtained is within the fifth preset range within the fifth preset time period reaches the fifth preset number of times;

[0709] The difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the source node remains within the sixth preset range within the sixth preset time period;

[0710] The number of times that the difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the source node is within the sixth preset range within the sixth preset time period reaches the sixth preset number of times;

[0711] The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the perception service quality QoS;

[0712] The state of the perception target changes;

[0713] The positions of the nodes participating in the perception change;

[0714] Wherein, the target index value includes a first target index value, a second target index value or a third target index value;

[0715] The source node includes the signal sending node or the signal receiving node of the first signal in the first perception mode.

[0716] Optionally, in the first perception mode, the first node is the signal sending node of the first signal.

[0717] When the terminal is the first perception node:

[0718] Wherein, the processor 810 is used for:

[0719] Obtain the first target index value;

[0720] Execute the first operation;

[0721] The first operation includes at least one of the following:

[0722] The first perception node sends the first target index value to the first node;

[0723] The first sensing node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target metric value;

[0724] Wherein, in the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes, in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, in the first sensing mode, the first sensing node is the signal receiving node of the first signal, and the first target metric value is a metric value related to sensing measured by the first sensing node.

[0725] Optionally, the radio frequency unit 801 is configured to:

[0726] Send a handover measurement report to the first node, where the content of the handover measurement report includes the first target metric value.

[0727] Optionally, the processor 810 is configured to:

[0728] Perform handover measurement to obtain a first target metric value when a preset event occurs;

[0729] The preset event includes:

[0730] The second target metric value obtained by the first sensing node satisfies the target condition;

[0731] Wherein, the second target metric value is a metric value related to sensing measured by the first sensing node.

[0732] Optionally, when it is determined to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the radio frequency unit 801 is configured to:

[0733] Send a first request message to a candidate target node, where the first request message is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode;

[0734] Receive a first response message sent by the candidate target node, and determine a target sensing node based on the first response message.

[0735] Optionally, the radio frequency unit 801 is specifically configured to perform at least one of the following:

[0736] Select a target sensing node from candidate target nodes whose first response message satisfies the target condition, where the first response message includes at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target metric value, and the third target metric value is a metric value related to sensing measured by the candidate target node.

[0737] In the case that the first response message indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing method, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

[0738] Optionally, the first target metric value, the second target metric value, or the third target metric value includes at least one of the following:

[0739] A metric value related to the received power; a metric value related to the interference or noise power; a metric value related to both the received power and the interference or noise power.

[0740] Optionally, the metric value related to the received power includes: a first metric value; or

[0741] The metric value related to the interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or

[0742] The metric value related to both the received power and the interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value;

[0743] Wherein, the first metric value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0744] The second metric value is determined based on the difference between the total received power and the first metric value;

[0745] The third metric value is determined based on the difference between the total received power and the received power of the first signal;

[0746] The fourth metric value is determined based on the difference between the received power of the first signal and the first metric value;

[0747] The fifth metric value is determined based on the quotient of the first metric value and the second metric value;

[0748] The sixth metric value is determined based on the quotient of the first metric value and the third metric value;

[0749] The seventh metric value is determined based on the quotient of the first metric value and the fourth metric value;

[0750] The eighth metric value is determined based on the quotient of the first metric value and the total received power;

[0751] Wherein, the total received power is the linear average value of all the received power on the time-frequency domain resource unit carrying the first signal.

[0752] Optionally, the target condition includes at least one of the following:

[0753] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset range within a first preset time period;

[0754] The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within a first preset range within a first preset time period reaches a first preset number of times;

[0755] The difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node remains within a second preset range within a second preset time period;

[0756] The number of times the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node is within a second preset range within a second preset time period reaches a second preset number of times;

[0757] The measured value of at least one target index value obtained by the target measurement node remains within a third preset range within a third preset time period;

[0758] The number of times the measured value of at least one target index value obtained by the target measurement node is within a third preset range within a third preset time period reaches a third preset number of times;

[0759] The difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node remains within a fourth preset range within a fourth preset time period;

[0760] The number of times the difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node is within a fourth preset range within a fourth preset time period reaches a fourth preset number of times;

[0761] The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset range within a first preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset range within a fifth preset time period;

[0762] The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within a first preset range within a first preset time period reaches a first preset number of times, and the number of times the measured value of at least one communication measurement quantity obtained is within a fifth preset range within a fifth preset time period reaches a fifth preset number of times;

[0763] At least one target index value obtained by the target measurement node remains within a third preset range within a third preset time period, and the measured value of at least one communication measurement obtained remains within a fifth preset range within a fifth preset time period;

[0764] The number of times that at least one target index value obtained by the target measurement node is within a third preset range within a third preset time period reaches a third preset number of times, and the number of times that the measured value of at least one communication measurement obtained is within a fifth preset range within a fifth preset time period reaches a fifth preset number of times;

[0765] The difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the source node remains within a sixth preset range within a sixth preset time period;

[0766] The number of times that the difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the source node is within a sixth preset range within a sixth preset time period reaches a sixth preset number of times;

[0767] The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of perception QoS;

[0768] The state of the perception target changes;

[0769] The positions of the nodes participating in the perception change;

[0770] Wherein, the target index value includes a first target index value, a second target index value or a third target index value;

[0771] The source node includes the signal sending node or the signal receiving node of the first signal in the first perception mode.

[0772] In the case where the terminal is a second perception node:

[0773] Wherein, the processor 810 is used for:

[0774] Execute a second operation;

[0775] The second operation includes at least one of the following:

[0776] Upon receiving the first request message, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measured value of a sensed measurement quantity, a sensing result, and a third target index value, and sends a first response message corresponding to the first request message. The first request message is used to request the second sensing node to perform a sensing operation on the sensing target according to the second sensing method. The first response message carries at least one of the measured value of the sensed measurement quantity, the sensing result, and the third target index value, or the first response message indicates whether the second sensing node agrees to perform a sensing operation on the sensing target according to the second sensing method. The third target index value is an index value related to sensing measured by the second sensing node;

[0777] Upon receiving a switching command, the second sensing node obtains a fourth target index value and determines whether to send a switching success message based on the fourth target index value. The switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing method. The switching success message is used to indicate that the sensing method for the sensing target has been successfully switched from the first sensing method to the second sensing method. The fourth target index value is an index value related to sensing measured by the second sensing node;

[0778] Wherein, in the first sensing method, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes, and in the second sensing method, the signal sending node of the first signal and the signal receiving node of the first signal are the same node.

[0779] Optionally, the radio frequency unit 801 is used for:

[0780] When the fourth target index value meets the target condition, send a switching success message to the first node or the first sensing node.

[0781] Optionally, the third target index value or the fourth target index value includes at least one of the following:

[0782] An index value related to received power; an index value related to interference or noise power; an index value related to both received power and interference or noise power.

[0783] Optionally, the index value related to received power includes: a first index value; or

[0784] The index value related to interference or noise power includes at least one of the following: a second index value, a third index value, a fourth index value; or

[0785] The index value related to both received power and interference or noise power includes at least one of the following: a fifth index value, a sixth index value, a seventh index value, an eighth index value;

[0786] Among them, the first index value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal;

[0787] The second index value is determined based on the difference between the total received power and the first index value;

[0788] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0789] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0790] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0791] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0792] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0793] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0794] Among them, the total received power is the linear average value of all the received powers on the time-frequency domain resource units carrying the first signal.

[0795] Optionally, the target condition includes at least one of the following:

[0796] The measured value of at least one sensing measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period;

[0797] The number of times that the measured value of at least one sensing measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times;

[0798] The difference between the measured value of at least one sensing measurement quantity obtained by the target measurement node and the measured value of the corresponding sensing measurement quantity obtained by the source node remains within a second preset interval within a second preset time period;

[0799] The number of times that the difference between the measured value of at least one sensing measurement quantity obtained by the target measurement node and the measured value of the corresponding sensing measurement quantity obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0800] At least one target index value obtained by the target measurement node remains within the third preset range within the third preset time period;

[0801] The number of times that at least one target index value obtained by the target measurement node is within the third preset range within the third preset time period reaches the third preset number of times;

[0802] The difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the source node remains within the fourth preset range within the fourth preset time period;

[0803] The number of times that the difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the source node is within the fourth preset range within the fourth preset time period reaches the fourth preset number of times;

[0804] The measurement value of at least one sensed measurement quantity obtained by the target measurement node remains within the first preset range within the first preset time period, and the measurement value of at least one communication measurement quantity obtained remains within the fifth preset range within the fifth preset time period;

[0805] The number of times that the measurement value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset range within the first preset time period reaches the first preset number of times, and the number of times that the measurement value of at least one communication measurement quantity obtained is within the fifth preset range within the fifth preset time period reaches the fifth preset number of times;

[0806] At least one target index value obtained by the target measurement node remains within the third preset range within the third preset time period, and the measurement value of at least one communication measurement quantity obtained remains within the fifth preset range within the fifth preset time period;

[0807] The number of times that at least one target index value obtained by the target measurement node is within the third preset range within the third preset time period reaches the third preset number of times, and the number of times that the measurement value of at least one communication measurement quantity obtained is within the fifth preset range within the fifth preset time period reaches the fifth preset number of times;

[0808] The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node remains within the sixth preset range within the sixth preset time period;

[0809] The number of times that the difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node is within the sixth preset range within the sixth preset time period reaches the sixth preset number of times;

[0810] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of sensing QoS;

[0811] The state of the sensing target changes;

[0812] The positions of the nodes participating in sensing change;

[0813] Wherein, the target index value includes a third target index value or a fourth target index value;

[0814] The source node includes the signal sending node of the first signal or the signal receiving node of the first signal in the first sensing mode.

[0815] It can be understood that the implementation processes of the various implementation manners mentioned in this embodiment can refer to the relevant descriptions of the method embodiment Figure 2 or Figure 4 or Figure 5 and achieve the same or corresponding technical effects. To avoid repetition, it will not be elaborated here.

[0816] This application embodiment also provides a network-side device, including a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement as Figure 2 , Figure 4 or Figure 5 shown in the steps of the method embodiment. This network-side device embodiment corresponds to the above network-side device method embodiment. The various implementation processes and implementation manners of the above method embodiment can all be applied to this network-side device embodiment, and can achieve the same technical effects.

[0817] Specifically, this application embodiment also provides a network-side device. As Figure 13 shown, this network-side device 900 includes: an antenna 91, a radio frequency device 92, a baseband device 93, a processor 94, and a memory 95. The antenna 91 is connected to the radio frequency device 92. In the uplink direction, the radio frequency device 92 receives information through the antenna 91 and sends the received information to the baseband device 93 for processing. In the downlink direction, the baseband device 93 processes the information to be sent and sends it to the radio frequency device 92. The radio frequency device 92 processes the received information and then sends it out through the antenna 91.

[0818] The method executed by the network-side device in the above embodiments can be implemented in the baseband device 93. The baseband device 93 includes a baseband processor.

[0819] The baseband device 93 may, for example, include at least one baseband board. A plurality of chips are provided on the baseband board. As Figure 13 shown, one of the chips is, for example, a baseband processor, which is connected to the memory 95 through a bus interface to call the program in the memory 95 and execute the network device operations shown in the above method embodiments.

[0820] The network-side device may further include a network interface 96, which is, for example, a Common Public Radio Interface (CPRI).

[0821] Specifically, the network-side device 900 according to an embodiment of the present invention further includes: instructions or programs stored in a memory 95 and executable on a processor 94. The processor 94 invokes the instructions or programs in the memory 95 to execute Figure 8 , Figure 9 or Figure 10 the methods executed by the respective modules shown, and achieves the same technical effects. To avoid repetition, they will not be elaborated here.

[0822] Specifically, an embodiment of the present application further provides a network-side device. As Figure 14 shown, the network-side device 1000 includes: a processor 1001, a network interface 1002, and a memory 1003. Among them, the network interface 1002 is, for example, a Common Public Radio Interface (CPRI).

[0823] Specifically, the network-side device 1000 according to an embodiment of the present invention further includes: instructions or programs stored in a memory 1003 and executable on a processor 1001. The processor 1001 invokes the instructions or programs in the memory 1003 to execute Figure 8 , Figure 9 or Figure 10 the methods executed by the respective modules shown, and achieves the same technical effects. To avoid repetition, they will not be elaborated here.

[0824] An embodiment of the present application further provides a readable storage medium. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, each process of the above-described method embodiment for switching the perception mode is implemented, and the same technical effects can be achieved. To avoid repetition, they will not be elaborated here.

[0825] Among them, the processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk, or an optical disc, etc. In some examples, the readable storage medium may be a non-transitory readable storage medium.

[0826] An embodiment of the present application further provides a chip. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement each process of the above-described method embodiment for switching the perception mode, and the same technical effects can be achieved. To avoid repetition, they will not be elaborated here.

[0827] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip, etc.

[0828] The embodiments of the present application further provide a computer program / program product, which is stored in a storage medium and is executed by at least one processor to implement each process of the above-mentioned method embodiment for switching the perception mode, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0829] The embodiments of the present application further provide a system for switching the perception mode, including: a first node, a first perception node, and a second perception node. The first node can be used to execute the steps of the method for switching the perception mode applied to the first node as described above. The first perception node can be used to execute the steps of the method for switching the perception mode applied to the first perception node as described above. The second perception node can be used to execute the steps of the method for switching the perception mode applied to the second perception node as described above.

[0830] It should be noted that in this article, the terms "including", "comprising", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device including that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0831] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned method of the embodiment can be implemented by means of a computer software product plus a necessary general hardware platform, and of course, it can also be implemented by hardware. This computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions for causing a terminal or a network-side device to execute the methods described in various embodiments of the present application.

[0832] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms of embodiments without departing from the purpose of the present application and the scope protected by the claims. These embodiments are all within the protection scope of the present application.

Claims

1. A method for switching perception modes, characterized in that, it includes: The first node obtains a first target metric value; Based on the first target metric value, the first node determines whether to switch the perception mode of the perception target from the first perception mode to the second perception mode; Wherein, in the first perception mode, the signal sending node and the signal receiving node of the first signal are different nodes, and in the second perception mode, the signal sending node and the signal receiving node of the first signal are the same node. The first target metric value is a metric value related to perception measured by the first perception node. In the first perception mode, the first perception node is the signal receiving node of the first signal.

2. The method according to claim 1, characterized in that, The first node obtains the first target metric value, including: The first node receives a handover measurement report sent by the first perception node, and the content of the handover measurement report includes the first target metric value.

3. The method according to claim 1 or 2, characterized in that, Before the first node obtains the first target metric value, the method further includes: In the case of a preset event occurring, the first node sends a handover measurement request to the first perception node, and the handover measurement request is used to obtain the first target metric value; The preset event includes: The second target metric value meets the target condition, and the second target metric value is a metric value related to perception measured by the first perception node.

4. The method according to any one of claims 1-3, characterized in that, In the case of determining to switch the perception mode of the perception target from the first perception mode to the second perception mode, the method further includes: The first node sends a first request message to a candidate target node, and the first request message is used to request the candidate target node to perform a perception operation on the perception target according to the second perception mode; The first node receives a first response message sent by the candidate target node, and determines a target perception node based on the first response message.

5. The method according to claim 4, characterized in that, Determining the target perception node based on the first response message includes at least one of the following: Selecting a target perception node from the candidate target nodes whose first response message meets the target condition. The first response message includes at least one of the measured value of the perception measurement quantity, the perception result, and the third target metric value. The third target metric value is a metric value related to perception measured by the candidate target node; In the case where the first response message indicates that the candidate target node agrees to perform a perception operation on the perception target according to the second perception mode, selecting a target perception node from the candidate target nodes based on the node-related information of the candidate target node.

6. The method according to claim 4 or 5, characterized in that, The first target metric value or the second target metric value or the third target metric value includes at least one of the following: A metric value related to received power; a metric value related to interference or noise power; a metric value related to both received power and interference or noise power.

7. The method according to claim 6, wherein, the index value related to the received power includes: a first index value; or the index value related to the interference or noise power includes at least one of the following: a second index value, a third index value, a fourth index value; or the index value related to both the received power and the interference or noise power includes at least one of the following: a fifth index value, a sixth index value, a seventh index value, an eighth index value; wherein, the first index value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal; the second index value is determined based on the difference between the total received power and the first index value; the third index value is determined based on the difference between the total received power and the received power of the first signal; the fourth index value is determined based on the difference between the received power of the first signal and the first index value; the fifth index value is determined based on the quotient of the first index value and the second index value; the sixth index value is determined based on the quotient of the first index value and the third index value; the seventh index value is determined based on the quotient of the first index value and the fourth index value; the eighth index value is determined based on the quotient of the first index value and the total received power; wherein, the total received power is the linear average value of all the received power on the time-frequency domain resource unit carrying the first signal.

8. The method according to claim 3 or 5, wherein, the target condition includes at least one of the following: the measured value of at least one sensing measurement obtained by the target measurement node remains within a first preset interval within a first preset time period; the number of times the measured value of at least one sensing measurement obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times; the difference between the measured value of at least one sensing measurement obtained by the target measurement node and the measured value of the corresponding sensing measurement obtained by the source node remains within a second preset interval within a second preset time period; the number of times the difference between the measured value of at least one sensing measurement obtained by the target measurement node and the measured value of the corresponding sensing measurement obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number of times; the measured value of at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period; the number of times the measured value of at least one target index value obtained by the target measurement node is within the third preset interval within the third preset time period reaches a third preset number of times; the difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node remains within a fourth preset interval within a fourth preset time period; the number of times the difference between the measured value of at least one target index value obtained by the target measurement node and the measured value of the corresponding target index value obtained by the source node is within the fourth preset interval within the fourth preset time period reaches a fourth preset number of times; The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within the first preset interval within the first preset time period, and the measured value of at least one communication measurement quantity obtained remains within the fifth preset interval within the fifth preset time period; The number of times that the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches the first preset number of times, and the number of times that the measured value of at least one communication measurement quantity obtained is within the fifth preset interval within the fifth preset time period reaches the fifth preset number of times; The measured value of at least one target index value obtained by the target measurement node remains within the third preset interval within the third preset time period, and the measured value of at least one communication measurement quantity obtained remains within the fifth preset interval within the fifth preset time period; The number of times that the measured value of at least one target index value obtained by the target measurement node is within the third preset interval within the third preset time period reaches the third preset number of times, and the number of times that the measured value of at least one communication measurement quantity obtained is within the fifth preset interval within the fifth preset time period reaches the fifth preset number of times; The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node remains within the sixth preset interval within the sixth preset time period; The number of times that the difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node is within the sixth preset interval within the sixth preset time period reaches the sixth preset number of times; The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the sensing service quality QoS; The state of the sensing target changes; The positions of the nodes participating in sensing change; Wherein, the target index value includes a first target index value, a second target index value or a third target index value; The source node includes the signal sending node or the signal receiving node of the first signal in the first sensing mode.

9. According to the method described in claim 1, It is characterized in that, In the first sensing mode, the first node is the signal sending node of the first signal.

10. A method for switching sensing modes, It is characterized in that, Includes: The first sensing node obtains a first target index value; The first sensing node performs a first operation; The first operation includes at least one of the following: The first sensing node sends the first target index value to the first node; The first sensing node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target index value; Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes, in the second sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, in the first sensing mode, the first sensing node is the signal receiving node of the first signal, and the first target index value is the index value related to sensing measured by the first sensing node.

11. According to the method described in claim 10, It is characterized in that, The first sensing node sending the first target metric value to the first node includes: The first sensing node sending a handover measurement report to the first node, where the content of the handover measurement report includes the first target metric value.

12. The method according to claim 10 or 11, wherein, The first sensing node obtaining the first target metric value includes: When a preset event occurs, the first sensing node performs handover measurement to obtain the first target metric value; The preset event includes: The second target metric value obtained by the first sensing node satisfies a target condition; wherein, the second target metric value is a metric value related to sensing measured by the first sensing node.

13. The method according to any one of claims 10-12, wherein, When it is determined that the sensing mode for the sensing target is to be switched from the first sensing mode to the second sensing mode, the method further includes: The first sensing node sending a first request message to a candidate target node, where the first request message is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode; The first node receiving a first response message sent by the candidate target node and determining a target sensing node based on the first response message.

14. The method according to claim 13, wherein, Determining the target sensing node based on the first response message includes at least one of the following: Selecting a target sensing node from the candidate target nodes whose first response message satisfies the target condition, where the first response message includes at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target metric value, and the third target metric value is a metric value related to sensing measured by the candidate target node; When the first response message indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing mode, selecting a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

15. The method according to claim 13 or 14, wherein, The first target metric value or the second target metric value or the third target metric value includes at least one of the following: A metric value related to received power; a metric value related to interference or noise power; a metric value related to both received power and interference or noise power.

16. The method according to claim 15, wherein, The metric value related to received power includes: a first metric value; or The metric value related to interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or The metric value related to both received power and interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value; wherein, the first metric value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal; The second metric value is determined based on the difference between the total received power and the first metric value; The third index value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on the quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; Wherein, the total received power is the linear average of all received powers on the time-frequency domain resource unit carrying the first signal.

17. The method according to claim 12 or 14, characterized in that the target condition includes at least one of the following: the measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period; the number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times; the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node remains within a second preset interval within a second preset time period; the number of times the difference between the measured value of at least one sensed measurement quantity obtained by the target measurement node and the measured value of the corresponding sensed measurement quantity obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number of times; at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period; the number of times at least one target index value obtained by the target measurement node is within the third preset interval within the third preset time period reaches a third preset number of times; the difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the source node remains within a fourth preset interval within a fourth preset time period; the number of times the difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the source node is within the fourth preset interval within the fourth preset time period reaches a fourth preset number of times; the measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset interval within a fifth preset time period; the number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number of times, and the number of times the measured value of at least one communication measurement quantity obtained is within the fifth preset interval within the fifth preset time period reaches a fifth preset number of times; at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset interval within a fifth preset time period; The number of times that at least one target index value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number, and the number of times that the measured value of at least one communication measurement obtained reaches a fifth preset number within a fifth preset time period within a fifth preset interval; The difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the source node is maintained within a sixth preset interval within a sixth preset time period; The number of times that the difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the source node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number; The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of perception QoS; The state of the perception target changes; The positions of the nodes participating in the perception change; Wherein, the target index value includes a first target index value, a second target index value or a third target index value; The source node includes the signal sending node or the signal receiving node of the first signal in the first perception mode.

18. A perception mode switching method, Characterized in that, It includes: The second perception node performs a second operation; The second operation includes at least one of the following: When receiving the first request message, the second perception node performs a perception operation on the perception target according to the second perception mode, obtains at least one of the measured value of the perception measurement quantity, the perception result and the third target index value, and sends the first response message corresponding to the first request message. The first request message is used to request the second perception node to perform a perception operation on the perception target according to the second perception mode. The first response message carries at least one of the measured value of the perception measurement quantity, the perception result and the third target index value, or the first response message indicates whether the second perception node agrees to perform a perception operation on the perception target according to the second perception mode. The third target index value is the perception-related index value measured by the second perception node; When receiving a switching command, the second perception node obtains a fourth target index value and determines whether to send a switching success message based on the fourth target index value. The switching command is used to notify the second perception node to perform a perception operation on the perception target according to the second perception mode. The switching success message is used to indicate that the perception mode for the perception target has been successfully switched from the first perception mode to the second perception mode. The fourth target index value is the perception-related index value measured by the second perception node; Wherein, in the first perception mode, the signal sending node and the signal receiving node of the first signal are different nodes, and in the second perception mode, the signal sending node and the signal receiving node of the first signal are the same node.

19. The method according to claim 18, Characterized in that, The second perception node determines whether to send a switching success message based on the fourth target index value, including: When the fourth target metric value meets the target condition, the second sensing node sends a handover success message to the first node or the first sensing node.

20. The method according to claim 19, wherein, the third target metric value or the fourth target metric value includes at least one of the following: a metric value related to received power; a metric value related to interference or noise power; a metric value related to both received power and interference or noise power.

21. The method according to claim 20, wherein, the metric value related to received power includes: a first metric value; or the metric value related to interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or the metric value related to both received power and interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value; wherein, the first metric value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal; the second metric value is determined based on the difference between the total received power and the first metric value; the third metric value is determined based on the difference between the total received power and the received power of the first signal; the fourth metric value is determined based on the difference between the received power of the first signal and the first metric value; the fifth metric value is determined based on the quotient of the first metric value and the second metric value; the sixth metric value is determined based on the quotient of the first metric value and the third metric value; the seventh metric value is determined based on the quotient of the first metric value and the fourth metric value; the eighth metric value is determined based on the quotient of the first metric value and the total received power; wherein, the total received power is the linear average value of all received powers on the time-frequency domain resource unit carrying the first signal.

22. The method according to any one of claims 19-21, wherein, the target condition includes at least one of the following: the measured value of at least one sensing measurement obtained by the target measurement node remains within a first preset interval within a first preset time period; the number of times the measured value of at least one sensing measurement obtained by the target measurement node is within the first preset interval within the first preset time period reaches a first preset number; the difference between the measured value of at least one sensing measurement obtained by the target measurement node and the measured value of the corresponding sensing measurement obtained by the source node remains within a second preset interval within a second preset time period; the number of times the difference between the measured value of at least one sensing measurement obtained by the target measurement node and the measured value of the corresponding sensing measurement obtained by the source node is within the second preset interval within the second preset time period reaches a second preset number; at least one target metric value obtained by the target measurement node remains within a third preset interval within a third preset time period; the number of times at least one target metric value obtained by the target measurement node is within the third preset interval within the third preset time period reaches a third preset number; The difference between at least one target metric value obtained by the target measurement node and the corresponding target metric value obtained by the source node remains within a fourth preset interval within a fourth preset time period; The number of times the difference between at least one target metric value obtained by the target measurement node and the corresponding target metric value obtained by the source node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number; The measured value of at least one sensed measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset interval within a fifth preset time period; The number of times the measured value of at least one sensed measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number, and the number of times the measured value of at least one communication measurement quantity obtained is within a fifth preset interval within a fifth preset time period reaches a fifth preset number; At least one target metric value obtained by the target measurement node remains within a third preset interval within a third preset time period, and the measured value of at least one communication measurement quantity obtained remains within a fifth preset interval within a fifth preset time period; The number of times at least one target metric value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number, and the number of times the measured value of at least one communication measurement quantity obtained is within a fifth preset interval within a fifth preset time period reaches a fifth preset number; The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node remains within a sixth preset interval within a sixth preset time period; The number of times the difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the source node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number; The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of sensing QoS; The state of the sensing target changes; The positions of the nodes participating in sensing change; Wherein, the target metric value includes a third target metric value or a fourth target metric value; The source node includes the signal sending node or the signal receiving node of the first signal in the first sensing mode.

23. A sensing mode switching device, the first node includes the sensing mode switching device, Characterized in that, Comprising: An acquisition module, configured to acquire a first target metric value; A switching module, configured to determine whether to switch the sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target metric value; Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes, in the second sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, the first target metric value is a metric value related to sensing measured by the first sensing node, and in the first sensing mode, the first sensing node is the signal receiving node of the first signal.

24. The device according to claim 23, Characterized in that, The device further includes: A first sending module, configured to send a handover measurement request to the first sensing node when a preset event occurs, where the handover measurement request is used to obtain the first target metric value; The preset event includes: The second target metric value meets a target condition, and the second target metric value is a metric value related to sensing measured by the first sensing node.

25. The device according to claim 23 or 24, wherein, when it is determined that the sensing mode for the sensing target is to be switched from the first sensing mode to the second sensing mode, the device further includes: A second sending module, configured to send first request information to a candidate target node, where the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode; A receiving module, configured to receive first response information sent by the candidate target node, and determine a target sensing node based on the first response information.

26. The device according to claim 25, wherein, the receiving module is specifically configured to perform at least one of the following: select a target sensing node from candidate target nodes whose first response information meets the target condition, where the first response information includes at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target metric value, and the third target metric value is a metric value related to sensing measured by the candidate target node; when the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing mode, select a target sensing node from the candidate target nodes based on node-related information of the candidate target node.

27. The device according to claim 26, wherein, the first target metric value or the second target metric value or the third target metric value includes at least one of the following: A metric value related to received power; a metric value related to interference or noise power; a metric value related to both received power and interference or noise power.

28. The device according to claim 27, wherein, the metric value related to received power includes: a first metric value; or the metric value related to interference or noise power includes at least one of the following: a second metric value, a third metric value, a fourth metric value; or the metric value related to both received power and interference or noise power includes at least one of the following: a fifth metric value, a sixth metric value, a seventh metric value, an eighth metric value; wherein, the first metric value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal; the second metric value is determined based on the difference between the total received power and the first metric value; the third metric value is determined based on the difference between the total received power and the received power of the first signal; the fourth metric value is determined based on the difference between the received power of the first signal and the first metric value; the fifth metric value is determined based on the quotient of the first metric value and the second metric value; The sixth index value is determined based on the quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; Wherein, the total received power is the linear average of all received powers on the time-frequency domain resource unit carrying the first signal.

29. A sensing mode switching device, the first sensing node includes the sensing mode switching device, Characterized in that, It includes: An acquisition module, configured to acquire a first target index value; An execution module, configured to execute a first operation; The first operation includes at least one of the following: The first sensing node sends the first target index value to the first node; The first sensing node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target index value; Wherein, in the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes, in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, in the first sensing mode, the first sensing node is the signal receiving node of the first signal, and the first target index value is the index value related to sensing measured by the first sensing node.

30. The device according to claim 29, Characterized in that, The acquisition module is specifically configured to: In the case of a preset event occurring, perform a switching measurement to obtain a first target index value; The preset event includes: The second target index value obtained by the first sensing node satisfies a target condition; Wherein, the second target index value is the index value related to sensing measured by the first sensing node.

31. The device according to claim 30, Characterized in that, The first target index value or the second target index value or the third target index value includes at least one of the following: An index value related to received power; an index value related to interference or noise power; an index value related to both received power and interference or noise power.

32. The device according to claim 31, Characterized in that, The index value related to received power includes: a first index value; or The index value related to interference or noise power includes at least one of the following: a second index value, a third index value, a fourth index value; or The index value related to both received power and interference or noise power includes at least one of the following: a fifth index value, a sixth index value, a seventh index value, an eighth index value; Wherein, the first index value is determined based on the linear average of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal; The second index value is determined based on the difference between the total received power and the first index value; The third index value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on the quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; wherein, the total received power is the linear average of all received powers on the time-frequency domain resource unit carrying the first signal.

33. A sensing mode switching device, and the second sensing node includes the sensing mode switching device, characterized in that it includes: An execution module, configured to execute a second operation; The second operation includes at least one of the following: When receiving a first request message, the second sensing node performs a sensing operation on a sensing target according to a second sensing mode, obtains at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target index value, and sends a first response message corresponding to the first request message. The first request message is used to request the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode. The first response message carries at least one of the measured value of the sensing measurement quantity, the sensing result, and the third target index value, or the first response message indicates whether the second sensing node agrees to perform a sensing operation on the sensing target according to the second sensing mode. The third target index value is an index value related to sensing measured by the second sensing node; When receiving a switching command, the second sensing node obtains a fourth target index value, and determines whether to send a switching success message based on the fourth target index value. The switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode. The switching success message is used to indicate that the sensing mode for the sensing target has been successfully switched from a first sensing mode to a second sensing mode. The fourth target index value is an index value related to sensing measured by the second sensing node; wherein, in the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes, and in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node.

34. The device according to claim 33, characterized in that The execution module is specifically configured to: When the fourth target index value meets a target condition, send a switching success message to a first node or a first sensing node.

35. The device according to claim 34, characterized in that The third target index value or the fourth target index value includes at least one of the following: An index value related to received power; an index value related to interference or noise power; an index value related to both received power and interference or noise power.

36. The device according to claim 35, characterized in that The index value related to received power includes: a first index value; or The index value related to interference or noise power includes at least one of the following: a second index value, a third index value, a fourth index value; or The index values related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value; Among them, the first index value is determined based on the linear average value of the received power on the resource unit carrying the first signal, and the received power is the received power of the path associated with the sensing target in the channel response measured for the first signal; The second index value is determined based on the difference between the total received power and the first index value; The third index value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on the quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; Among them, the total received power is the linear average value of all the received powers on the time-frequency domain resource unit carrying the first signal.

37. A communication device Characterized in that It includes a processor and a memory. The memory stores a program or instruction that can run on the processor. When the program or instruction is executed by the processor, it implements the steps of the sensing mode switching method described in any one of claims 1-9, or implements the steps of the sensing mode switching method described in any one of claims 10-17, or implements the steps of the sensing mode switching method described in any one of claims 18-22.

38. A chip Characterized in that The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run a program or instruction to implement the steps of the sensing mode switching method described in any one of claims 1-9, or implement the steps of the sensing mode switching method described in any one of claims 10-17, or implement the steps of the sensing mode switching method described in any one of claims 18-22.

39. A readable storage medium Characterized in that The readable storage medium stores a program or instruction. When the program or instruction is executed by a processor, it implements the steps of the sensing mode switching method described in any one of claims 1-9, or implements the steps of the sensing mode switching method described in any one of claims 10-17, or implements the steps of the sensing mode switching method described in any one of claims 18-22.

Images