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 sensing node obtains a first target index value; the first sensing node executes a first operation; the first operation comprises at least one of the following items: the first sensing node sends a first target index value to the first equipment; the first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target index value; wherein the first target index value is a sensing-related index value measured by the first sensing node.

Description

Technical Field

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

[0002] In related technologies, sensing nodes in a mobile communication network usually perform sensing measurements on a sensing target (e.g., a specific entity target or a specific area) using a certain pre-determined 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, apparatus, and communication device for switching sensing modes, 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 sensing node obtains a first target metric value;

[0006] The first sensing node performs a first operation;

[0007] The first operation includes at least one of the following:

[0008] The first sensing node sends the first target metric value to a first device;

[0009] 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;

[0010] Wherein, the first target metric value is a metric value related to sensing measured by the first sensing node, and the first target metric value is used to determine whether to switch the sensing mode for the sensing target from the first sensing mode to the second sensing mode;

[0011] In the first sensing mode, the signal sending node and the signal receiving node of a first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal;

[0012] In the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes.

[0013] In a second aspect, a method for switching sensing modes is provided, including:

[0014] The first device obtains a first target metric value;

[0015] The first device 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;

[0016] Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes;

[0017] 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 sending node and the signal receiving node of the first signal.

[0018] In a third aspect, a sensing mode switching method is provided, including:

[0019] A second sensing node performs a second operation;

[0020] The second operation includes at least one of the following:

[0021] In the case of receiving a first request message, the second sensing node performs a sensing operation on the sensing 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 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 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 a metric value related to sensing measured by the second sensing node;

[0022] 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 of the sensing target has been successfully switched from the first sensing mode to the second sensing mode. The fourth target metric value is a metric value related to sensing measured by the second sensing node;

[0023] Among them, under the first sensing method, the signal sending node and the signal receiving node of the first signal are the same node, and under the second sensing method, the signal sending node and the signal receiving node of the first signal are different nodes.

[0024] In a fourth aspect, a sensing method switching device is provided. The first sensing node includes the sensing method switching device, including:

[0025] An acquisition module, configured to acquire a first target metric value;

[0026] An execution module, configured to execute a first operation;

[0027] The first operation includes at least one of the following:

[0028] The first sensing node sends the first target metric value to a first device;

[0029] The first sensing node determines whether to switch the sensing method for the sensing target from the first sensing method to the second sensing method based on the first target metric value;

[0030] Among them, the first target metric value is a metric value related to sensing measured by the first sensing node, and the first target metric value is used to determine whether to switch the sensing method for the sensing target from the first sensing method to the second sensing method;

[0031] Under the first sensing method, the signal sending node and the signal receiving node of the first signal are the same node, and under the first sensing method, the first sensing node is the signal sending node and the signal receiving node of the first signal;

[0032] Under the second sensing method, the signal sending node and the signal receiving node of the first signal are different nodes.

[0033] In a fifth aspect, a sensing method switching device is provided. The first device includes the sensing method switching device, including:

[0034] An acquisition module, configured to acquire a first target metric value;

[0035] A switching module, configured to determine whether to switch the sensing method for the sensing target from the first sensing method to the second sensing method based on the first target metric value;

[0036] Among them, under the first sensing method, the signal sending node and the signal receiving node of the first signal are the same node, and under the second sensing method, the signal sending node and the signal receiving node of the first signal are different nodes;

[0037] The first target index value is an index value related to sensing measured by the first sensing node. In the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal.

[0038] In a sixth aspect, a sensing mode switching device is provided. The second sensing node includes the sensing mode switching device, and includes:

[0039] An execution module, configured to execute a second operation;

[0040] The second operation includes at least one of the following:

[0041] 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 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 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 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;

[0042] 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 the first sensing mode to the second sensing mode. The fourth target index value is an index value related to sensing measured by the second sensing node;

[0043] Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes.

[0044] 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 or the second aspect or the third aspect are implemented.

[0045] In an eighth aspect, a communication device is provided, including a processor and a communication interface, where the processor or the communication interface is configured to:

[0046] Obtain a first target metric value;

[0047] Perform a first operation;

[0048] The first operation includes at least one of the following:

[0049] The first sensing node sends the first target metric value to a first device;

[0050] 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;

[0051] Wherein, the first target metric value is a metric value related to sensing measured by the first sensing node, and the first target metric value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode;

[0052] In the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal;

[0053] In the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes.

[0054] In a ninth aspect, a communication device is provided, including a processor and a communication interface, where the processor or the communication interface is configured to:

[0055] Obtain a first target metric value;

[0056] 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;

[0057] Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes;

[0058] 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 sending node and the signal receiving node of the first signal.

[0059] In a tenth aspect, a communication device is provided, including a processor and a communication interface, wherein the processor or the communication interface is configured to:

[0060] Execute a second operation;

[0061] The second operation includes at least one of the following:

[0062] When receiving a first request message, the second sensing node performs a sensing operation on a 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;

[0063] When 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;

[0064] Wherein, in the first sensing method, the signal sending node and the signal receiving node of a first signal are the same node, and in the second sensing method, the signal sending node and the signal receiving node of the first signal are different nodes.

[0065] In an eleventh aspect, a sensing method switching system is provided, including: a first device, a first sensing node, and a second sensing node. The first sensing node can be configured to execute the steps of the method as described in the first aspect, the first device can be configured to execute the steps of the method as described in the second aspect, and the second sensing node can be configured to execute the steps of the method as described in the third aspect.

[0066] 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 as described in the first aspect, or the steps of the method as described in the second aspect, or the steps of the method as described in the third aspect are implemented.

[0067] In a thirteenth aspect, a chip is provided. The chip includes a processor and a communication interface, and the communication interface is coupled to the processor. The processor is configured to run programs or instructions 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.

[0068] In a fourteenth aspect, a computer program / program product is provided. The computer program / program product is stored in a storage medium and is 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.

[0069] In an embodiment of the present application, a first sensing node obtains a first target metric 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 metric value to a first device; 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; wherein, the first target metric value is a metric value related to sensing measured by the first sensing node, and the first target metric value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; in the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal; in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes. In this way, when the sensing target is sensed and measured by 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 and measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 is a block diagram of a wireless communication system to which an embodiment of the present application can be applied;

[0071] Figure 2 is one of the flowcharts of a sensing mode switching method provided by an embodiment of the present application;

[0072] Figure 3 is a multipath schematic diagram of a channel response in a first dimension;

[0073] Figure 4 is another flowchart of a sensing mode switching method provided by an embodiment of the present application;

[0074] Figure 5 It is the third flowchart of a method for switching sensing modes provided by an embodiment of the present application;

[0075] Figure 6 It is one of the schematic diagrams of switching from the first sensing mode to the second sensing mode;

[0076] Figure 7 It is the second schematic diagram of switching from the first sensing mode to the second sensing mode;

[0077] Figure 8 It is one of the schematic structural diagrams of a sensing mode switching device provided by an embodiment of the present application;

[0078] Figure 9 It is the second schematic structural diagram of a sensing mode switching device provided by an embodiment of the present application;

[0079] Figure 10 It is the third schematic structural diagram of a sensing mode switching device provided by an embodiment of the present application;

[0080] Figure 11 It is the schematic structural diagram of a communication device provided by an embodiment of the present application;

[0081] Figure 12 It is the schematic structural diagram of a terminal provided by an embodiment of the present application;

[0082] Figure 13 It is one of the schematic structural diagrams of a network - side device provided by an embodiment of the present application;

[0083] Figure 14 It is the second schematic structural diagram of a network - side device provided by an embodiment of the present application. Detailed implementation manners

[0084] 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.

[0085] The terms "first", "second", etc. in this 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 this application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same category, and do not limit the number of objects. For example, the first object can be one or multiple. In addition, "or" in this 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 that the related objects before and after are in an "or" relationship.

[0086] The term "indicate" 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, or 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.

[0087] It is worth noting 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 not only in the systems and radio technologies mentioned above, but also in other systems and radio technologies. The following description describes the New Radio (NR) system for example purposes, and uses NR terms 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 (6 thGeneration, 6G) communication system.

[0088] Figure 1A block diagram of a wireless communication system to which 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 devices 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. 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, vehicle user equipment can also be referred to as vehicle terminals, vehicle controllers, vehicle modules, vehicle components, vehicle chips or vehicle units, 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.

[0089] The core network device may include, but is not limited to, at least one of the following: core network node, core network function, 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 devices in the NR system are taken as examples for introduction, and the specific types of core network devices are not limited.

[0090] For ease of understanding, some terms related to the embodiments of this application are explained below:

[0091] 1. Communication perception integration / sensing and communication integration:

[0092] 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.

[0093] 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 interference with each other while 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, so the improvement of spectral efficiency is actually relatively limited. Since the interference in coexisting 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.

[0094] Machine learning, especially deep learning techniques, has further promoted the potential of non-dedicated radio signals for radar sensing. With these techniques, 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 reflection delay of the target signal, the angle of arrival (AOA), the angle of departure (AOA), and Doppler. 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 referred to as sensing parameter estimation and pattern recognition. In this sense, wireless sensing refers to more general sensing techniques and applications using radio signals.

[0095] 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 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 existing mobile network infrastructure without major changes to the network structure and equipment. It will unleash the maximum capacity of mobile networks and avoid the high infrastructure costs of separately building new wide-area wireless sensing networks. With the expansion of coverage, 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 their large broadband coverage and powerful infrastructure, have the potential to become an omnipresent wireless sensing solution. Their 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 achieved 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, where existing solutions are either infeasible or inefficient. It can also provide complementary sensing capabilities to existing sensor networks, with unique day-night operation capabilities and the ability to penetrate fog, leaves, and even solid objects. Some common sensing services are shown in Table 1 below.

[0096] Table 1 Classification of Common Sensing Services

[0097]

[0098] 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 sending and receiving sensing signals between nodes, it is possible to sense a certain area or an 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 CW (FMCW) commonly used in radar, as well as ultra-wideband Gaussian pulses, etc. 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.

[0099] According to whether the sensing nodes are the same device, it can be divided into two sensing methods: A transmits and B receives, and A transmits and receives by itself. A transmits and B receives means that the sensing node A and the sensing node B are not the same device and are physically separated; A transmits and receives by itself means that the sending and receiving 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 receives by itself sensing is uniformly referred to as the first sensing, and the corresponding sensing method is the first sensing method; A transmits and B receives sensing is referred to as the second sensing, and the corresponding sensing method is the second sensing method.

[0100] 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 determines 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 device.

[0101] 2. Sensing measurement quantities

[0102] The sensing measurement quantities can be classified into the following 4 categories:

[0103] (1) First-level measurement quantities (received signal / raw channel information), including: received signal / channel response complex result, amplitude / phase, I / Q channels and their operation results (operations include addition, subtraction, multiplication, division, matrix addition, subtraction, multiplication, matrix transpose, trigonometric relation operations, square root operations, power operations, etc., and threshold detection results, maximum / minimum value extraction results, etc. of the above operation results; 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 threshold detection results, maximum / minimum value extraction results, etc. of the above operation results);

[0104] (2) Second-level measurement quantities (basic measurement quantities), including: time delay, Doppler, angle, intensity, and their multi-dimensional combined representations;

[0105] (3) Third-level measurement quantities (basic attributes / status), including: distance, speed, orientation, spatial position, acceleration;

[0106] (4) Fourth-level measurement quantities (advanced attributes / status), including: presence of target, trajectory, action, expression, vital signs, quantity, imaging result, weather, air quality, shape, material, composition.

[0107] Optionally, the above sensing measurement quantities further include corresponding tag information, including at least one of the following:

[0108] Perceived signal identification information; Perceived measurement configuration identification information; Perceived service information (e.g., perceived service ID); Data subscription ID; Measurement 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 serial number, transceiver node identification); Measurement description information (form, such as amplitude value, phase value, complex value combining amplitude and phase; resource type, such as time-domain measurement result, frequency-domain resource measurement result); Measurement index information (e.g., SNR, perceived SNR).

[0109] 3. Perceived parameter configuration information

[0110] The perceived-related parameter configuration information includes at least one of the following:

[0111] Waveform type, such as OFDM, SC-FDMA, OTFS, frequency-modulated continuous wave FMCW, pulse signal, etc.;

[0112] Subcarrier spacing: For example, the subcarrier spacing of an OFDM system is 30 KHz;

[0113] 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;

[0114] 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;

[0115] 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;

[0116] 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;

[0117] Transmitted signal power, for example, taking a value every 2 dBm from -20 dBm to 23 dBm;

[0118] Signal formats, such as SRS, DMRS, PRS, etc., or other predefined signals, as well as information such as related sequence formats;

[0119] Signal direction; for example, the direction of the sensing signal or beam information;

[0120] 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 sets of periodic time resources or discontinuous time resources (which may include start time and end time). Each set of periodic time resources sends a sensing signal in the same direction, and the beam directions on different sets of periodic time resources are different;

[0121] Frequency resources, including the center frequency point, bandwidth, RB or subcarrier, Point A, starting bandwidth position, etc., of the sensing signal;

[0122] 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;

[0123] Antenna configuration information.

[0124] Among them, the antenna configuration information includes:

[0125] The antenna element ID or antenna port ID for transmitting and / or receiving the sensing signal;

[0126] The panel ID + element ID for transmitting and / or receiving the sensing signal;

[0127] 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);

[0128] 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 representation);

[0129] The bitmap information of the antenna element. For example, in this bitmap, "1" indicates that the element is selected for transmitting and / or receiving sensing signals, and "0" indicates that the element is not selected; or "0" indicates that the element is selected and "1" indicates that the element is not selected.

[0130] The bitmap information of the array panel and the bitmap information of the elements within the selected panel. For example, in this bitmap, "1" indicates that the element is selected for transmitting and / or receiving sensing signals, and "0" indicates that the element is not selected; or "0" indicates that the element is selected and "1" indicates that the element is not selected.

[0131] The following will, in conjunction with the accompanying drawings, through some embodiments and their application scenarios, elaborate in detail on the sensing mode switching method, apparatus, and communication device provided in the embodiments of the present application.

[0132] See Figure 2 , Figure 2 is a flowchart of a sensing mode switching method provided in the embodiments of the present application. As Figure 2 shown, the sensing mode switching method includes the following steps:

[0133] Step 101, the first sensing node obtains a first target metric value;

[0134] Step 102, the first sensing node performs a first operation;

[0135] The first operation includes at least one of the following:

[0136] The first sensing node sends the first target metric value to a first device;

[0137] 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;

[0138] Among them, the first target metric value is a metric value related to sensing measured by the first sensing node, and the first target metric value is used to determine whether to switch the sensing mode for the sensing target from a first sensing mode to a second sensing mode;

[0139] In the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal;

[0140] In the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes.

[0141] In one implementation, when the first target metric value meets the target condition, it can be determined that the sensing mode for the sensing target is switched from the first sensing mode to the second sensing mode; or the first target metric value can be compared with a preset threshold, and when the first target metric value is greater than the preset threshold, it can be determined that the sensing mode for the sensing target is switched from the first sensing mode to the second sensing mode; or the first target metric value can be compared with a preset threshold, and when the first target metric value is less than or equal to the preset threshold, it can be determined that the sensing mode for the sensing target is switched from the first sensing mode to the second sensing mode; and so on, which is not limited in this embodiment.

[0142] Optionally, the first target metric value includes at least one of the following:

[0143] 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.

[0144] Optionally, the metric value related to received power includes: a first metric value; or

[0145] 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

[0146] 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;

[0147] 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;

[0148] The second metric value is determined based on the difference between the total received power and the first metric value;

[0149] The third metric value is determined based on the difference between the total received power and the received power of the first signal;

[0150] The fourth metric value is determined based on the difference between the received power of the first signal and the first metric value;

[0151] The fifth metric value is determined based on the quotient of the first metric value and the second metric value;

[0152] The sixth metric value is determined based on the quotient of the first metric value and the third metric value;

[0153] The seventh metric value is determined based on the quotient of the first metric value and the fourth metric value;

[0154] The eighth metric value is determined based on the quotient of the first metric value and the total received power;

[0155] 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.

[0156] In one implementation, the first target metric value can be the value of the target metric. The target metric can refer to a metric related to sensing measured by a receiving device such as a base station / UE, and can include at least one of the following three categories:

[0157] Metrics related to received power; metrics related to interference or noise power; metrics related to both received power and interference or noise power. Metrics related to both received power and interference or noise power can include: metrics related to Signal to Interference plus Noise Ratio (SINR) / Signal-to-Noise Ratio (SNR) / Signal to Interference Ratio (SIR) / Reference Signal Received Quality (RSRQ).

[0158] It should be noted that the metric value is the value of a certain metric. For example, the metric value related to received power is the value of the metric related to received power; the metric value related to interference or noise power is the value of the metric related to interference or noise power; the metric value related to both received power and interference or noise power is the value of the metric related to both received power and interference or noise power; the first metric value is the value of the first metric; the second metric value is the value of the second metric; the third metric value is the value of the third metric; the fourth metric value is the value of the fourth metric; the fifth metric value is the value of the fifth metric; the sixth metric value is the value of the sixth metric; the seventh metric value is the value of the seventh metric; the eighth metric value is the value of the eighth metric.

[0159] Wherein, the metrics related to received power can include:

[0160] The first metric (received power of the path associated with the sensing target): The linear average (in W) of the received powers of the paths 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 a frequency domain resource unit; the first signal can 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 refers to the arithmetic average of linear values.

[0161] Wherein, the metrics related to interference or noise power can include at least one of the following:

[0162] Second indicator, third indicator, fourth indicator.

[0163] Among them, the second indicator can be the linear average of the power of the other paths except the perceived target associated path in the channel response of the first signal on the target resource, and the linear average 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) (unit: W); among them, the target resource can be a time-frequency domain resource unit carrying the first signal;

[0164] Second indicator = total received power - first indicator; among them, the total received power can be expressed as: the linear average 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.) (unit: W); or, total received power = RSSI * K1, 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;

[0165] Among them, the third indicator can be the linear average 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) (unit: W); among them, the target resource can be a time-frequency domain resource unit carrying the first signal;

[0166] Third indicator = total received power - first signal received power; among them, 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.

[0167] Among them, the fourth indicator can be the linear average of the power of the other paths except the perceived target associated path in the channel response of the first signal on the target resource (unit: W);

[0168] Fourth indicator = RSRP of the first signal - first indicator;

[0169] Among them, the indicators related to perceived SINR / SNR / SIR / RSRQ can include at least one of the following:

[0170] Fifth indicator, sixth indicator, seventh indicator, eighth indicator.

[0171] Among them,

[0172] Fifth indicator (first perceived SINR / SNR / SIR) = first indicator / second indicator;

[0173] Sixth indicator (second perceived SINR / SNR / SIR) = first indicator / third indicator;

[0174] The seventh metric (the third type of perceived SINR / SNR / SIR) = the first metric / the fourth metric;

[0175] The eighth metric (perceived RSRQ) = K2 * the first metric / the total received power, where K2 is a coefficient;

[0176] It should be understood that " / " represents a division operation. For example, the first metric / the second metric refers to the quotient obtained by dividing the first metric by the second metric.

[0177] In one implementation, the calculation method of the first metric is as follows:

[0178] 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 perceived target associated path in the first dimension. Then, the power of the perceived target associated path is calculated as the first metric. If the perceived target associated path includes multiple paths, the sum of the powers of the multiple paths is calculated as the first metric.

[0179] Among them, the first dimension includes one of the following:

[0180] Delay dimension; Doppler dimension; Azimuth angle dimension; Elevation angle dimension.

[0181] Among the delay dimension, Doppler dimension, azimuth angle dimension, and elevation angle dimension, a dimension that combines at least two of them. For example, the delay-Doppler dimension, the delay-Doppler-angle dimension, etc.;

[0182] For example, if H(f) is the channel response, where f = 0, 1, 2, ..., N - 1 represents frequency-domain sampling points (such as subcarrier indices), then by performing an inverse Fourier transform on H(f), it can be transformed into the delay dimension (the first dimension); for another example, if H(f, t) is the channel response, where f = 0, 1, 2, ..., N - 1 represents frequency-domain sampling points (such as subcarrier indices) and t = 0, 1, 2, ..., M - 1 represents time-domain sampling points (such as OFDM symbol indices), then by performing an inverse Fourier transform along the frequency domain dimension and a Fourier transform along the time domain dimension on H(f, t), it can be transformed into the delay-Doppler dimension (the first dimension); for another example, if H(f, t, s) is the channel response, where f = 0, 1, 2, ..., N - 1 represents frequency-domain sampling points (such as subcarrier indices), t = 0, 1, 2, ..., M - 1 represents time-domain sampling points (such as OFDM symbol indices), and s = 0, 1, 2, ..., P - 1 represents spatial domain sampling points (antenna indices or port indices), then 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), it can be transformed into the delay-Doppler-angle dimension (i.e., the first dimension).

[0183] Method for determining a path associated with a sensing target (simply referred to as a sensing path) in the channel response measured for a first signal:

[0184] (1) Determine a first path set. The paths in the first path set include the paths among all paths whose amplitude / power / intensity / energy exceed a certain threshold after the channel response is transformed into the first dimension. For example Figure 3 in, paths 0, 1, 2, 3 are the paths in the first path set; the 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 path set is optional, and the paths associated with the sensing target can be determined only according to step (2).

[0185] (2) Select the paths that meet the first condition from the first path set or from all paths as the paths associated with the sensing target.

[0186] The first condition includes at least one of the following:

[0187] The amplitude / power / intensity / energy of the path exceeds a preset threshold or is within a preset interval range; for example, the preset threshold is 5 times higher than the noise threshold;

[0188] The Doppler of the path exceeds a preset threshold or is within a preset interval range;

[0189] The delay of the path exceeds a preset threshold or is within a preset interval range;

[0190] The angle of the path exceeds a preset threshold or is within a preset interval range;

[0191] 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 lies within a preset range.

[0192] 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 a RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or lies within a preset range.

[0193] 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 a RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or lies within a preset range.

[0194] 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 a RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or lies within a preset range.

[0195] 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 sensed target can be the path modulated and reflected by the Tag / Backscatter device / RIS.

[0196] The above first conditions can also be based on the results of statistics over a period of time; for example, the proportion of the above indicators (such as the Doppler of the path, the time delay of the path, etc.) exceeding the preset threshold or lying within the preset range reaches a preset proportion within a preset time window, or the number of times the above indicators (such as the Doppler of the path, the time delay of the path, etc.) exceeding the preset threshold or lying within the preset range reaches a preset number within a preset time window.

[0197] Among them, the preset threshold or the set range is sent by other devices to the receiving device, and is determined by other devices according to the sensed prior information or sensing requirements. Or, the preset threshold or the set range is determined by the receiving device according to the sensed prior information or sensing requirements.

[0198] Among them, the sensed prior information or sensing requirements include the following information:

[0199] Perception service or perception service type; perception target area; perception object type; number of perception targets.

[0200] 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, expression recognition, face 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.

[0201] 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, the preset interval range of the time delay of the perception target correlation path is determined according to the approximate position / distance of the perception object.

[0202] Perception object type: Classify the perception object according to the possible motion characteristics of the perception object. Each perception object type contains information such as the motion speed range, motion acceleration range, and typical RCS range of typical perception objects.

[0203] 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.

[0204] For example Figure 3 In it, 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 3It is a multipath schematic diagram of the channel response in the first dimension (delay dimension, Doppler dimension, azimuth dimension, or elevation dimension). In Figure 3 the horizontal axis represents the first dimension, and the vertical axis represents the normalized amplitude / power / intensity / energy.

[0205] 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 that 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 signal on multiple antenna elements corresponding to this receiving channel.

[0206] In one implementation, the calculation method of the first metric is as follows:

[0207] 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.

[0208] Optionally, a calculation method for the received power of a first signal is as follows:

[0209] 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.

[0210] Optionally, another calculation method for the received power of a first signal is as follows:

[0211] 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.

[0212] In one implementation, the calculation method of the total received power is as follows:

[0213] Total received power

[0214] In one implementation, the calculation method of the second metric is as follows:

[0215] The channel response H(k) is subjected to a first filtering process to obtain H filter1 (k), and then based on H filter1 (k) and the first signal X(k), the received signal Y filter1 (k) after the first filtering process is calculated, that is, Y filter1 (k) = H filter1 (k)X(k). Then the received signal Y(k) is subtracted from the received signal Y filter1 (k) after the first filtering process to obtain the interference and noise signal Y σ1 (k), that is, Y σ1 (k) = Y(k) - Y filter1 (k), and then the second metric is calculated

[0216] Among them, the first filtering process is used to eliminate the noise and interference in the first dimension and the paths not associated with the perceived target. For example, the first filtering process sets Figure 3 the amplitudes / powers / intensities / energies of the other paths except the paths associated with the perceived target in filter1 (k) to zero. The channel response H

[0217] In one implementation, the third metric is calculated as follows:

[0218] The channel response H(k) is subjected to a second filtering process to obtain H filter2 (k), and then based on H filter2 (k) and the first signal X(k), the received signal Y filter2 (k) after the second filtering process is calculated, that is, Y filter2 (k) = H filter2 (k)X(k). Then the received signal Y(k) is subtracted from the received signal Y filter2 (k) after the second filtering process to obtain the interference and noise signal Y σ2 (k), that is, Y σ2 (k) = Y(k) - Y filter2 (k), and then the third metric is calculated

[0219] The second filtering process can be a noise interference suppression process in the first dimension (for example Figure 3 setting the amplitudes / powers / intensities / energies of the other paths except the first path set in filter2 (k) to zero), or MMSE filtering. The channel response H

[0220] In one implementation, the third metric is calculated as follows:

[0221] Based on the average power of multiple paths outside the first path set in the first dimension The third metric P is calculated σ2 , that is where N represents the number of sampling points in the first dimension.

[0222] It should be noted that if the receiving device determines multiple sensing targets, or the receiving device obtains the number of sensing targets based on sensing prior information or sensing requirements, there are the following methods:

[0223] Method 1: Calculate the target metrics of each sensing target separately. For example, in Figure 3 the paths associated with each sensing target are determined respectively, and then the respective target metrics corresponding to each sensing target are calculated; when calculating the second metric corresponding to a certain sensing target (such as sensing target A), there are two methods: Suppose there are two sensing targets in total: A and B, the second metric of sensing target A = total received power - the first metric of sensing target A; or, the second metric of sensing target A = total received power - the first metric of sensing target A - the first metric of sensing target B; Similarly, there are also two calculation methods for the fourth metric: Suppose there are two sensing targets in total: A and B, the fourth metric of sensing target A = RSRP of the first signal - the first metric of sensing target A; or, the fourth metric of sensing target A = RSRP of the first signal - the first metric of sensing target A - the first metric of sensing target B.

[0224] Method 2: Calculate a target metric 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 metric corresponding to this virtual sensing target.

[0225] In an embodiment of the present application, a first sensing node obtains a first target metric 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 metric value to a first device; the first sensing 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, the first target metric value is a metric value related to sensing measured by the first sensing node, and the first target metric value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; in the first sensing mode, the signal sending node and the signal receiving node of a first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal; in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes. 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 and measurement.

[0226] Optionally, the first sensing node sending the first target metric value to a first device includes:

[0227] The first sensing node sends a handover measurement report, and the content of the handover measurement report includes the first target metric value.

[0228] 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 and measurement.

[0229] Optionally, the first sensing node obtaining the first target metric value includes:

[0230] In the case of a preset event occurring, the first sensing node performs a handover measurement to obtain a first target metric value;

[0231] The preset event includes:

[0232] The second target metric value obtained by the first sensing node satisfies a target condition;

[0233] Wherein, the second target metric value is a metric value related to sensing measured by the first sensing node.

[0234] In addition, the second target metric value may be the value of the target metric, which has been described previously and will not be elaborated here.

[0235] 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 sensing node performs a switching measurement to obtain the first target metric value, thereby supporting triggering a switching measurement request when the sensing performance of the first sensing node deteriorates, and then determining whether to switch the sensing method, so that the sensing method 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.

[0236] Optionally, when it is determined to switch the sensing method for the sensing target from the first sensing method to the second sensing method, the method further includes:

[0237] The first sensing node sends a first request message to the 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 method;

[0238] The first sensing node receives a first response message sent by the candidate target node, and determines the target sensing node based on the first response message.

[0239] In this embodiment, the first sensing node sends a first request message to the candidate target node, the first sensing node receives a first response message sent by the candidate target node, and determines the target sensing node based on the first response message. Thus, the first sensing node can determine the target sensing node based on the first response message of the candidate target node to the first request message.

[0240] Optionally, determining the target sensing node based on the first response message includes at least one of the following:

[0241] Selecting the 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 the measured value of the sensing measurement quantity, the sensing result, and the third target metric value, and the third target metric value is the metric value related to sensing measured by the candidate target node.

[0242] 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, selecting the target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

[0243] Among them, the third target metric value may be the value of the target metric, which has been described previously and will not be elaborated here.

[0244] 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 a first sensing method to a second sensing method.

[0245] Among them, the node-related information of the candidate target node may include at least one of the following:

[0246] 1) Location information of the candidate target node;

[0247] 2) Antenna panel orientation information of the candidate target node;

[0248] 3) Status information of the candidate target node, including information such as moving speed, moving direction, and the time period of staying stationary / moving);

[0249] 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 and frame formats of sensing signals that can be supported, UE antenna array information (array type, number of antennas, array aperture, antenna polarization characteristics, element gain, and directivity characteristics, etc.);

[0250] 5) Resource information currently available for the candidate target node to perform sensing, 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.;

[0251] 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.

[0252] In this embodiment, a target sensing node is selected from the candidate target nodes that satisfy the target conditions in the first response information, 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 index value; or, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target nodes. Thereby, 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.

[0253] Optionally, the target condition includes at least one of the following:

[0254] (1) 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;

[0255] (2) 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;

[0256] (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 first sensing node remains within a second preset interval within a second preset time period;

[0257] (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 first sensing node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0258] (5) 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;

[0259] (6) 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;

[0260] (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 first sensing node remains within a fourth preset interval within a fourth preset time period;

[0261] (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 first sensing node is within the fourth preset interval within the fourth preset time period reaches a fourth preset number of times;

[0262] (9) 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;

[0263] (10) 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;

[0264] (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;

[0265] (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, 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;

[0266] (13) The difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the first perception node remains within a sixth preset range within a sixth preset time period;

[0267] (14) 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 first perception node is within the sixth preset range within the sixth preset time period reaches a sixth preset number;

[0268] (15) The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the perception service quality QoS;

[0269] (16) The state of the perception target changes;

[0270] (17) The positions of the nodes participating in the perception change;

[0271] Wherein, the target index value includes a first target index value, a second target index value or a third target index value.

[0272] In one implementation manner, the target condition includes at least one of the following:

[0273] The measured value of at least one perception 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;

[0274] The difference between the measured value of at least one perception measurement quantity of the target measurement node and the corresponding measured value of the perception 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;

[0275] 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;

[0276] The difference between at least one target indicator measurement value of the target measurement node and the corresponding target indicator measurement value 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;

[0277] The measurement values of at least one sensing measurement quantity and at least one communication measurement quantity of the target measurement node both remain within a preset range within a preset time period, or the number of times they both fall within the preset range within the preset time period reaches a preset number of times;

[0278] At least one target indicator measurement value and at least one communication measurement quantity measurement value of the target measurement node remain within a preset range within a preset time period, or the number of times they both fall within the preset range within the preset time period reaches a preset number of times;

[0279] The difference between at least one sensing result of the target measurement node and the corresponding sensing result of 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;

[0280] 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;

[0281] The state of the sensing target changes (the state includes position, speed, etc.);

[0282] The positions of the nodes participating in sensing change.

[0283] Wherein, the source node includes the signal sending node or the signal receiving node of the first signal under the first sensing mode

[0284] It should be noted that the preset range 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.

[0285] Wherein, the target measurement node may refer to a node that measures the indicator values related to sensing (such as the first target indicator value, the second target indicator value, or the third target indicator value). When determining whether the first target indicator value measured by the first sensing node meets the target condition, the target measurement node may refer to the first sensing node; when determining whether the second target indicator value measured by the first sensing node meets the target condition, the target measurement node may refer to the first sensing node; when determining whether the third target indicator value measured by the candidate target node meets the target condition, the target measurement node may refer to the candidate target node.

[0286] 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 during the execution of 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 it 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 judgment of triggering the switching measurement (such as 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.

[0287] 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:

[0288] Step 201, the first device obtains a first target index value;

[0289] Step 202, the first device 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;

[0290] Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes;

[0291] The first target index value is a sensing-related index value measured by the first sensing node. In the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal.

[0292] Optionally, the first device obtains the first target index value, including:

[0293] The first device receives a switching measurement report sent by the first sensing node, and the content of the switching measurement report includes the first target index value.

[0294] Optionally, before the first device obtains the first target metric value, the method further includes:

[0295] In the case of a preset event occurring, the first device sends a handover measurement request to the first sensing node, and the handover measurement request is used to obtain the first target metric value;

[0296] The preset event includes:

[0297] The second target metric value obtained by the first sensing node meets the target condition;

[0298] Wherein, the second target metric value is a metric value related to sensing measured by the first sensing node.

[0299] Optionally, in the case of determining that the sensing method for the sensing target is to be switched from the first sensing method to the second sensing method, the method further includes:

[0300] The first device sends first request information to a candidate target node, and 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 method;

[0301] The first device receives first response information sent by the candidate target node, and determines a target sensing node based on the first response information.

[0302] Optionally, determining the target sensing node based on the first response information includes at least one of the following:

[0303] Selecting a target sensing node from the 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.

[0304] In the case where 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 method, selecting a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

[0305] 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:

[0306] 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.

[0307] Optionally, the metric value related to received power includes: a first metric value; or

[0308] The index values related to the interference or noise power include at least one of the following: a second index value, a third index value, and a fourth index value; or

[0309] 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;

[0310] 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;

[0311] The second index value is determined based on the difference between the total received power and the first index value;

[0312] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0313] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0314] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0315] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0316] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0317] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0318] 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.

[0319] Optionally, the target condition includes at least one of the following:

[0320] The measured value of at least one sensing measurement quantity obtained by the target measurement node remains within the first preset interval within the first preset time period;

[0321] The number of times 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 the first preset number of times;

[0322] 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 first sensing node remains within the second preset interval within the second preset time period;

[0323] The number of times that the difference between the measurement value of at least one sensed measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensed measurement quantity obtained by the first sensing node is within a second preset interval within a second preset time period reaches a second preset number;

[0324] At least one target index value obtained by the target measurement node is maintained within a third preset interval within a third preset time period;

[0325] 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;

[0326] The difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period;

[0327] 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 first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0328] The measurement value of at least one sensed measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0329] 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 interval within a first preset time period reaches a first preset number, and the number of times that the measurement 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;

[0330] At least one target index value obtained by the target measurement node is maintained within a third preset interval within a third preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0331] 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 measurement 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;

[0332] The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the first sensing node is maintained within a sixth preset interval within a sixth preset time period;

[0333] 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 first perception node is within the sixth preset interval within the sixth preset time period reaches the sixth preset number;

[0334] The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the perception service quality QoS;

[0335] The state of the perception target changes;

[0336] The positions of the nodes participating in the perception change;

[0337] Wherein, the target index value includes a first target index value, a second target index value or a third target index value.

[0338] It should be noted that, as the implementation manner of the first device 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, the relevant descriptions of this embodiment will not be elaborated here.

[0339] Refer to Figure 5 , Figure 5 is a flowchart of a perception mode switching method provided by an embodiment of the present application. As shown in Figure 5 The perception mode switching method includes the following steps:

[0340] Step 301, the second perception node performs a second operation;

[0341] The second operation includes at least one of the following:

[0342] In the case of 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 a measurement value of a perception measurement quantity, a perception 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 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 measurement 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 a perception-related index value measured by the second perception node;

[0343] Upon receiving a handover command, a 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 according to 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.

[0344] Wherein, in the first sensing manner, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing manner, the signal sending node and the signal receiving node of the first signal are different nodes.

[0345] Wherein, the second sensing node may be a candidate target node or a target sensing node.

[0346] It should be noted that the first sensing node or the first device can determine the target sensing node through a third target metric value. The target sensing node includes the signal sending node of the first signal after handover. The signal sending node of the first signal does not need to measure the third target metric value, but only needs to send the first signal, and the third target metric value is measured by the signal receiving node of the first signal.

[0347] In this embodiment, 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 of the sensing manner adopts a soft handover process, so as to support the source node to end the first sensing manner only when it ensures that the target sensing node starts to perform sensing according to the second sensing manner and has good sensing performance, so that the sensing of the sensing target is not interrupted.

[0348] Optionally, the second sensing node determines whether to send a handover success message to the first device or the first sensing node based on the fourth target metric value, including:

[0349] When the fourth target metric value meets the target condition, the second sensing node sends a handover success message to the first device or the first sensing node.

[0350] Optionally, the third target metric value or the fourth target metric value includes at least one of the following:

[0351] 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.

[0352] Optionally, the metric value related to received power includes: a first metric value; or

[0353] The index values related to the interference or noise power include at least one of the following: a second index value, a third index value, and a fourth index value; or

[0354] 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;

[0355] 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;

[0356] The second index value is determined based on the difference between the total received power and the first index value;

[0357] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0358] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0359] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0360] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0361] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0362] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0363] 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.

[0364] Optionally, the target condition includes at least one of the following:

[0365] 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;

[0366] 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;

[0367] 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 first sensing node remains within a second preset interval within a second preset time period;

[0368] The number of times that the difference between the measurement value of at least one sensed measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensed measurement quantity obtained by the first sensing node is within a second preset interval within a second preset time period reaches a second preset number of times;

[0369] At least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0370] 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 of times;

[0371] The difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the first sensing node remains within a fourth preset interval within a fourth preset time period;

[0372] 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 first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number of times;

[0373] The measurement 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 measurement 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;

[0374] 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 interval within 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 by the target measurement node is within a fifth preset interval within a fifth preset time period reaches a fifth preset number of times;

[0375] 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 measurement 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;

[0376] 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 of times, and the number of times that the measurement 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;

[0377] The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node remains within a sixth preset interval within a sixth preset time period;

[0378] 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 first perception node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

[0379] The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of perception QoS;

[0380] The state of the perception target changes;

[0381] The positions of the nodes participating in the perception change;

[0382] Wherein, the target index value includes a third target index value or a fourth target index value.

[0383] 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.

[0384] It should be noted that this embodiment is used as Figure 2 or Figure 4 In the embodiment corresponding to the candidate target node or the target perception node shown in the embodiment, the specific implementation manner can refer to Figure 2 or Figure 4 For the relevant description of the embodiment shown, to avoid repeated description, this embodiment will not be elaborated here.

[0385] The following uses several specific embodiments to illustrate the perception mode switching method provided by the embodiments of the present application:

[0386] In a mobile communication network, nodes participating in perception / sensing and communication integration services can perform perception / sensing and communication integration services in two different ways: sending / receiving signals between different nodes or self-transmitting and self-receiving signals by nodes. Since the state of the perception target or the perception environment may change, in order to ensure the performance of perception / sensing and communication integration services, the network may need to perform switching between different perception modes and different perception nodes. Currently, the relevant processes for the above-mentioned perception switching are not yet perfect.

[0387] The embodiments of the present application define target metrics for assisting perception mode switching. In the embodiments of the present application, the first device or the perception source node (base station / UE) obtains the target metrics and decides whether to switch and select the target perception node based on the target metrics.

[0388] When performing perception mode switching in a mobile communication network, it can be switched from a first perception mode to a second perception mode. Figure 6 A switching schematic diagram is given. Among them, considering that the perception nodes in the network may change before and after the switching, and the perception nodes after the switching may be base stations or UEs, there are 6 combinations for the above switching. Specifically:

[0389] 1) First sensing of the base station, switching to the second sensing of the base station - UE (Case 1);

[0390] 2) First sensing of the base station, switching to the second sensing of the base station - base station (Case 2);

[0391] 3) First sensing of the UE, switching to the second sensing of the base station - UE (Case 3);

[0392] 4) First sensing of the UE, switching to the second sensing of the UE - UE (Case 4);

[0393] 5) First sensing of the base station, switching to the second sensing of the UE - UE (Case 5);

[0394] 6) First sensing of the UE, switching to the second sensing of the base station - base station (Case 6).

[0395] 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.

[0396] The switching steps, processes, and necessary information interactions for the above Cases 1 to 6 are described below through embodiments.

[0397] It should be noted that Figure 2 or Figure 4 or Figure 5 The first device in the embodiment may include 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 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.

[0398] Embodiment 1:

[0399] The sensing node switching method of this embodiment can be regarded as a conventional switching method of sensing nodes.

[0400] This embodiment description: This embodiment describes the process and interaction content of the first node performing the first sensing and switching to the first node and the second node, or the second node and the third node performing the second sensing. The first node, the second node, and the third node can be base stations or UEs. In this embodiment, the node that performs the first sensing before the handover is called the source node (i.e., the first node), and the nodes that perform the second sensing after the handover are called the target nodes (including at least two of the first node, the second node, and the third node).

[0401] Step (11): The network performs handover measurements.

[0402] The first device sends a handover measurement request to the source node. After receiving the handover measurement request, the source node performs handover measurements and feeds back a handover measurement report to the first device;

[0403] Or,

[0404] The source node actively performs handover measurements to obtain a handover measurement report. Optionally, the source node sends a handover measurement report to the first device.

[0405] Optionally, before the source node performs handover measurements, the first device sends handover measurement configuration information required for handover measurements to the source node; or, the handover measurement configuration information is included in the handover measurement request.

[0406] The handover measurement configuration information includes at least one of the following:

[0407] 1) Measurement object: Indicates one or more first signals of the source node and / or candidate target nodes that need to be measured, as well as the sensing measurement quantities related to the first signal (see the explanation of the sensing measurement quantities above) and the sensing parameter configuration information (see the explanation of the sensing parameter configuration information above);

[0408] 2) Handover measurement report configuration: Includes 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.;

[0409] 3) Measurement events and related parameters: Include measurement event definitions, event-related parameters, handover decision conditions, etc.;

[0410] 4) Measurement ID: Measurement identifier, and each measurement ID corresponds to a measurement object and a handover measurement report configuration.

[0411] The handover measurement report includes at least one of the measurement results of the sensing measurement quantities required for handover measurements and the target metrics.

[0412] The sensing measurement quantities required for handover measurements may include the sensing measurement quantities of the current sensing service.

[0413] In addition, the trigger events for triggering the handover measurement in step (11) include at least one of the following:

[0414] 1) The target metrics obtained by the source node meet the target conditions. The explanations of the target metrics and target conditions have been described in the above embodiments and will not be elaborated here.

[0415] 2) The state of the sensed target changes (the state includes position, speed, etc.);

[0416] 3) The position of the source node changes;

[0417] 4) The environment of the sensing area changes (such as the appearance of obstacles);

[0418] 5) The communication measurement quantities obtained by the source 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.

[0419] 6) The available sensing resources of the source 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.

[0420] Step (12): The source node decides whether to initiate a handover based on the handover measurement report; alternatively, the first device decides whether to initiate a handover request according to the handover measurement report obtained from the source node.

[0421] If the handover is not initiated, the subsequent processing can be to maintain or end the current first sensing.

[0422] If the handover is initiated, the first device or the source node decides which node will switch to the second sensing mode, which is specifically divided into the following situations:

[0423] Situation 1: The source node decides to switch to the second node - the third node to perform the second sensing.

[0424] The source node sends first request information to at least one candidate second node, where the first request information requests the first request information recipient to perform a second sensing of the second node - third node after the sensing mode switching is completed. The candidate second node sends the first request information to at least one candidate third node;

[0425] Alternatively, the source node sends the first request information to at least one candidate second node and candidate third node.

[0426] Optionally, the source node sends first indication information to the first device, where the first indication information notifies the first indication information recipient to perform a second sensing of the second node - third node after the sensing mode switching.

[0427] Case 2: The first device decides to switch to the second sensing.

[0428] The first device sends the first request information to at least one candidate second node and / or the source node. The candidate second node and / or the source node sends the first request information to at least one candidate third node.

[0429] Alternatively, the first device sends the first request information to at least one candidate target node (including the candidate second node, candidate third node, source node).

[0430] Optionally, the first device sends the first indication information to the source base station.

[0431] The meanings of the first request information and the first indication information are as described in Case 1.

[0432] Case 3: The source node decides to actively switch to the second sensing of the source node - second node / third node. In this case, the source node is one of the target nodes.

[0433] The source node sends the first request information to at least one candidate second node or candidate third node.

[0434] Optionally, the source node sends second indication information to the first device, where the second indication information instructs the second indication information recipient that the second indication information sender performs the second sensing after the sensing mode switching is completed.

[0435] The meaning of the first request information is as described in Case 1.

[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) Location information of the candidate target nodes;

[0439] 2) Antenna panel orientation information of candidate target nodes;

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

[0441] 4) Sensing capability information of candidate target nodes, including UE sensing coverage range, maximum bandwidth available for sensing, maximum sustainable time of sensing services, 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 candidate target nodes, 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 positions, 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 candidate target nodes, including at least one of the channel transfer function / channel impulse response of a 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-mentioned 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 purposes, 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 (the time interval between two adjacent executions of perception and obtaining the perceived result), detection probability (the probability of being correctly detected when the perceived object exists), false alarm probability (the probability of erroneously detecting the perceived target when the perceived object does not exist), perceived security, perceived privacy;

[0447] 3) Perceived measurement quantity (see the explanation of the aforementioned 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 (speed, angle, distance, acceleration, spatial orientation), etc.;

[0451] 7) Conditions for successful judgment of perceived mode switching, for example, indicating 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 and sequentially executes the following processes:

[0454] 1) The candidate third node sends a second response message to the second request message sender (the candidate second node or the source node), and the second response message indicates to the second request message sender that after the perceived mode switching is completed, the second response message sender agrees to perform the second perception.

[0455] 2) After the candidate second node or the source node receives the second response message sent by the candidate third node, it sends a first response message to the first request message sender (source node or the first device), and the first response message instructs the first request message sender that after the sensing mode switching is completed, the first response message sender agrees to perform the second sensing.

[0456] Optionally, the first response message includes the content carried by the second response message.

[0457] Optionally, the candidate second node or the source node feeds back the proposed first parameter configuration information in the first response message. The first parameter configuration information is used for the candidate target node to configure the sensing parameters for the second sensing. This first parameter configuration information is the parameter configuration information proposed by the candidate second node or the source node, and this first parameter configuration information is fed back in the first response message.

[0458] Optionally, the candidate third node feeds back the proposed second parameter configuration information in the second response message. The second parameter configuration information is used for the candidate target node to configure the sensing parameters for the second sensing. The second parameter configuration information is sent by the candidate third node and is the parameter configuration of the target node proposed by the candidate third node. The actual target node finally adopts the first parameter configuration information, or the second parameter configuration information, or partially adopts the first parameter configuration information and the second parameter configuration information, which is determined by the target node itself.

[0459] Optionally, the first parameter configuration information includes the content carried by the second parameter configuration information.

[0460] For the explanation of the first parameter configuration information, refer to the aforementioned sensing parameter configuration information.

[0461] The content type of the second parameter configuration information is the same as that of the first parameter configuration information.

[0462] If the first request message includes a soft handover request and the candidate target base station agrees and supports the soft handover, optionally, the first parameter configuration information includes the soft handover parameter configuration information.

[0463] If the second request message includes a soft handover request and the candidate target UE agrees and supports the soft handover, optionally, the second parameter configuration information includes the soft handover parameter configuration information.

[0464] Case 2: At least one of the candidate target nodes does not agree to the handover:

[0465] Optionally, the candidate second node sends a first rejection message to the first request message sender (source node or the first device), and the first rejection message instructs the first request message sender that the first rejection message sender will not perform the second sensing.

[0466] Optionally, the candidate third node sends second rejection information to the second request information sender (source node or candidate second node), and the second rejection information indicates to the second request information sender that the second rejection information sender does not perform the second sensing.

[0467] It should be noted that the candidate second node may not reply to the first rejection information, and it is determined that the candidate second node does not agree to perform the second sensing when the source node or the first device waits for a timeout; the candidate third node may not reply to the second rejection information, and it is determined that the candidate third node does not agree to perform the second sensing when the source node or the candidate second node waits for a timeout.

[0468] If no candidate first node or candidate second 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 second node; ii. The candidate second node re-determines the candidate third node; iii. The source node or the first device re-determines the candidate second node, and the candidate second node determines the candidate third node; iii. Cancel the handover and maintain the current first sensing; iv. End the current first sensing.

[0469] Step (14): The source node or the first device determines the sensing node that performs the second sensing, which is divided into the following two cases:

[0470] Case 1: The source node or the first device determines the target second node, and the target second node determines the target third node.

[0471] Based on the received first response information, the source node or the first device determines at least one target second node among the candidate target second nodes as the sensing node that performs the second sensing after the handover. The source base station or the first device can directly select the target second node, and the source base station or the first device can determine that the selected target second node performing the second sensing can meet the sensing requirements and sensing QoS based on the information it has.

[0472] The source node or the first device sends a handover command to the target second node. The handover command is used to notify the target node to perform the second sensing operation.

[0473] After receiving the first handover command, the target second node determines at least one target third node among the candidate third nodes as the sensing node that performs the second sensing after the handover. Further, the target second node sends a handover command to the target third node.

[0474] Case 2: The source node or the first device determines the target second node and the target third node simultaneously.

[0475] Based on the received first response information, the source node or the first device determines at least one target second node from the candidate target second nodes, and determines at least one target third node from the candidate target third nodes as the sensing nodes that perform the second sensing after the handover.

[0476] The source node or the first device sends a handover command to the target second node, and the target second node sends a handover command to the target third node. Alternatively, the source node or the first device sends a handover command to the target second node and the target third node.

[0477] Optionally, the source node or the first device feeds back the recommended third parameter configuration information in the handover command, and the third parameter configuration information is used for the sensing parameter configuration of the target nodes (the target second node and the target third node) to perform the second sensing.

[0478] The content type of the third parameter configuration information is the same as that of the first parameter configuration information.

[0479] Optionally, the third parameter configuration information includes soft handover parameter configuration information.

[0480] Step (15): The target node performs the second sensing, which is divided into the following two cases:

[0481] Case 1: Adopt the soft handover method. The target node performs sensing parameter configuration and performs the second sensing based on at least one of the first request information, the first parameter configuration information, the second parameter configuration information, and the third parameter configuration information.

[0482] After the target node obtains 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.

[0483] Optionally, after receiving the handover success message, the first device sends a first end command to the source node.

[0484] After receiving the handover success message or the first end command, the source node ends the original sensing operation and releases the resources occupied by the sensing (including time-frequency resources, antenna port resources, etc.);

[0485] Case 2: Adopt the hard handover method. While performing step (14), the source base station or the first device does not need to wait for the handover success message. The source node ends the original sensing operation and releases the resources occupied by the sensing (including time-frequency resources, antenna port resources, etc.);

[0486] Step 6: Optionally, the source node and / or the first device send some or all of the historical sensing measurements and / or historical sensing results, and the sensing target / area prior information to the target node.

[0487] Embodiment 2:

[0488] The sensing node switching method of this embodiment can be regarded as a conditional switching method of the sensing node.

[0489] The difference between this embodiment and the first embodiment lies in describing the process and interaction content of the switching method as conditional switching. The definitions of the corresponding terms are the same as those in the first embodiment and will not be elaborated here.

[0490] Step (21): Same as step (11) of the first embodiment.

[0491] Step (22): Same as step (12) of the first embodiment.

[0492] Step (23): The candidate target node decides whether to accept performing the second sensing after switching the sensing mode. It is divided into the following two cases:

[0493] Case 1: The candidate target node agrees to switch:

[0494] The following processes are executed in sequence:

[0495] 23-1) The candidate target node configures sensing parameters based on at least one of the first request information, the second request information, and the first parameter configuration information, and performs the second sensing.

[0496] 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 switching is completed.

[0497] The first response message includes at least one of the following:

[0498] 1) The measurement results of at least one preset target index;

[0499] 2) The measurement results and / or sensing results of at least one sensing measurement performed for the second sensing;

[0500] Optionally, the first response message may further include at least one of the following:

[0501] 1) The second parameter configuration information. The second parameter configuration information is used for the target node to configure the sensing parameters for the second sensing.

[0502] 2) Information of the candidate target node, including the ID of the sensing node, location information, antenna panel orientation information, status information, sensing capability information, resource information currently available for sensing, etc.

[0503] 3) The measurement results of communication measurement quantities.

[0504] 23-3) The source node or the first device waits for the first response information of the candidate target node within a preset time. If the first response information sent by a certain candidate target node meets the target conditions, at least one candidate second node and / or candidate third node among the above candidate target nodes is selected as the sensing node that performs the second sensing after the handover.

[0505] The content type of the second parameter configuration information is the same as that of the first parameter configuration information.

[0506] If the first request information or the second request information includes a soft handover request and the candidate target node agrees to and supports the soft handover, optionally, the second parameter configuration information includes soft handover parameter configuration information.

[0507] Case 2: At least one of the candidate target nodes (including the candidate second node, the candidate third node, and the source node) does not agree to the handover:

[0508] Optionally, the candidate second node sends a first rejection message to the sender of the first request information (the source node or the first device), and the first rejection message instructs the sender of the first request information that the sender of the first rejection message does not perform the second sensing.

[0509] Optionally, the candidate third node sends a second rejection message to the sender of the second request information (the source node or the candidate second node), and the second rejection message instructs the sender of the second request information that the sender of the second rejection message does not perform the second sensing.

[0510] It should be noted that the candidate second node may not reply to the first rejection message, and it is determined that the candidate second node does not agree to perform the second sensing when the source node or the first device waits for a timeout; the candidate third node may not reply to the second rejection message, and it is determined that the candidate third node does not agree to perform the second sensing when the source node or the candidate second node waits for a timeout.

[0511] 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 re-determines the candidate third node; ii. The candidate second node re-determines the candidate third node; iii. The source node or the first device re-determines the candidate second node, and the candidate second node determines the candidate third node; iii. Cancel the handover and maintain the current first sensing; iv. End the current first sensing.

[0512] It should be noted that when the source node or the first device cannot determine the target node, at least one (generally multiple) candidate target nodes are allowed to perform the second sensing first, and feedback the sensing measurement quantity / sensing result and the target index; when the source node or the first device discovers a candidate target node that meets the handover conditions, the sensing node is selected as the target node, and the other candidate target nodes cancel the handover and release the sensing resources.

[0513] Step (24): After the source node or the first device determines the target second node, it sends a handover confirmation message to the target second node. The handover confirmation message is used to notify the recipient of the handover confirmation message to perform the second sensing operation subsequently. The handover confirmation message includes information of at least one target third node. The target second node forwards the handover confirmation message to the designated target third node;

[0514] Alternatively, the source node or the first device sends a handover confirmation message to the target second node and the target third node.

[0515] Optionally, after the source node or the first device determines the target node, it sends a cancellation handover message to other candidate target second nodes except the target second node. The cancellation handover 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 cancellation handover message, other candidate target second nodes forward the cancellation handover message to the associated candidate target third nodes;

[0516] Alternatively, the source node or the first device sends a cancellation handover message to other candidate target second nodes and candidate target third nodes except the target second node and the target third node.

[0517] The candidate target second nodes and candidate target third nodes that receive the cancellation handover message or whose waiting times out release the reserved sensing resources.

[0518] It should be noted that the source node or the first device may not send the cancellation handover message. In the case where the waiting time of other candidate target nodes times out, other candidate target nodes release the reserved sensing resources.

[0519] Step (25): The target node executes the second sensing service. Specifically, the following operations are performed:

[0520] 1) The target node configures sensing parameters based on at least one of the first request information, the second request information, the first parameter configuration information, and the second parameter configuration information, and performs the second sensing.

[0521] 2) The source node stops executing the first sensing and releases the resources occupied by the sensing (including time-frequency resources, antenna port resources, etc.);

[0522] Optionally, the source node or the first device sends 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.

[0523] 3) After obtaining at least one measurement result of the sensing measurement quantity and / or the sensing result, the target node sends the measurement result of the sensing measurement quantity and / or the sensing result to the source node or the first device.

[0524] The sensing mode switching method provided by an embodiment of this application may be executed by a sensing mode switching device. In the embodiments of this application, taking the sensing mode switching device as the executor of the sensing mode switching method as an example, the device for switching the sensing mode provided by the embodiments of this application is described.

[0525] Please refer to Figure 8 , Figure 8 which is a structural diagram of a sensing mode switching device provided by an embodiment of this application. The first sensing node includes the sensing mode switching device. As Figure 8 shown, the sensing mode switching device 400 includes:

[0526] An obtaining module 401, configured to obtain a first target metric value;

[0527] An execution module 402, configured to execute a first operation;

[0528] The first operation includes at least one of the following:

[0529] The first sensing node sends the first target metric value to a first device;

[0530] 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;

[0531] wherein the first target metric value is a metric value related to sensing measured by the first sensing node, and the first target metric value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode;

[0532] In the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal;

[0533] In the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes.

[0534] Optionally, the execution module is specifically configured to:

[0535] Send a handover measurement report to a first device, where the content of the handover measurement report includes the first target metric value.

[0536] Optionally, the obtaining module is specifically configured to:

[0537] When a preset event occurs, the first sensing node performs a handover measurement to obtain a first target metric value;

[0538] The preset events include:

[0539] The second target metric value obtained by the first sensing node satisfies the target condition;

[0540] Wherein, the second target metric value is a metric value related to sensing measured by the first sensing node.

[0541] Optionally, in the case of determining to switch the sensing manner of the sensing target from the first sensing manner to the second sensing manner, the apparatus further includes:

[0542] 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 manner;

[0543] 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.

[0544] Optionally, determining the target sensing node based on the first response message includes at least one of the following:

[0545] Selecting 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.

[0546] 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 manner, selecting a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

[0547] 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:

[0548] 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.

[0549] Optionally, the metric value related to received power includes: a first metric value; or

[0550] 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

[0551] 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;

[0552] 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;

[0553] The second index value is determined based on the difference between the total received power and the first index value;

[0554] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0555] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0556] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0557] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0558] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0559] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0560] 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.

[0561] Optionally, the target conditions include at least one of the following:

[0562] 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;

[0563] 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;

[0564] 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 first sensing node remains within a second preset interval within a second preset time period;

[0565] 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 first sensing node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0566] The at least one target index value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0567] 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 of times;

[0568] The difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the first sensing node remains within a fourth preset interval within a fourth preset time period;

[0569] 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 first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number of times;

[0570] The measured values of at least one sensing measurement quantity obtained by the target measurement node remain within a first preset interval within a first preset time period, and the measured values of at least one communication measurement quantity obtained remain within a fifth preset interval within a fifth preset time period;

[0571] The number of times that the measured values of at least one sensing 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 of times, 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 of times;

[0572] 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 values of at least one communication measurement quantity obtained remain within a fifth preset interval within a fifth preset time period;

[0573] 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 of times, 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 of times;

[0574] The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node remains within a sixth preset interval within a sixth preset time period;

[0575] 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 first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number of times;

[0576] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of sensing QoS;

[0577] The state of the sensing target changes;

[0578] The positions of the nodes participating in sensing change;

[0579] Wherein, the target index value includes a first target index value, a second target index value or a third target index value.

[0580] 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 the terminal. Exemplarily, the terminal may include, but is not limited to, the types of the terminal 11 listed above, and other devices may be a server, a Network Attached Storage (NAS), etc., which are not specifically limited in the embodiments of the present application.

[0581] The sensing mode switching device provided by 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.

[0582] Please refer to Figure 9 , Figure 9 which is a structural diagram of a sensing mode switching device provided by the embodiments of the present application. The first device includes the sensing mode switching device. As Figure 9 shown, the sensing mode switching device 500 includes:

[0583] An obtaining module 501, configured to obtain a first target index value;

[0584] A switching module 502, 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 index value;

[0585] Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes;

[0586] The first target index value is an index value related to sensing measured by a first sensing node. In the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal.

[0587] Optionally, the obtaining module is specifically configured to:

[0588] Receive a handover measurement report sent by the first sensing node, where the content of the handover measurement report includes the first target index value.

[0589] Optionally, the device further includes:

[0590] 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;

[0591] The preset event includes:

[0592] The second target metric value meets a target condition, where the second target metric value is a metric value related to sensing measured by the first sensing node.

[0593] 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 apparatus further includes:

[0594] 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;

[0595] 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.

[0596] Optionally, determining the target sensing node based on the first response information includes at least one of the following:

[0597] Selecting 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.

[0598] 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 a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

[0599] 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:

[0600] 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.

[0601] Optionally, the metric value related to received power includes: a first metric value; or

[0602] 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

[0603] 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;

[0604] 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;

[0605] The second index value is determined based on the difference between the total received power and the first index value;

[0606] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0607] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0608] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0609] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0610] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0611] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0612] 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.

[0613] Optionally, the target condition includes at least one of the following:

[0614] The measured values of at least one sensing measurement quantity obtained by the target measurement node are maintained within a first preset interval within a first preset time period;

[0615] The number of times the measured values of at least one sensing measurement quantity obtained by the target measurement node are within the first preset interval within the first preset time period reaches a first preset number;

[0616] The difference between the measured values of at least one sensing measurement quantity obtained by the target measurement node and the measured values of the corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period;

[0617] The number of times that the difference between the measurement value of at least one sensed measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensed measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number;

[0618] 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;

[0619] 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;

[0620] The difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the first sensing node is maintained within the fourth preset interval within the fourth preset time period;

[0621] 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 first sensing node is within the fourth preset interval within the fourth preset time period reaches the fourth preset number;

[0622] The measurement value of at least one sensed measurement quantity obtained by the target measurement node is maintained within the first preset interval within the first 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;

[0623] 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;

[0624] 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;

[0625] 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;

[0626] The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the first sensing node is maintained within the sixth preset interval within the sixth preset time period;

[0627] 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 first perception node is within the sixth preset interval within the sixth preset time period reaches the sixth preset number;

[0628] The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the perception service quality QoS;

[0629] The state of the perception target changes;

[0630] The positions of the nodes participating in the perception change;

[0631] Wherein, the target index value includes a first target index value, a second target index value or a third target index value.

[0632] The perception 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. The electronic device can be a terminal or other devices other than the terminal. Exemplarily, the terminal can include, but is not limited to, the types of the terminal 11 listed above, and other devices can be a server, a Network Attached Storage (NAS), etc., which are not specifically limited in the embodiments of the present application.

[0633] The perception mode switching device provided by 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.

[0634] Please refer to Figure 10 , Figure 10 is a structural diagram of a perception mode switching device provided by the embodiments of the present application. The second perception node includes the perception mode switching device. As Figure 10 shown, the perception mode switching device 600 includes:

[0635] An execution module 601, configured to execute a second operation;

[0636] The second operation includes at least one of the following:

[0637] 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;

[0638] 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;

[0639] Wherein, in the first sensing method, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing method, the signal sending node and the signal receiving node of the first signal are different nodes.

[0640] Optionally, the execution module is specifically configured to:

[0641] Send a handover success message to the first device or the first sensing node when the fourth target index value meets the target condition.

[0642] Optionally, the third target index value or the fourth target index value includes at least one of the following:

[0643] 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.

[0644] Optionally, the index value related to received power includes: a first index value; or

[0645] 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

[0646] 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;

[0647] 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;

[0648] The second index value is determined based on the difference between the total received power and the first index value;

[0649] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0650] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0651] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0652] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0653] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0654] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0655] 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.

[0656] Optionally, the target condition includes at least one of the following:

[0657] 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;

[0658] The number of times that 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;

[0659] 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 first sensing node remains within a second preset interval within a second preset time period;

[0660] The number of times that 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 first sensing node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0661] At least one target metric value obtained by the target measurement node remains within the third preset range within the third preset time period;

[0662] The number of times that at least one target metric 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;

[0663] The difference between at least one target metric value obtained by the target measurement node and the corresponding target metric value obtained by the first sensing node remains within the fourth preset range within the fourth preset time period;

[0664] 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 first sensing node is within the fourth preset range within the fourth preset time period reaches the fourth preset number of times;

[0665] The measurement values of at least one sensed measurement quantity obtained by the target measurement node remain within the first preset range within the first preset time period, and the measurement values of at least one communication measurement quantity obtained remain within the fifth preset range within the fifth preset time period;

[0666] The number of times that the measurement values of at least one sensed measurement quantity obtained by the target measurement node are 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 values of at least one communication measurement quantity obtained are within the fifth preset range within the fifth preset time period reaches the fifth preset number of times;

[0667] At least one target metric value obtained by the target measurement node remains within the third preset range within the third preset time period, and the measurement values of at least one communication measurement quantity obtained remain within the fifth preset range within the fifth preset time period;

[0668] The number of times that at least one target metric 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 values of at least one communication measurement quantity obtained are within the fifth preset range within the fifth preset time period reaches the fifth preset number of times;

[0669] The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the first sensing node remains within the sixth preset range within the sixth preset time period;

[0670] 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 first sensing node is within the sixth preset range within the sixth preset time period reaches the sixth preset number of times;

[0671] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements for sensing QoS;

[0672] The state of the sensed target changes;

[0673] The positions of the nodes participating in the sensing change;

[0674] Wherein, the target index value includes a third target index value or a fourth target index value.

[0675] 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 a server, a Network Attached Storage (NAS), etc., which are not specifically limited in the embodiments of the present application.

[0676] The sensing mode switching device provided by 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, it will not be elaborated here.

[0677] 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-mentioned sensing mode switching method embodiment is implemented, and the same technical effects can be achieved.

[0678] 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 as Figure 2 , Figure 4 or Figure 5 shown in the steps of the method embodiments. This terminal embodiment corresponds to the above-mentioned 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.

[0679] 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.

[0680] Those skilled in the art can understand that the terminal 800 may further include a power source (such as a battery) for powering each component. The power source can be logically connected to the processor 810 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. Figure 12 The terminal structure shown in Figure 12 does not limit the terminal. The terminal may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0681] 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 static pictures or videos obtained by an image capture device (such as a camera) in the video capture mode or the image capture mode. The display unit 806 may include a display panel 8061, and the display panel 8061 may be configured in the form of 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 called 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, a joystick, which will not be elaborated here.

[0682] In the embodiments of the present application, after the radio frequency unit 801 receives downlink data from the network-side device, it can be transmitted to the processor 810 for processing; in addition, the radio frequency unit 801 can send 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.

[0683] 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 volatile memory or 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 synch 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 memory.

[0684] 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.

[0685] In the case where the terminal is the first sensing node:

[0686] Among them, the processor 810 is used for:

[0687] Obtain a first target metric value;

[0688] Execute a first operation;

[0689] The first operation includes at least one of the following:

[0690] The first sensing node sends the first target metric value to the first device;

[0691] 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;

[0692] Wherein, the first target metric value is a metric value related to sensing measured by the first sensing node, and the first target metric value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode;

[0693] In the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal;

[0694] In the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes.

[0695] Optionally, the radio frequency unit 801 is configured to:

[0696] Send a handover measurement report to the first device, where the content of the handover measurement report includes the first target metric value.

[0697] Optionally, the processor 810 is configured to:

[0698] Perform handover measurement to obtain the first target metric value when a preset event occurs;

[0699] The preset event includes:

[0700] The second target metric value obtained by the first sensing node meets the target condition;

[0701] Wherein, the second target metric value is a metric value related to sensing measured by the first sensing node.

[0702] 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:

[0703] 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;

[0704] Receive a first response message sent by the candidate target node, and determine a target sensing node based on the first response message.

[0705] Optionally, determining the target sensing node based on the first response information includes at least one of the following:

[0706] Selecting a target sensing node from candidate target nodes where the first response information meets the target conditions, 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 index value, and the third target index value is an index value related to sensing measured by the candidate target node.

[0707] When the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to a second sensing method, selecting a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

[0708] 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:

[0709] 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.

[0710] Optionally, the index value related to received power includes: a first index value; or

[0711] 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

[0712] 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;

[0713] 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;

[0714] The second index value is determined based on the difference between the total received power and the first index value;

[0715] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0716] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0717] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0718] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0719] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0720] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0721] Wherein, the total received power is the linear average of all received powers on the time-frequency domain resource unit carrying the first signal.

[0722] Optionally, the target condition includes at least one of the following:

[0723] 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;

[0724] 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;

[0725] 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 first sensing node remains within a second preset interval within a second preset time period;

[0726] 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 first sensing node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0727] 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;

[0728] 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;

[0729] 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 first sensing node remains within a fourth preset interval within a fourth preset time period;

[0730] 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 first sensing node is within the fourth preset interval within the fourth preset time period reaches a fourth preset number of times;

[0731] 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;

[0732] 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;

[0733] 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 measured value of at least one communication measurement quantity obtained is maintained within the fifth preset interval within the fifth preset time period;

[0734] 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 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;

[0735] The difference between at least one sensed result obtained by the target measurement node and the corresponding sensed result obtained by the first sensing node is maintained within the sixth preset interval within the sixth preset time period;

[0736] 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 first sensing node is within the sixth preset interval within the sixth preset time period reaches the sixth preset number of times;

[0737] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of sensing QoS;

[0738] The state of the sensing target changes;

[0739] The positions of the nodes participating in sensing change;

[0740] Wherein, the target index value includes a first target index value, a second target index value or a third target index value.

[0741] In the case where the terminal is the first device:

[0742] Wherein, the processor 810 is used for:

[0743] Obtain the first target index value;

[0744] Based on the first target index value, determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode;

[0745] Among them, the signal sending node and the signal receiving node of the first signal are the same node under the first sensing mode, and the signal sending node and the signal receiving node of the first signal are different nodes under the second sensing mode;

[0746] The first target index value is an index value related to sensing measured by the first sensing node. Under the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal.

[0747] Optionally, the radio frequency unit 801 is configured to:

[0748] Receive a handover measurement report sent by the first sensing node, where the content of the handover measurement report includes the first target index value.

[0749] Optionally, the radio frequency unit 801 is configured to:

[0750] In the case of a preset event, the first device sends a handover measurement request to the first sensing node, and the handover measurement request is used to obtain the first target index value;

[0751] The preset event includes:

[0752] The second target index value meets the target condition, and the second target index value is an index value related to sensing measured by the first sensing node.

[0753] Optionally, in the case of determining 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:

[0754] 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;

[0755] Receive a first response message sent by the candidate target node, and determine a target sensing node based on the first response message.

[0756] Optionally, determining the target sensing node based on the first response message includes at least one of the following:

[0757] 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 index value, and the third target index value is an index value related to sensing measured by the candidate target node.

[0758] 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.

[0759] Optionally, the first target metric value, the second target metric value, or the third target metric value includes at least one of the following:

[0760] 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.

[0761] Optionally, the metric value related to received power includes: a first metric value; or

[0762] 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

[0763] 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;

[0764] 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;

[0765] The second metric value is determined based on the difference between the total received power and the first metric value;

[0766] The third metric value is determined based on the difference between the total received power and the received power of the first signal;

[0767] The fourth metric value is determined based on the difference between the received power of the first signal and the first metric value;

[0768] The fifth metric value is determined based on the quotient of the first metric value and the second metric value;

[0769] The sixth metric value is determined based on the quotient of the first metric value and the third metric value;

[0770] The seventh metric value is determined based on the quotient of the first metric value and the fourth metric value;

[0771] The eighth metric value is determined based on the quotient of the first metric value and the total received power;

[0772] Wherein, the total received power is the linear average of all received power on the time-frequency domain resource unit carrying the first signal.

[0773] Optionally, the target condition includes at least one of the following:

[0774] 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;

[0775] 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;

[0776] 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 first sensing node remains within a second preset interval within a second preset time period;

[0777] 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 first sensing node is within the second preset interval within the second preset time period reaches a second preset number of times;

[0778] 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;

[0779] 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;

[0780] 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 first sensing node remains within a fourth preset interval within a fourth preset time period;

[0781] 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 first sensing node is within the fourth preset interval within the fourth preset time period reaches a fourth preset number of times;

[0782] 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;

[0783] 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;

[0784] At least one target index value obtained by the target measurement node is maintained within a third preset interval during a third preset time period, and the measured value of at least one communication measurement quantity obtained is maintained within a fifth preset interval during a fifth preset time period;

[0785] The number of times that at least one target index value obtained by the target measurement node is within a third preset interval during 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 quantity obtained is within a fifth preset interval during a fifth preset time period reaches a fifth preset number of times;

[0786] The difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the first perception node is maintained within a sixth preset interval during a sixth preset time period;

[0787] 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 first perception node is within a sixth preset interval during a sixth preset time period reaches a sixth preset number of times;

[0788] The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the perception service quality QoS;

[0789] The state of the perception target changes;

[0790] The positions of the nodes participating in the perception change;

[0791] Wherein, the target index value includes a first target index value, a second target index value or a third target index value.

[0792] In the case where the terminal is a second perception node:

[0793] Wherein, the processor 810 is used for:

[0794] Execute a second operation;

[0795] The second operation includes at least one of the following:

[0796] 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;

[0797] 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;

[0798] Wherein, in the first sensing method, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing method, the signal sending node and the signal receiving node of the first signal are different nodes.

[0799] Optionally, the radio frequency unit 801 is used for:

[0800] When the fourth target index value meets the target condition, send a switching success message to the first device or the first sensing node.

[0801] Optionally, the third target index value or the fourth target index value includes at least one of the following:

[0802] 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.

[0803] Optionally, the index value related to received power includes: a first index value; or

[0804] 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

[0805] 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;

[0806] Among them, 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;

[0807] The second index value is determined based on the difference between the total received power and the first index value;

[0808] The third index value is determined based on the difference between the total received power and the received power of the first signal;

[0809] The fourth index value is determined based on the difference between the received power of the first signal and the first index value;

[0810] The fifth index value is determined based on the quotient of the first index value and the second index value;

[0811] The sixth index value is determined based on the quotient of the first index value and the third index value;

[0812] The seventh index value is determined based on the quotient of the first index value and the fourth index value;

[0813] The eighth index value is determined based on the quotient of the first index value and the total received power;

[0814] Among them, the total received power is the linear average of all the received power on the time-frequency domain resource unit carrying the first signal.

[0815] Optionally, the target condition includes at least one of the following:

[0816] The measured value of at least one sensing measurement obtained by the target measurement node remains within the first preset interval within the first preset time period;

[0817] 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 the first preset number of times;

[0818] 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 first sensing node remains within the second preset interval within the second preset time period;

[0819] 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 first sensing node is within the second preset interval within the second preset time period reaches the second preset number of times;

[0820] At least one target index value obtained by the target measurement node remains within the third preset range during the third preset time period;

[0821] The number of times that at least one target index value obtained by the target measurement node is within the third preset range during the third preset time period reaches the third preset number of times;

[0822] The difference between at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the first sensing node remains within the fourth preset range during the fourth preset time period;

[0823] 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 first sensing node is within the fourth preset range during the fourth preset time period reaches the fourth preset number of times;

[0824] The measurement values of at least one sensing measurement quantity obtained by the target measurement node remain within the first preset range during the first preset time period, and the measurement values of at least one communication measurement quantity obtained remain within the fifth preset range during the fifth preset time period;

[0825] The number of times that the measurement values of at least one sensing measurement quantity obtained by the target measurement node are within the first preset range during the first preset time period reaches the first preset number of times, and the number of times that the measurement values of at least one communication measurement quantity obtained are within the fifth preset range during the fifth preset time period reaches the fifth preset number of times;

[0826] At least one target index value obtained by the target measurement node remains within the third preset range during the third preset time period, and the measurement values of at least one communication measurement quantity obtained remain within the fifth preset range during the fifth preset time period;

[0827] The number of times that at least one target index value obtained by the target measurement node is within the third preset range during the third preset time period reaches the third preset number of times, and the number of times that the measurement values of at least one communication measurement quantity obtained are within the fifth preset range during the fifth preset time period reaches the fifth preset number of times;

[0828] The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node remains within the sixth preset range during the sixth preset time period;

[0829] 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 first sensing node is within the sixth preset range during the sixth preset time period reaches the sixth preset number of times;

[0830] The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements for sensing QoS;

[0831] The state of the sensed target changes;

[0832] The position of the nodes participating in sensing changes;

[0833] Wherein, the target metric value includes a third target metric value or a fourth target metric value.

[0834] It can be understood that the implementation processes of the various implementation manners mentioned in this embodiment may 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.

[0835] The embodiment of the present application further provides a network-side device, including a processor and a communication interface, the communication interface is coupled to the processor, and 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. Each implementation process and implementation manner of the above method embodiment can be applied to this network-side device embodiment, and the same technical effects can be achieved.

[0836] Specifically, the embodiment of the present application further provides a network-side device. As Figure 13 shown, the 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.

[0837] The method executed by the network-side device in the above embodiment can be implemented in the baseband device 93, and the baseband device 93 includes a baseband processor.

[0838] The baseband device 93 may include, for example, at least one baseband board, and a plurality of chips are arranged 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 operations of the network device shown in the above method embodiment.

[0839] The network-side device may further include a network interface 96, and this interface is, for example, a Common Public Radio Interface (CPRI).

[0840] Specifically, the network-side device 900 in the embodiments of the present application further includes: instructions or programs stored in the memory 95 and executable on the processor 94. The processor 94 calls the instructions or programs in the memory 95 to execute Figure 8 , Figure 9 or Figure 10 the methods executed by the modules shown, and achieve the same technical effects. To avoid repetition, they will not be elaborated here.

[0841] Specifically, the embodiments of the present application further provide 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).

[0842] Specifically, the network-side device 1000 in the embodiments of the present invention further includes: instructions or programs stored in the memory 1003 and executable on the processor 1001. The processor 1001 calls the instructions or programs in the memory 1003 to execute Figure 8 , Figure 9 or Figure 10 the methods executed by the modules shown, and achieve the same technical effects. To avoid repetition, they will not be elaborated here.

[0843] The embodiments of the present application further provide 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 embodiments for switching the perception mode is implemented, and the same technical effects can be achieved. To avoid repetition, they will not be elaborated here.

[0844] Among them, the processor is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disks, or optical discs, etc. In some examples, the readable storage medium may be a non-transitory readable storage medium.

[0845] The embodiments of the present application further provide 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 embodiments for switching the perception mode, and the same technical effects can be achieved. To avoid repetition, they will not be elaborated here.

[0846] 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.

[0847] Another embodiment of the present application further provides a computer program / program product. The computer program / program product is stored in a storage medium and is executed by at least one processor to implement each process of the above-mentioned embodiment of the perception mode switching method, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0848] The embodiment of the present application further provides a perception mode switching system, 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 perception mode switching method applied to the first node as described above. The first perception node can be used to execute the steps of the perception mode switching method applied to the first perception node as described above. The second perception node can be used to execute the steps of the perception mode switching method applied to the second perception node as described above.

[0849] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is 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 also includes elements inherent to such a process, method, article or device. Without more limitations, an element defined by the statement "including a..." does not exclude the existence of another identical element 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 method 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.

[0850] Through the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiments 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. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions for enabling a terminal or a network-side device to execute the methods described in various embodiments of the present application.

[0851] 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: A first perception node obtains a first target metric value; The first perception node performs a first operation; The first operation includes at least one of the following: The first perception node sends the first target metric value to a first device; The first perception node determines whether to switch the perception mode of the perception target from a first perception mode to a second perception mode based on the first target metric value; Wherein, the first target metric value is a metric value related to perception measured by the first perception node, and the first target metric value is used to determine whether to switch the perception mode of the perception target from a first perception mode to a second perception mode; In the first perception mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the first perception mode, the first perception node is the signal sending node and the signal receiving node of the first signal; In the second perception mode, the signal sending node and the signal receiving node of the first signal are different nodes.

2. The method according to claim 1, characterized in that, The first perception node sending the first target metric value to the first device includes: The first perception node sends a handover measurement report to the first device, 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, The first perception node obtaining the first target metric value includes: In the case of a preset event occurring, the first perception node performs a handover measurement to obtain a first target metric value; The preset event includes: The second target metric value obtained by the first perception node satisfies a target condition; Wherein, 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 a first perception mode to a second perception mode, the method further includes: The first perception 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 perception 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 satisfies the target condition, and the first response message includes at least one of a measured value of a perception measurement quantity, a perception result, and a third target metric value, and the third target metric value is a metric value related to perception measured by the candidate target node; 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 nodes.

6. The method according to claim 4 or 5, 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 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.

7. The method according to claim 6, wherein, the metric value related to the received power includes: a first metric value; or 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 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; 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 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 first sensing 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 first sensing node is within the second preset interval within the second preset time period reaches a second preset number of times; 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 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; The difference between at least one target metric value obtained by the target measurement node and the corresponding target metric value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period; 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 first sensing 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 is maintained within a first preset interval within a first preset time period, and the measured value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a 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 a first preset interval within a first preset time period reaches a first preset number, and the number of times that 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 is maintained within a third preset interval within a third preset time period, and the measured value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period; 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 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 sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing 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 sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing 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 first target metric value, a second target metric value or a third target metric value.

9. A sensing mode switching method, Characterized in that, It includes: The first device obtains a first target metric value; The first device 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; Wherein, in the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes; 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 sending node and the signal receiving node of the first signal.

10. According to the method described in claim 9, It is characterized in that the first device obtains a first target metric value, including: the first device receives a handover measurement report sent by a first sensing node, and the content of the handover measurement report includes the first target metric value.

11. The method according to claim 9 or 10, it is characterized in that before the first device obtains the first target metric value, the method further includes: in the case of a preset event, the first device sends a handover measurement request to the first sensing node, and the handover measurement request is used to obtain the first target metric value; the preset event includes: a second target metric value satisfies a target condition, and the second target metric value is a metric value related to sensing measured by the first sensing node.

12. The method according to any one of claims 9-11, it is characterized in that in the case of determining that the sensing mode for a sensing target is to be switched from a first sensing mode to a second sensing mode, the method further includes: the first device 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; the first device receives a first response message sent by the candidate target node, and determines a target sensing node based on the first response message.

13. The method according to claim 12, it is characterized in that determining the target sensing node based on the first response message includes at least one of the following: selecting a target sensing node from candidate target nodes whose first response message satisfies a 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; 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 mode, selecting a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

14. The method according to claim 12 or 13, it is 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.

15. The method according to claim 14, it is characterized in that 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 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.

16. The method according to claim 11 or 13, 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 first sensing 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 first sensing 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 first sensing 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 first sensing 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 first perception 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 first perception 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 the perception service quality 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.

17. 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 a first request message, the second perception node performs a perception operation on the perception target according to a second perception mode, obtains at least one of the measured value of the perception measurement, the perception result and the 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 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, 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 the same node, and in the second perception mode, the signal sending node and the signal receiving node of the first signal are different nodes.

18. The method according to claim 17, Characterized in that, The second perception node determines whether to send a switching success message to the first device or the first perception node based on the fourth target index value, including: When the fourth target index value meets the target condition, the second perception node sends a switching success message to the first device or the first perception node.

19. The method according to claim 18, wherein, 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.

20. The method according to claim 19, wherein, 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 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.

21. The method according to any one of claims 18 - 20, 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 first sensing 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 first sensing node is within the second preset interval within the second preset time period reaches a second preset number of times; the 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 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 at least one target index value obtained by the target measurement node and the corresponding target index value obtained by the first sensing node remains within a fourth preset interval within a fourth preset time period; 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 first sensing node is within the fourth preset interval within the fourth preset time period reaches the fourth preset number; The measured values of at least one sensed measurement quantity obtained by the target measurement node are maintained within the first preset interval within the first preset time period, and the measured values of at least one communication measurement quantity obtained are maintained within the fifth preset interval within the fifth preset time period; The number of times that the measured values of at least one sensed measurement quantity obtained by the target measurement node are within the first preset interval within the first preset time period reaches the first preset number, and the number of times that the measured values of at least one communication measurement quantity obtained are within the fifth preset interval within the fifth preset time period reaches the fifth preset number; 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 measured values of at least one communication measurement quantity obtained are maintained within the fifth preset interval within the fifth preset time period; 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 measured values of at least one communication measurement quantity obtained are within the fifth preset interval within the fifth preset time period reaches the fifth preset number; The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is maintained within the sixth preset interval within the sixth preset time period; 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 first sensing node is within the sixth preset interval within the sixth preset time period reaches the 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 index value includes a third target index value or a fourth target index value.

22. 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 a first device; 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 index value; Wherein, the first target index value is an index value related to sensing measured by the first sensing node, and the first target index value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; In the first sensing mode, the signal sending node and the signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal; In the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes.

23. The device according to claim 22, wherein, the obtaining module is specifically configured to: in the case of a preset event occurring, the first sensing node performs a handover measurement to obtain a 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.

24. The device according to claim 22 or 23, wherein, in the case of determining that the sensing mode for the sensing target is to be switched from a first sensing mode to a second sensing mode, the device further includes: a sending module, configured to send a first request message to a candidate target node, the first request message being 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 a first response message sent by the candidate target node, and determine a target sensing node based on the first response message.

25. The device according to claim 24, 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 for which the first response message satisfies the target condition, the first response message including at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target metric value, the third target metric value being a metric value related to sensing measured by the candidate target node; 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 mode, selecting a target sensing node from the candidate target nodes based on the node-related information of the candidate target node.

26. The device according to claim 25, 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.

27. The device according to claim 26, 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, the received power being 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.

28. A sensing mode switching device, and a first device includes the sensing mode switching device, Characterized in that, It includes: An acquisition module, configured to acquire a first target index value; 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 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 the same node, and in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes; The first target index value is an index value related to sensing measured by a first sensing node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal.

29. The device according to claim 28, Characterized in that, The device further includes: A first sending module, configured to send a switching measurement request to the first sensing node when a preset event occurs, and the switching measurement request is used to acquire the first target index value; The preset event includes: A second target index value satisfies a target condition, and the second target index value is an index value related to sensing measured by the first sensing node.

30. The device according to claim 29, 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.

31. The device according to claim 30, 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.

32. 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 and the signal receiving node of the first signal are the same node, and in the second sensing mode, the signal sending node and the signal receiving node of the first signal are different nodes.

33. The device according to claim 32, characterized in that The execution module is specifically configured to: When the fourth target index value meets the target condition, send a switching success message to a first device or a first sensing node.

34. The device according to claim 33, 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.

35. The device according to claim 34, 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 units carrying the first signal.

36. 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, and 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 1-8, or implements the steps of the sensing mode switching method described in any one of claims 9-16, or implements the steps of the sensing mode switching method described in any one of claims 17-21.

37. A chip, characterized in that, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and 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 1-8, or implement the steps of the sensing mode switching method described in any one of claims 9-16, or implement the steps of the sensing mode switching method described in any one of claims 17-21.

38. A readable storage medium, characterized in that, the readable storage medium stores a program or instruction, and 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 1-8, or implements the steps of the sensing mode switching method described in any one of claims 9-16, or implements the steps of the sensing mode switching method described in any one of claims 17-21.

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