Node switching method and device, equipment, medium and program product

Abstract

The invention discloses a node switching method and device, equipment, a medium and a program product, and belongs to the field of communication. The method is executed by a sensing receiving node and comprises the step of switching from a first sensing transmitting node to a second sensing transmitting node under the condition that a switching condition is met. According to the method, the first sensing transmitting node is switched to the second sensing transmitting node to transmit the signal under the condition that the switching condition is met, so that the quality of the signal received by the sensing receiving node is kept in a good state, the sensing service can be ensured to be continuous, and the sensing target in a continuous moving state can be sensed.

Description

Node switching method, device, equipment, medium and program product Technical Field

[0001] The embodiments of the present application relate to the field of communications, and in particular to a node switching method, apparatus, device, medium, and program product. Background Art

[0002] The radio electromagnetic wave signals used by cellular networks can not only be used for wireless data transmission and communication, but also for environmental perception, such as motion recognition, gesture recognition, respiratory monitoring, terminal device movement speed measurement, environmental imaging, weather monitoring, etc.

[0003] The sensing transmitting node sends radio electromagnetic wave signals to the sensing target, and the sensing receiving node receives and measures the radio electromagnetic wave signals reflected by the sensing target to obtain the sensing results such as the speed, moving direction, and shape of the sensing target.

[0004] However, the sensing target, sensing transmitting node, and sensing receiving node may all be mobile. When the sensing scenario changes, for example, when the distance between the sensing receiving node and the sensing transmitting node increases, the quality of the radio electromagnetic wave signal received by the sensing receiving node will deteriorate, resulting in discontinuity of the sensing service.

[0005] Summary of the Invention

[0006] This application provides a node switching method, apparatus, device, medium, and program product. The technical solution at least includes:

[0007] According to one aspect of an embodiment of the present application, a node switching method is provided. The method is performed by a sensing receiving node, and the method includes:

[0008] When the switching condition is met, the first sensing transmitting node is switched to the second sensing transmitting node.

[0009] According to another aspect of an embodiment of the present application, a node switching method is provided. The method is performed by a first sensing transmitting node, and the method includes:

[0010] Send third configuration information, where the third configuration information is used to configure the perception receiving node to switch from the first perception transmitting node to the second perception transmitting node when a switching condition is met.

[0011] According to another aspect of an embodiment of the present application, a node switching method is provided. The method is performed by a candidate sensing transmitting node, and the method includes:

[0012] Sending second configuration information, where the second configuration information is used to indicate a sending configuration of a perception reference signal transmitted by the candidate perception transmitting node;

[0013] The sending configuration is used for the perceived receiving node to measure the perception reference signal. When the measurement result of the perception reference signal meets the switching condition, the node switches from the first perception transmitting node to the second perception transmitting node, where the second perception transmitting node is one of the candidate perception transmitting nodes.

[0014] According to another aspect of an embodiment of the present application, a sensing receiving device is provided, the device comprising:

[0015] The switching module is used to switch from the first sensing and emitting device to the second sensing and emitting device when a switching condition is met.

[0016] According to another aspect of an embodiment of the present application, a first sensing and transmitting device is provided, the device comprising:

[0017] The first sending module is used to send third configuration information, where the third configuration information is used to configure the sensing receiving device to switch from the first sensing transmitting device to the second sensing transmitting device when a switching condition is met.

[0018] According to another aspect of an embodiment of the present application, a candidate sensing emission device is provided, the device comprising:

[0019] A second sending module is configured to send second configuration information, where the second configuration information is used to indicate a sending configuration of a sensing reference signal transmitted by a candidate sensing transmitting device; wherein the sending configuration is used for the sensed receiving node to measure the sensing reference signal, and when a measurement result of the sensing reference signal meets a switching condition, switch from the first sensing transmitting device to the second sensing transmitting device, where the second sensing transmitting device is one of the candidate sensing transmitting devices.

[0020] According to another aspect of an embodiment of the present application, a perception receiving node is provided, the perception receiving node including:

[0021] processor;

[0022] a transceiver connected to the processor;

[0023] a memory for storing executable instructions for the processor;

[0024] The processor is configured to load and execute executable instructions to implement the node switching method as described in the above aspects.

[0025] According to another aspect of an embodiment of the present application, a sensing transmitting node is provided, the sensing transmitting node including:

[0026] processor;

[0027] a transceiver connected to the processor;

[0028] a memory for storing executable instructions for the processor;

[0029] The processor is configured to load and execute executable instructions to implement the node switching method as described in the above aspects.

[0030] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement a node switching method as described in the above aspects.

[0031] According to another aspect of an embodiment of the present application, a computer program product (or computer program) is provided, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the node switching method as described in the above aspects.

[0032] The technical solutions provided by the embodiments of the present application may have the following beneficial effects:

[0033] This application switches from the first perception transmitting node to the second perception transmitting node when the switching conditions are met, so that the signal quality received by the perception receiving node remains in a good state, ensuring that the perception service can be continuous and that the perception target in a continuously moving state can be perceived. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] FIG1 is a schematic diagram showing a node switching method provided by an exemplary embodiment of the present application;

[0036] FIG2 is a schematic diagram showing a node switching method provided by an exemplary embodiment of the present application;

[0037] FIG3 shows a flow chart of a node switching method provided by an exemplary embodiment of the present application;

[0038] FIG4 shows a flow chart of a node switching method provided by an exemplary embodiment of the present application;

[0039] FIG5 shows a block diagram of a sensing receiving device provided by an exemplary embodiment of the present application;

[0040] FIG6 shows a block diagram of a first sensing and transmitting device provided by an exemplary embodiment of the present application;

[0041] FIG7 shows a block diagram of a candidate sensing emission device provided by an exemplary embodiment of the present application;

[0042] FIG8 shows a schematic structural diagram of a perception receiving node and a perception transmitting node provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0044] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0045] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0046] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0047] It should be understood that although the terms first, second, etc. may be used in this application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, a first parameter may also be referred to as a second parameter, and similarly, a second parameter may also be referred to as a first parameter. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0048] Communication perception scenarios, also known as synaesthesia scenarios, can be divided into perception area-level synaesthesia scenarios and perception target-level synaesthesia scenarios, depending on whether the perception requirements focus on designated perception areas or designated perception targets.

[0049] The scenario of using synaesthesia technology to continuously perceive and track the perceived object to obtain dynamic monitoring of the state of the perceived object is called a perception target-level synaesthesia scenario.

[0050] In smart transportation scenarios, continuous tracking of vehicles and real-time dynamic monitoring of vehicle status can be achieved based on integrated communication and perception base stations or collaboration between base stations. For vehicles with wireless communication capabilities, vehicle perception accuracy can also be improved through vehicle collaborative perception.

[0051] In smart low-altitude scenarios, drones that intrude into the regulatory range are located and tracked based on integrated communication and perception base stations or collaboration between base stations. For networked drones with wireless communication capabilities, the flight status of drones, roadblocks in the flight route, etc. can also be identified through drone collaborative perception to provide auxiliary flight services.

[0052] In smart life scenarios, by carrying a terminal with communication capabilities, based on the collaboration between base stations and terminals, or the spontaneous transmission and reception of terminals, or the collaborative working mode between terminals, breathing monitoring, fitness monitoring, gesture / posture recognition, etc. of a specific human body can be performed to achieve accurate real-time dynamic monitoring.

[0053] In smart network scenarios, synaesthesia technology is used to assist in improving beam management and channel estimation accuracy, enhance the timeliness of terminal beam tracking, improve channel estimation accuracy and reduce feedback overhead.

[0054] For the target-level synaesthesia scenario, as shown in Figure 1, when the target 103 is a vehicle, it is necessary to obtain perception results such as the speed, distance, moving direction, and shape of the target 103. Because the target 103 is moving, based on switching conditions such as the position, distance, and measurement results of the perception reference signal related to the target 103, if the switching conditions are met, switching from the first perception transmitting node 101 to the second perception transmitting node 102 is performed. The first perception transmitting node 101 is the current perception transmitting node, and the second perception transmitting node 102 is one of multiple candidate perception transmitting nodes that meet the switching conditions.

[0055] Scenarios that require efficient perception of the real-time status of roads, vehicles, and people in factories, roads, low altitudes, cities, and even larger time and space ranges are called perception area-level synaesthesia scenarios.

[0056] In smart transportation scenarios, based on integrated communication and perception base stations or collaboration between base stations, perception of the road environment is achieved, high-precision map construction is effectively realized, and beyond-line-of-sight assistance is provided for the safe operation of autonomous vehicles; based on integrated communication and perception base stations or collaboration between base stations, all-round, all-weather, and uninterrupted detection of the movement trajectory and speed of moving vehicles is achieved, and the perception information is uploaded to the processing center, comprehensively improving the intelligent perception capability of the operation status of highways and providing data support for road supervision; based on integrated communication and perception base stations, perception of the railway track environment is achieved, and all-weather foreign object intrusion detection around high-speed railways is realized.

[0057] In smart low-altitude scenarios, all-round and multi-angle perception of the airspace is carried out based on an integrated communication and perception base station or collaboration between base stations, and the perception results are provided to drones. This can provide redundancy for obstacle avoidance warning and improve the success rate of drone obstacle avoidance. Based on an integrated communication and perception base station or collaboration between base stations, full airspace perception is carried out to locate and track drones that intrude into the regulatory range, thereby realizing drone intrusion monitoring for fixed areas.

[0058] In smart life scenarios, based on the collaboration between base stations and terminals, or the spontaneous transmission and reception of terminals, or the collaborative working mode between terminals, breathing monitoring, fitness monitoring, gesture / posture recognition, etc. are carried out by sensing changes in wireless channels. Based on the integrated communication perception base station or the collaboration between base stations, the signal link attenuation in the communication link is measured, and then the relationship between signal link attenuation and weather indicators is analyzed to obtain the corresponding weather indicators for weather monitoring.

[0059] In smart network scenarios, information such as the density and location of idle terminals in a cell can be obtained based on integrated communication-aware base stations or collaboration between base stations to assist in energy conservation and optimization of base station resource scheduling within the cell.

[0060] For the perception area-level synaesthesia scenario, as shown in Figure 2, it is necessary to perceive the surrounding road environment in a larger time and space range through the vehicle-mounted perception receiving node 100. Since the perception receiving node 100 is moving, based on switching conditions such as the position, distance, and measurement results of the perception reference signal related to the perception receiving node 100, when the switching conditions are met, it switches from the first perception transmitting node 101 to the second perception transmitting node 102. The first perception transmitting node 101 is the current perception transmitting node, and the second perception transmitting node 102 is one of multiple candidate perception transmitting nodes that meet the switching conditions.

[0061] In this application, we mainly consider the perception service operation process of A sending and B receiving. A is the perception transmitting node, which can be a terminal or a base station; B is the perception receiving node, which can be a terminal or a base station.

[0062] The term “perception” in this application may also be understood as meaning at least one of positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking, and target recognition.

[0063] FIG3 shows a flowchart of a node switching method provided by an exemplary embodiment of the present application. The method is executed by a sensing receiving node, and the method includes:

[0064] Step 310: When a switching condition is met, switch from the first sensing transmitting node to the second sensing transmitting node.

[0065] The first sensing transmitting node sends a sensing signal to the sensing target. The sensing receiving node receives and measures the sensing signal reflected by the sensing target to obtain sensing results such as the target's speed, movement direction, and shape. The first sensing transmitting node is the current sensing transmitting node, the second sensing transmitting node is one of multiple candidate sensing transmitting nodes that meet the switching conditions, and the sensing receiving node is a node that receives the sensing signal transmitted by the sensing transmitting node or the sensing signal reflected by the sensing target.

[0066] However, at least one of the sensing target, the first sensing transmitting node, and the sensing receiving node may be mobile. When the sensing environment changes, for example, when the distance between the sensing target and the first sensing transmitting node increases, the quality of the sensing signal received by the sensing receiving node may decrease, resulting in discontinuity of the sensing service.

[0067] In this embodiment, the sensing receiving node switches from the first sensing transmitting node to the second sensing transmitting node when a switching condition is met, wherein the switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the sensing reference signal transmitted by the second sensing transmitting node.

[0068] In this embodiment, the switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the first condition;

[0069] or,

[0070] The switching condition is used to indicate that the sensing reference signal transmitted by the second sensing transmitting node is better than the second condition;

[0071] or,

[0072] The switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the first condition, and the sensing reference signal transmitted by the second sensing transmitting node is better than the second condition;

[0073] Among them, the first condition is equal to or worse than the second condition.

[0074] The switching condition is expressed by at least one of the following information:

[0075] Measurement results of the sensing reference signal;

[0076] sensing an absolute sending position or a relative sending position of a reference signal;

[0077] The relative sending position is a position relative to a sensing receiving node, or the relative sending position is a position relative to a sensing target.

[0078] The switching condition includes at least one of the following:

[0079] Handover conditions related to the measurement results of the sensing reference signal;

[0080] Location-related switching conditions;

[0081] Switching conditions related to transmission delay;

[0082] Distance-related switching conditions.

[0083] The measurement result of the perception reference signal includes: at least one of a measurement result of the perception reference signal transmitted by the first perception transmitting node and a measurement result of the perception reference signal transmitted by the second perception transmitting node.

[0084] The position includes at least one of the position of the first sensing transmitting node, the position of the second sensing transmitting node, the position of the sensing receiving node, and the position of the sensing target.

[0085] The transmission delay includes at least one of a transmission delay corresponding to a path where the sensing reference signal is reflected from the first sensing transmitting node through the sensing target to the sensing receiving node, and a transmission delay corresponding to a path where the sensing reference signal is reflected from the second sensing transmitting node through the sensing target to the sensing receiving node.

[0086] The distance includes at least one of: the distance between the perception receiving node and the first perception transmitting node, the distance between the perception receiving node and the second perception transmitting node, the distance between the perception target and the first perception transmitting node, and the distance between the perception target and the second perception transmitting node.

[0087] The switching condition represented by the absolute sending position or the relative sending position of the perception reference signal includes at least one of the following:

[0088] Location-related switching conditions;

[0089] Switching conditions related to transmission delay;

[0090] Distance-related switching conditions.

[0091] In some embodiments, the above-mentioned position and distance can be obtained based on various known positioning technologies or measurement technologies, which are not limited in this application, such as positioning technology of the global positioning system, positioning technology based on mobile communications, etc.

[0092] In some embodiments, the sensing receiving node switches from the first sensing transmitting node to the second sensing transmitting node when a switching condition is satisfied. Exemplarily, the sensing receiving node switches from the first sensing transmitting node to the second sensing transmitting node when a switching condition related to transmission delay is satisfied.

[0093] In some embodiments, the sensing receiving node switches from the first sensing transmitting node to the second sensing transmitting node when at least two switching conditions are met. Exemplarily, the sensing receiving node switches from the first sensing transmitting node to the second sensing transmitting node when a switching condition related to location and a switching condition related to distance are met.

[0094] To sum up, the method provided in this embodiment switches from the first perception transmitting node to the second perception transmitting node when the switching conditions are met, so that the signal quality received by the perception receiving node remains in a good state, ensuring that the perception service can be continuous and the perception target in a continuously moving state can be perceived.

[0095] FIG4 shows a flowchart of a node switching method provided by an exemplary embodiment of the present application. The method is performed by the sensing receiving node 100, the first sensing transmitting node 101, and the second sensing transmitting node 102. The method includes:

[0096] Step 410: The first sensing transmitting node 101 sends first configuration information.

[0097] In this embodiment, the first sensing transmitting node 101 may be referred to as a source sensing transmitting node or a sensing transmitting node before switching; the second sensing transmitting node 102 may be referred to as a target sensing transmitting node or a sensing transmitting node after switching.

[0098] A first sensing transmitting node 101 sends first configuration information to a sensing receiving node, and the sensing receiving node 100 receives the first configuration information. The first configuration information is used to configure the sensing receiving node 100 to measure a sensing reference signal transmitted by at least one candidate sensing transmitting node when a measurement initiation condition is met. Optionally, the first configuration information carries specific content of the measurement initiation condition.

[0099] The measurement start condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the third condition.

[0100] In this embodiment, the measurement start condition is represented by at least one of the following information:

[0101] Measurement results of the sensing reference signal;

[0102] sensing an absolute sending position or a relative sending position of a reference signal;

[0103] The relative sending position is a position relative to a sensing receiving node, or the relative sending position is a position relative to a sensing target.

[0104] The measurement start condition includes at least one of the following:

[0105] A start condition related to a measurement result of a sensing reference signal transmitted by the first sensing transmitting node 101;

[0106] A start condition related to a transmission delay corresponding to a path of a sensing reference signal from the first sensing transmitting node 101 to the sensing receiving node 100 via reflection from the sensing target;

[0107] A start-up condition related to the location of the first sensing transmitting node 101;

[0108] A start-up condition related to the first sensing distance between the transmitting node 101 and the receiving node 100;

[0109] A starting condition related to the distance between the first sensing transmitting node 101 and the sensing target.

[0110] The measurement start condition represented by the absolute sending position or relative sending position of the sensing reference signal includes at least one of the following:

[0111] A start condition related to a transmission delay corresponding to a path of a sensing reference signal from the first sensing transmitting node 101 to the sensing receiving node 100 via reflection from the sensing target;

[0112] A start-up condition related to the location of the first sensing transmitting node 101;

[0113] A start-up condition related to the first sensing distance between the transmitting node 101 and the receiving node 100;

[0114] A starting condition related to the distance between the first sensing transmitting node 101 and the sensing target.

[0115] In some embodiments, the sensing receiving node 100 measures the sensing reference signal transmitted by at least one candidate sensing transmitting node when a startup condition is met. Exemplarily, the sensing receiving node 100 measures the sensing reference signal transmitted by at least one candidate sensing transmitting node when a startup condition related to a transmission delay corresponding to a path along which the sensing reference signal is reflected from the first sensing transmitting node 101 through the sensing target to the sensing receiving node 100 is met.

[0116] In some embodiments, the sensing receiving node 100 measures the sensing reference signal transmitted by at least one candidate sensing transmitting node when at least two activation conditions are met. Exemplarily, the sensing receiving node 100 measures the sensing reference signal transmitted by at least one candidate sensing transmitting node when an activation condition related to the position of the first sensing transmitting node 101 and an activation condition related to the distance between the first sensing transmitting node 101 and a sensing target are met.

[0117] Step 420: The candidate / second sensing transmitting node 102 sends second configuration information.

[0118] For a sensing receiving node, there may be one or more candidate sensing transmitting nodes. The second sensing transmitting node 102 is one of the multiple candidate sensing transmitting nodes. Before the measurement is completed, it is not determined whether the second sensing transmitting node 102 is a specific sensing transmitting node among the multiple candidate sensing transmitting nodes.

[0119] The candidate sensing transmitting node 102 sends second configuration information, and the sensing receiving node 100 receives the second configuration information. The second configuration information is used to indicate the transmission configuration of the sensing reference signal transmitted by the candidate sensing transmitting node. The transmission configuration is used by the sensing receiving node 100 to measure the sensing reference signal. If the measurement result of the sensing reference signal meets the switching condition, the sensing receiving node 100 switches from the first sensing transmitting node 101 to the candidate sensing transmitting node 102.

[0120] The transmission configuration of the perception reference signal includes at least one of the following:

[0121] Type of perceptual reference signal;

[0122] The start time of sending the sensing reference signal;

[0123] The end time of sending the sensing reference signal;

[0124] The sending position of the perceptual reference signal. Optionally, the sending position includes a time domain position or a frequency domain position.

[0125] Exemplarily, the candidate sensing transmitting node 102 sends a start time for sending a sensing reference signal, indicating that the start time for sending the sensing reference signal is the x-th time slot in each radio frame, where x is an integer.

[0126] Step 430: The first sensing transmitting node 101 sends third configuration information.

[0127] The first sensing transmitting node 101 sends third configuration information, and the sensing receiving node 100 receives the third configuration information. The third configuration information is used to configure the switching condition.

[0128] The switching condition includes at least one of the following:

[0129] Handover conditions related to the measurement results of the sensing reference signal;

[0130] Location-related switching conditions;

[0131] Switching conditions related to transmission delay;

[0132] Distance-related switching conditions.

[0133] In some embodiments, the sensing receiving node 100 switches from the first sensing transmitting node 101 to the second sensing transmitting node 102 when a switching condition is satisfied. Exemplarily, the sensing receiving node 100 switches from the first sensing transmitting node 101 to the second sensing transmitting node 102 when a switching condition related to transmission delay is satisfied.

[0134] In some embodiments, the sensing receiving node 100 switches from the first sensing transmitting node 101 to the second sensing transmitting node 102 when at least two switching conditions are met. Exemplarily, the sensing receiving node 100 switches from the first sensing transmitting node 101 to the second sensing transmitting node 102 when a switching condition related to location and a switching condition related to distance are met.

[0135] Step 440: The first sensing transmitting node 101 sends a first sensing reference signal.

[0136] The first sensing transmitting node 101 sends a first sensing reference signal, and the sensing receiving node 100 receives the first sensing reference signal. The sensing receiving node 100 measures the first sensing reference signal sent by the first sensing transmitting node 101, and uses the obtained measurement result to determine whether to switch the sensing transmitting node.

[0137] Step 450: The second sensing transmitting node 102 sends a second sensing reference signal.

[0138] The second sensing transmitting node 102 sends a second sensing reference signal, and the sensing receiving node 100 receives the second sensing reference signal. The sensing receiving node 100 measures the second sensing reference signal sent by the second sensing transmitting node 102, and uses the obtained measurement result to determine whether to switch the sensing transmitting node.

[0139] The second sensing transmitting node 102 is selected from at least two candidate sensing transmitting nodes that meet the switching condition based on a selection condition, where the selection condition includes at least one of the following:

[0140] The candidate sensing transmitting node with the largest measurement result of the sensing reference signal;

[0141] The candidate sensing transmitting node with the smallest transmission delay corresponding to the path where the reference signal is reflected from the candidate sensing transmitting node through the sensing target to the sensing receiving node 100;

[0142] The candidate sensing transmitting node with the smallest distance to the sensing receiving node 100;

[0143] The candidate sensing transmitting node with the smallest distance to the sensing target;

[0144] Any candidate sensing transmitting node.

[0145] Exemplarily, the candidate sensing transmitting nodes include a second sensing transmitting node 102 and a third sensing transmitting node. In the transmission delay corresponding to the path of the sensing reference signal reflected from the candidate sensing transmitting node through the sensing target to the sensing receiving node 100, the transmission delay corresponding to the second sensing transmitting node 102 is 30 milliseconds, and the transmission delay corresponding to the third sensing transmitting node is 60 milliseconds. The transmission delay corresponding to the second sensing transmitting node 102 is the smallest, and the second sensing transmitting node 102 is selected.

[0146] Step 460: The sensing receiving node 100 measures the second sensing reference signal when the measurement start condition is met.

[0147] When a measurement start condition is met, the sensing receiving node 100 measures a sensing reference signal transmitted by at least one candidate sensing transmitting node, wherein the second sensing transmitting node 102 is one of the at least one candidate sensing transmitting node.

[0148] The measurement start condition includes at least one of the following:

[0149] A start condition related to a measurement result of a sensing reference signal transmitted by the first sensing transmitting node 101;

[0150] A start condition related to a transmission delay corresponding to a path of a sensing reference signal from the first sensing transmitting node 101 to the sensing receiving node 100 via reflection from the sensing target;

[0151] A start-up condition related to the location of the first sensing transmitting node 101;

[0152] A start-up condition related to the first sensing distance between the transmitting node 101 and the receiving node 100;

[0153] A starting condition related to the distance between the first sensing transmitting node 101 and the sensing target.

[0154] (1) The starting conditions related to the measurement result of the sensing reference signal transmitted by the first sensing transmitting node 101 include:

[0155] A measurement result of the sensing reference signal transmitted by the first sensing transmitting node 101 is less than a thirteenth threshold.

[0156] The measurement result of the perceptual reference signal includes at least one of the following:

[0157] The average measurement result of the sensory reference signal on a path component;

[0158] The average measurement results of the perception reference signal corresponding to multiple path components;

[0159] The average measurement results of the perceptual reference signal corresponding to all path components.

[0160] In one case, the sensing reference signal is sent from the sensing transmitting node and is received by the sensing receiving node 100 through a direct path;

[0161] In another scenario, a sensing reference signal is emitted from a sensing transmitting node, reflected by surrounding objects and the sensing target, and then received by the sensing receiving node 100. In this case, the sensing reference signal carries information related to the sensing target and the surrounding environment. For sensing services, it is the sensing reference signal in this scenario that requires attention and measurement. Therefore, the sensing reference signal measurement results must exclude the direct path component between the sensing transmitting node and the sensing receiving node 100. The direct path component between the sensing transmitting node and the sensing receiving node 100 is typically the first path in time order, or the first arrival path.

[0162] The measurement result of the perceptual reference signal includes at least one of the following: a linear average result of the channel response power on one path component; a linear average result of the channel response power on multiple path components; a linear average result of the channel response power on all path components.

[0163] The measurement result types of perceptual reference signals include at least one of the following: Reference Signal Received Power (RSRP), Signal to Interference and Noise Ratio (SINR), Reference Signal Received Quality (RSRQ), and Reference Signal Received Path Power (RSRPP). RSRP is a parameter representing wireless signal strength, SINR is the ratio of the strength of the received useful signal to the strength of the received noise and interference, RSRQ is the ratio of RSRP to the received signal strength indication (RSSI), and RSRPP is defined as the linear average of the channel response power of the resource elements of the reference signal configured for measurement on the i-th path component, where i is a positive integer.

[0164] For example, when the RSRP transmitted by the first perception transmitting node 101 is -100 deciBel relative to one milliwatt, dBm, and the thirteenth threshold is -80 dBm, the RSRP transmitted by the first perception transmitting node 101 is less than the thirteenth threshold, the measurement start condition is met, and the second perception reference signal is measured.

[0165] (2) The starting conditions related to the transmission delay corresponding to the path of sensing the reference signal from the first sensing transmitting node 101 to the sensing receiving node 100 through the sensing target reflection include:

[0166] The first transmission delay is greater than a fourteenth threshold;

[0167] The first transmission delay is the transmission delay corresponding to the path of the perception reference signal reflected from the first perception transmitting node 101 through the perception target to the perception receiving node 100.

[0168] Exemplarily, the fourteenth threshold is 60 milliseconds, and the first transmission delay is 100 milliseconds, which is greater than the fourteenth threshold. The measurement start condition is met, and the second perception reference signal is measured.

[0169] (3) The starting condition related to the location of the first sensing transmitting node 101 includes at least one of the following:

[0170] The target's position is detected to have left the first area;

[0171] · sensing that the location of the receiving node 100 leaves the first area;

[0172] The position of the target is sensed to have left the first area, and the position of the receiving node 100 is sensed to have left the first area;

[0173] The first area corresponds to the position of the first sensing transmitting node 101.

[0174] Exemplarily, when the position of the sensing target leaves the first area corresponding to the position of the first sensing transmitting node 101 , the starting condition is met and the sensing reference signal transmitted by the second sensing transmitting node 102 is measured.

[0175] (4) The starting conditions related to the first sensing distance between the transmitting node 101 and the receiving node 100 include:

[0176] The distance between the first sensing transmitting node 101 and the sensing receiving node 100 is greater than the fifteenth threshold.

[0177] Exemplarily, the fifteenth threshold is 100 meters, and the distance between the first perception transmitting node 101 and the perception receiving node 100 is 200 meters, which is greater than the fifteenth threshold. The startup condition is met, and the perception reference signal transmitted by the second perception transmitting node 102 is measured.

[0178] (5) The starting conditions related to the distance between the first sensing transmitting node 101 and the sensing target include:

[0179] The distance between the first sensing transmitting node 101 and the sensing target is greater than the sixteenth threshold.

[0180] Exemplarily, the sixteenth threshold is 300 meters, the distance between the first perception transmitting node 101 and the perception target is 500 meters, which is greater than the sixteenth threshold, and the startup condition is met to measure the perception reference signal transmitted by the second perception transmitting node 102.

[0181] Step 470: The sensing receiving node 100 switches from the first sensing transmitting node 101 to the second sensing transmitting node 102 when the switching condition is met.

[0182] In this embodiment, the switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the sensing reference signal transmitted by the second sensing transmitting node.

[0183] The switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the first condition;

[0184] or,

[0185] The switching condition is used to indicate that the sensing reference signal transmitted by the second sensing transmitting node is better than the second condition;

[0186] or,

[0187] The switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the first condition, and the sensing reference signal transmitted by the second sensing transmitting node is better than the second condition;

[0188] Among them, the first condition is equal to or worse than the second condition, and the first condition is worse than the third condition.

[0189] Exemplarily, when the first condition is that the RSRP is -90dBm and the RSRP transmitted by the first sensing transmitting node 101 is -100dBm, which is less than -90dBm, the switching condition is met.

[0190] The switching condition is expressed by at least one of the following information:

[0191] Measurement results of the sensing reference signal;

[0192] sensing an absolute sending position or a relative sending position of a reference signal;

[0193] The relative sending position is a position relative to a sensing receiving node, or the relative sending position is a position relative to a sensing target.

[0194] The switching condition includes at least one of the following:

[0195] Handover conditions related to the measurement results of the sensing reference signal;

[0196] Location-related switching conditions;

[0197] Switching conditions related to transmission delay;

[0198] Distance-related switching conditions.

[0199] The measurement result of the perception reference signal includes: at least one of the measurement result of the perception reference signal transmitted by the first perception transmitting node 101 and the measurement result of the perception reference signal transmitted by the second perception transmitting node 102.

[0200] The position includes at least one of the position of the first sensing transmitting node 101, the position of the second sensing transmitting node 102, the position of the sensing receiving node 100, and the position of the sensing target.

[0201] The transmission delay includes: at least one of a transmission delay corresponding to a path where the reference signal is reflected from the first sensing transmitting node 101 through the sensing target to the sensing receiving node 100, and a transmission delay corresponding to a path where the reference signal is reflected from the second sensing transmitting node 102 through the sensing target to the sensing receiving node 100;

[0202] The distance includes at least one of the distance between the perception receiving node 100 and the first perception transmitting node 101, the distance between the perception receiving node 100 and the second perception transmitting node 102, the distance between the perception target and the first perception transmitting node 101, and the distance between the perception target and the second perception transmitting node 102.

[0203] The switching condition represented by the absolute sending position or the relative sending position of the perception reference signal includes at least one of the following:

[0204] Location-related switching conditions;

[0205] Switching conditions related to transmission delay;

[0206] Distance-related switching conditions.

[0207] (1) The handover condition related to the measurement result of the sensory reference signal includes at least one of the following:

[0208] A measurement result of a sensing reference signal transmitted by the first sensing transmitting node 101 is less than a first threshold;

[0209] A measurement result of the sensing reference signal transmitted by the second sensing transmitting node 102 is greater than a second threshold;

[0210] A measurement result of a sensing reference signal transmitted by the first sensing transmitting node 101 is less than a first threshold, and a measurement result of a sensing reference signal transmitted by the second sensing transmitting node 102 is greater than a second threshold;

[0211] A difference between a measurement result of the sensing reference signal transmitted by the second sensing transmitting node 102 and a measurement result of the sensing reference signal transmitted by the first sensing transmitting node 101 is greater than a third threshold.

[0212] For example, when the first threshold is -80dBm and the RSRP transmitted by the first perception transmitting node 101 is -100dBm, the RSRP transmitted by the first perception transmitting node 101 is less than the first threshold, and the switching condition is met, and the node switches from the first perception transmitting node 101 to the second perception transmitting node 102.

[0213] (2) Location-related switching conditions include at least one of the following:

[0214] The location of the perceived target moves from the first area to the second area;

[0215] sensing that the location of the receiving node 100 moves from the first area to the second area;

[0216] The position of the sensing target moves from the first area to the second area, and the position of the sensing receiving node 100 moves from the first area to the second area;

[0217] The first area corresponds to the position of the first sensing transmitting node 101 , and the second area corresponds to the position of the second sensing transmitting node 102 .

[0218] For example, when the position of the perception target moves from the first area corresponding to the position of the first perception transmitting node 101 to the second area corresponding to the position of the second perception transmitting node 102, the switching condition is met and the device switches from the first perception transmitting node 101 to the second perception transmitting node 102.

[0219] (3) The switching conditions related to transmission delay include at least one of the following:

[0220] The first transmission delay is greater than a fourth threshold;

[0221] The second transmission delay is less than a fifth threshold;

[0222] The first transmission delay is greater than a fourth threshold, and the second transmission delay is less than a fifth threshold;

[0223] The difference between the first transmission delay and the second transmission delay is greater than a sixth threshold;

[0224] Among them, the first transmission delay is the transmission delay corresponding to the path of the perception reference signal reflected from the first perception transmitting node through the perception target to the perception receiving node, and the second transmission delay is the transmission delay corresponding to the path of the perception reference signal reflected from the second perception transmitting node through the perception target to the perception receiving node.

[0225] Exemplarily, the sixth threshold is 0, the first transmission delay is 100 milliseconds, the second transmission delay is 50 milliseconds, and the difference of 50 milliseconds is greater than 0, which meets the switching condition and switches from the first perception transmitting node 101 to the second perception transmitting node 102.

[0226] (4) Distance-related handover conditions include at least one of the following:

[0227] The distance between the sensing receiving node 100 and the first sensing transmitting node 101 is greater than a seventh threshold;

[0228] The distance between the sensing receiving node 100 and the second sensing transmitting node 102 is less than an eighth threshold;

[0229] The distance between the sensing receiving node 100 and the first sensing transmitting node 101 is greater than a seventh threshold, and the distance between the sensing receiving node 100 and the second sensing transmitting node 102 is less than an eighth threshold;

[0230] A difference between a distance between the sensing receiving node 100 and the first sensing transmitting node 101 and a distance between the sensing receiving node 100 and the second sensing transmitting node 102 is greater than a ninth threshold;

[0231] The distance between the sensing target and the first sensing transmitting node 101 is greater than a tenth threshold;

[0232] The distance between the sensing target and the second sensing transmitting node 102 is less than an eleventh threshold;

[0233] The distance between the sensing target and the first sensing transmitting node 101 is greater than the tenth threshold, and the distance between the sensing target and the second sensing transmitting node 102 is less than the eleventh threshold;

[0234] A difference between a distance between the perception target and the first perception transmitting node 101 and a distance between the perception target and the second perception transmitting node 102 is greater than a twelfth threshold.

[0235] Exemplarily, the ninth threshold is 0, the distance between the perception receiving node 100 and the first perception transmitting node 101 is 100 meters, the distance between the perception receiving node 100 and the second perception transmitting node 102 is 50 meters, and the difference of 50 meters is greater than 0. The switching condition is met, and the switch is made from the first perception transmitting node 101 to the second perception transmitting node 102.

[0236] Step 480: The sensing receiving node 100 sends a first notification.

[0237] In some embodiments, the sensing receiving node 100 sends a first notification, and the first sensing transmitting node 101 receives the first notification. The first notification is used to notify the first sensing transmitting node to stop transmitting the sensing reference signal.

[0238] Step 482: The sensing receiving node 100 sends a second notification.

[0239] In some embodiments, the sensing receiving node 100 sends a second notification, and the second sensing transmitting node 102 receives the second notification. The second notification is used to notify the second sensing transmitting node that the sensing receiving node selects to use the second sensing transmitting node to perform sensing measurement.

[0240] To sum up, the method provided in this embodiment switches from the first perception transmitting node to the second perception transmitting node when the switching conditions are met, so that the signal quality received by the perception receiving node remains in a good state, ensuring that the perception service can be continuous and the perception target in a continuously moving state can be perceived.

[0241] The method provided in this embodiment further selects a suitable candidate sensing transmitting node by measuring a sensing reference signal transmitted by at least one candidate sensing transmitting node when a measurement start condition is met.

[0242] In some embodiments, step 410, step 420, and step 430 may be performed simultaneously or sequentially, and the order of execution may be changed, for example, step 410 may be performed first, then step 420, and finally step 430;

[0243] Or first execute step 420, then execute step 430, and finally execute step 410;

[0244] Or first execute step 430, then execute step 410, and finally execute step 420;

[0245] Or first execute step 410, then execute step 430, and finally execute step 420;

[0246] Or first execute step 420, then execute step 410, and finally execute step 430;

[0247] Or first execute step 430, then execute step 420, and finally execute step 410;

[0248] or simultaneously executing step 410 and step 420, and then executing step 430;

[0249] or simultaneously executing step 410 and step 430, and then executing step 420;

[0250] or simultaneously executing step 430 and step 420, and then executing step 410;

[0251] Or step 410, step 420, and step 430 are performed simultaneously; this application does not impose any limitation on this.

[0252] In some embodiments, step 440 and step 450 may be performed simultaneously or sequentially, and the order of execution may be changed, for example, step 440 may be performed first, and then step 450;

[0253] Or execute step 450 first, then execute step 440;

[0254] Alternatively, step 440 and step 450 may be performed simultaneously; this application does not impose any limitation on this.

[0255] In some embodiments, the first configuration information is determined by the terminal;

[0256] or the first configuration information is configured by the network device;

[0257] Or the first configuration information is predefined by a communication protocol;

[0258] Or the first configuration information is sent by the second sensing transmitting node;

[0259] Or the first configuration information is sent by any candidate sensing transmitting node; this application does not limit the sending entity of the first configuration information.

[0260] In cases where the first configuration information is determined by the terminal or predefined by a communication protocol, step 410 is not performed.

[0261] In some embodiments, one candidate sensing transmitting node sends the second configuration information of all candidate sensing transmitting nodes;

[0262] Or the second configuration information is sent by the perception control network element;

[0263] Or the second configuration information is determined by the terminal;

[0264] or the second configuration information is configured by the network device;

[0265] Or the second configuration information is predefined by the communication protocol; this application does not limit the sending entity of the second configuration information.

[0266] In cases where the second configuration information is determined by the terminal or predefined by the communication protocol, step 420 is not performed.

[0267] In some embodiments, the third configuration information is determined by the terminal;

[0268] or the third configuration information is configured by the network device;

[0269] Or the third configuration information is predefined by the communication protocol;

[0270] Or the third configuration information is sent by the second sensing transmitting node;

[0271] Or the third configuration information is sent by any candidate sensing transmitting node; this application does not limit the sending entity of the third configuration information.

[0272] In cases where the third configuration information is determined by the terminal or predefined by the communication protocol, step 430 is not performed.

[0273] In some embodiments, when the switching condition in step 470 does not include a measurement start condition, steps 410 and 460 are not performed.

[0274] In some embodiments, both step 480 and step 482 may be performed, or one of them may be selected to be performed, or neither of them may be performed, for example, step 480 may be performed first, and then step 482;

[0275] Or execute step 482 first, then execute step 480;

[0276] Or perform step 482 and step 480 simultaneously;

[0277] Or just execute step 480;

[0278] Or just execute step 482;

[0279] Or neither is performed; this application does not limit this.

[0280] In some embodiments, at least one of steps 460 , 470 , 480 , and 482 performed by the sensing receiving node 100 may be implemented separately as an embodiment of the sensing receiving node 100 .

[0281] In some embodiments, at least one of steps 410 , 430 , and 440 performed by the first sensing transmitting node 101 may be implemented separately as an embodiment of the first sensing transmitting node 101 .

[0282] In some embodiments, at least one of steps 420 and 450 performed by the second sensing transmitting node 102 can be implemented separately as an embodiment of the second sensing transmitting node 102.

[0283] The radio electromagnetic wave signals used by cellular networks are not only used for wireless data transmission and communication, but also for environmental perception. A sensing transmitting node sends a radio electromagnetic wave signal to a sensing target. A sensing receiving node receives and measures the radio electromagnetic wave signal reflected by the sensing target to obtain perception results such as the target's speed, direction of movement, and shape.

[0284] However, the sensing target, sensing transmitting node, and sensing receiving node may all be mobile. When the sensing environment changes, for example, when the distance between the sensing target and the sensing transmitting node increases, the quality of the radio electromagnetic wave signal received by the sensing receiving node may decrease, resulting in discontinuity of the wireless sensing service. To this end, the present application provides a node switching method. Figure 1 shows a schematic diagram of a node switching method provided by an exemplary embodiment of the present application, which is performed by the sensing receiving node.

[0285] Figure 1 includes a sensing receiving node 100, a first sensing transmitting node 101, a second sensing transmitting node 102, and a sensing target 103. Each sensing transmitting node has its own sensing area. After sensing target 103 leaves the sensing area, the quality of the radio electromagnetic wave signal received by sensing receiving node 100 degrades. The radio electromagnetic wave signal includes a sensing reference signal.

[0286] In this embodiment, the positions of the first sensing transmitting node 101, the second sensing transmitting node 102, and the sensing receiving node 100 do not move, but the position of the sensing target 103 does move. The sensing target 103 is within the sensing area of ​​the first sensing transmitting node 101. The sensing receiving node 100 receives at least one of sensing reference signal configuration information of the candidate sensing transmitting node, a switching condition of the candidate sensing transmitting node, a measurement start condition of the candidate sensing transmitting node, and a sensing reference signal transmitted by the first sensing transmitting node 101. The above information is sent by the first sensing transmitting node 101 to the sensing target 103 and then reflected to the sensing receiving node 100.

[0287] The sensing receiving node 100 receives sensing reference signal configuration information. The sensing reference signal configuration information is used to configure the sensing receiving node 100 to measure the sensing reference signal transmitted by the second sensing transmitting node 102 when a measurement start condition is met. The sensing reference signal configuration information is sent by the first sensing transmitting node 101 or the sensing control function network element.

[0288] The measurement start condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node 101 is worse than the third condition.

[0289] In this embodiment, the measurement start condition is represented by at least one of the following information:

[0290] measurement results of the sensing reference signal;

[0291] sensing an absolute sending position or a relative sending position of a reference signal;

[0292] The relative sending position is relative to the position of the sensing receiving node 100 , or the relative sending position is relative to the position of the sensing target 103 .

[0293] The measurement start condition includes at least one of the following:

[0294] A start condition related to a measurement result of a sensing reference signal transmitted by the first sensing transmitting node 101;

[0295] A start condition related to a transmission delay corresponding to a path of the sensing reference signal from the first sensing transmitting node 101 to the sensing receiving node 100 via the sensing target 103;

[0296] A start-up condition related to the location of the first sensing transmitting node 101;

[0297] A start-up condition related to the first sensing distance between the transmitting node 101 and the receiving node 100;

[0298] A starting condition related to the distance between the first sensing transmitting node 101 and the sensing target 103 .

[0299] The measurement start condition represented by the absolute sending position or relative sending position of the sensing reference signal includes at least one of the following:

[0300] A start condition related to a transmission delay corresponding to a path of the sensing reference signal from the first sensing transmitting node 101 to the sensing receiving node 100 via the sensing target 103;

[0301] A start-up condition related to the location of the first sensing transmitting node 101;

[0302] A start-up condition related to the first sensing distance between the transmitting node 101 and the receiving node 100;

[0303] A starting condition related to the distance between the first sensing transmitting node 101 and the sensing target 103 .

[0304] (1) The starting conditions related to the measurement result of the sensing reference signal transmitted by the first sensing transmitting node 101 include:

[0305] A measurement result of the sensing reference signal transmitted by the first sensing transmitting node 101 is less than a thirteenth threshold.

[0306] Exemplarily, when the thirteenth threshold is -80dBm and the RSRP transmitted by the first sensing transmitting node 101 is -100dBm, which is less than the thirteenth threshold, the start condition is met, and the sensing reference signal transmitted by the second sensing transmitting node 102 is measured.

[0307] (2) The starting conditions related to the transmission delay corresponding to the path of the sensing reference signal from the first sensing transmitting node 101 to the sensing receiving node 100 through the sensing target 103 include:

[0308] The first transmission delay is greater than a fourteenth threshold;

[0309] The first transmission delay is the transmission delay corresponding to the path of the perception reference signal reflected from the first perception transmitting node 101 through the perception target 103 to the perception receiving node 100.

[0310] Exemplarily, the fourteenth threshold is 60 milliseconds, and the first transmission delay is 100 milliseconds, which is greater than the fourteenth threshold. The start condition is met, and the perception reference signal transmitted by the second perception transmitting node 102 is measured.

[0311] (3) The starting condition related to the location of the first sensing transmitting node 101 includes at least one of the following:

[0312] The position of the sensing target 103 leaves the first area;

[0313] · sensing that the location of the receiving node 100 leaves the first area;

[0314] The position of the target 103 is sensed to have left the first area, and the position of the receiving node 100 is sensed to have left the first area;

[0315] The first area corresponds to the position of the first sensing transmitting node 101.

[0316] Exemplarily, as shown in FIG1 , the position of the sensing target 103 leaves the first area corresponding to the position of the first sensing transmitting node 101 , and the start condition is met, and the sensing reference signal transmitted by the second sensing transmitting node 102 is measured.

[0317] (4) The starting conditions related to the first sensing distance between the transmitting node 101 and the receiving node 100 include:

[0318] The distance between the first sensing transmitting node 101 and the sensing receiving node 100 is greater than the fifteenth threshold.

[0319] In some embodiments, the distance between the first perception transmitting node 101 and the perception receiving node 100 is variable. For example, the fifteenth threshold is 100 meters, and the distance between the first perception transmitting node 101 and the perception receiving node 100 is 200 meters, which is greater than the fifteenth threshold. The startup condition is met and the perception reference signal transmitted by the second perception transmitting node 102 is measured.

[0320] (5) The starting conditions related to the distance between the first sensing transmitting node 101 and the sensing target 103 include:

[0321] The distance between the first sensing transmitting node 101 and the sensing target 103 is greater than the sixteenth threshold.

[0322] Exemplarily, the sixteenth threshold is 300 meters, and the distance between the first perception transmitting node 101 and the perception target 103 is 500 meters, which is greater than the sixteenth threshold. The startup condition is met, and the perception reference signal transmitted by the second perception transmitting node 102 is measured.

[0323] The switching condition of the candidate sensing transmitting node is used for the sensing receiving node 100 to perform switching of the sensing transmitting node. The second sensing transmitting node 102 is taken as an example for explanation. The switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node 101 is worse than the sensing reference signal transmitted by the second sensing transmitting node 102.

[0324] In this embodiment, the switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node 101 is worse than the first condition;

[0325] or,

[0326] The switching condition is used to indicate that the sensing reference signal transmitted by the second sensing transmitting node 102 is better than the second condition;

[0327] or,

[0328] The switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node 101 is worse than the first condition, and the sensing reference signal transmitted by the second sensing transmitting node 102 is better than the second condition;

[0329] Among them, the first condition is equal to or worse than the second condition, and the first condition is worse than the third condition.

[0330] Exemplarily, when the first condition is that the RSRP is -90dBm and the RSRP transmitted by the first sensing transmitting node 101 is -100dBm, which is less than -90dBm, the switching condition is met.

[0331] The switching condition is expressed by at least one of the following information:

[0332] measurement results of the sensing reference signal;

[0333] sensing an absolute sending position or a relative sending position of a reference signal;

[0334] The relative sending position is relative to the position of the sensing receiving node 100 , or the relative sending position is relative to the position of the sensing target 103 .

[0335] The switching condition includes at least one of the following:

[0336] Handover conditions related to the measurement results of the sensing reference signal;

[0337] Location-related switching conditions;

[0338] Switching conditions related to transmission delay;

[0339] Distance-related switching conditions.

[0340] The switching condition is sent by the first perception transmitting node 101 or the perception control function network element.

[0341] The measurement result of the perception reference signal includes: at least one of the measurement result of the perception reference signal transmitted by the first perception transmitting node 101 and the measurement result of the perception reference signal transmitted by the second perception transmitting node 102.

[0342] The position includes at least one of the position of the first sensing transmitting node 101 , the position of the second sensing transmitting node 102 , the position of the sensing receiving node 100 , and the position of the sensing target 103 .

[0343] The transmission delay includes: at least one of the transmission delay corresponding to the path of the perception reference signal reflected from the first perception transmitting node 101 through the perception target 103 to the perception receiving node 100, and the transmission delay corresponding to the path of the perception reference signal reflected from the second perception transmitting node 102 through the perception target 103 to the perception receiving node 100.

[0344] The distance includes: at least one of the distance between the perception receiving node 100 and the first perception transmitting node 101, the distance between the perception receiving node 100 and the second perception transmitting node 102, the distance between the perception target 103 and the first perception transmitting node 101, and the distance between the perception target 103 and the second perception transmitting node 102.

[0345] The switching condition represented by the absolute sending position or the relative sending position of the perception reference signal includes at least one of the following:

[0346] Location-related switching conditions;

[0347] Switching conditions related to transmission delay;

[0348] Distance-related switching conditions.

[0349] (1) The handover condition related to the measurement result of the sensory reference signal includes at least one of the following:

[0350] A measurement result of a sensing reference signal transmitted by the first sensing transmitting node 101 is less than a first threshold;

[0351] A measurement result of the sensing reference signal transmitted by the second sensing transmitting node 102 is greater than a second threshold;

[0352] A measurement result of a sensing reference signal transmitted by the first sensing transmitting node 101 is less than a first threshold, and a measurement result of a sensing reference signal transmitted by the second sensing transmitting node 102 is greater than a second threshold;

[0353] A difference between a measurement result of the sensing reference signal transmitted by the second sensing transmitting node 102 and a measurement result of the sensing reference signal transmitted by the first sensing transmitting node 101 is greater than a third threshold.

[0354] For example, when the first threshold is -80dBm and the RSRP transmitted by the first sensing transmitting node 101 is -100dBm, which is less than the first threshold, the switching condition is met, and the node is switched from the first sensing transmitting node 101 to the second sensing transmitting node 102 .

[0355] (2) Location-related switching conditions include at least one of the following:

[0356] The position of the sensing target 103 moves from the first area to the second area;

[0357] · sensing that the location of the receiving node 100 moves from the first area to the second area;

[0358] The position of the sensing target 103 moves from the first area to the second area, and the position of the sensing receiving node 100 moves from the first area to the second area;

[0359] The first area corresponds to the position of the first sensing transmitting node 101 , and the second area corresponds to the position of the second sensing transmitting node 102 .

[0360] For example, as shown in Figure 1, when the position of the perception target 103 moves from the first area corresponding to the position of the first perception transmitting node 101 to the second area corresponding to the position of the second perception transmitting node 102, the switching condition is met and the device switches from the first perception transmitting node 101 to the second perception transmitting node 102.

[0361] (3) The switching conditions related to transmission delay include at least one of the following:

[0362] The first transmission delay is greater than a fourth threshold;

[0363] The second transmission delay is less than a fifth threshold;

[0364] The first transmission delay is greater than a fourth threshold, and the second transmission delay is less than a fifth threshold;

[0365] The difference between the first transmission delay and the second transmission delay is greater than a sixth threshold;

[0366] Among them, the first transmission delay is the transmission delay corresponding to the path of the perception reference signal reflected from the first perception transmitting node through the perception target to the perception receiving node, and the second transmission delay is the transmission delay corresponding to the path of the perception reference signal reflected from the second perception transmitting node through the perception target to the perception receiving node.

[0367] Exemplarily, the sixth threshold is 0, the first transmission delay is 100 milliseconds, the second transmission delay is 50 milliseconds, and the difference of 50 milliseconds is greater than 0, which meets the switching condition and switches from the first perception transmitting node 101 to the second perception transmitting node 102.

[0368] (4) Distance-related handover conditions include at least one of the following:

[0369] The distance between the sensing receiving node 100 and the first sensing transmitting node 101 is greater than a seventh threshold;

[0370] The distance between the sensing receiving node 100 and the second sensing transmitting node 102 is less than an eighth threshold;

[0371] The distance between the sensing receiving node 100 and the first sensing transmitting node 101 is greater than a seventh threshold, and the distance between the sensing receiving node 100 and the second sensing transmitting node 102 is less than an eighth threshold;

[0372] The difference between the distance between the sensing receiving node 100 and the first sensing transmitting node 101 and the distance between the sensing receiving node 100 and the second sensing transmitting node 102 is greater than a ninth threshold;

[0373] The distance between the sensing target 103 and the first sensing transmitting node 101 is greater than a tenth threshold;

[0374] The distance between the sensing target 103 and the second sensing transmitting node 102 is less than an eleventh threshold;

[0375] The distance between the sensing target 103 and the first sensing transmitting node 101 is greater than the tenth threshold, and the distance between the sensing target 103 and the second sensing transmitting node 102 is less than the eleventh threshold;

[0376] The difference between the distance between the sensing target 103 and the first sensing transmitting node 101 and the distance between the sensing target 103 and the second sensing transmitting node 102 is greater than a twelfth threshold.

[0377] Exemplarily, the ninth threshold is 0, the distance between the perception receiving node 100 and the first perception transmitting node 101 is 100 meters, the distance between the perception receiving node 100 and the second perception transmitting node 102 is 50 meters, and the difference of 50 meters is greater than 0. The switching condition is met, and the switch is made from the first perception transmitting node 101 to the second perception transmitting node 102.

[0378] In some embodiments, when there are multiple candidate sensing transmitting nodes, the sensing receiving node 100 selects the second sensing transmitting node 102 from the multiple candidate sensing transmitting nodes that meet the switching condition based on a selection condition, where the selection condition includes at least one of the following:

[0379] The candidate sensing transmitting node with the largest measurement result of the sensing reference signal;

[0380] The candidate sensing transmitting node with the smallest transmission delay corresponding to the path where the reference signal is reflected from the candidate sensing transmitting node through the sensing target 103 to the sensing receiving node 100;

[0381] The candidate sensing transmitting node with the smallest distance to the sensing receiving node 100;

[0382] The candidate sensing transmitting node with the shortest distance to the sensing target 103;

[0383] Any candidate sensing transmitting node.

[0384] Exemplarily, the candidate sensing transmitting nodes include a second sensing transmitting node 102 and a third sensing transmitting node. In the transmission delay corresponding to the path of the sensing reference signal reflected from the candidate sensing transmitting node through the sensing target 103 to the sensing receiving node 100, the transmission delay corresponding to the second sensing transmitting node 102 is 30 milliseconds, and the transmission delay corresponding to the third sensing transmitting node is 60 milliseconds. The transmission delay corresponding to the second sensing transmitting node 102 is the smallest, and the second sensing transmitting node 102 is selected.

[0385] When the switching condition information is met, the sensing receiving node 100 stops measuring the first sensing transmitting node 101.

[0386] Optionally, the sensing receiving node 100 sends a first notification to the first sensing transmitting node 101, where the first notification is used to notify the first sensing transmitting node 101 to stop transmitting the sensing reference signal, thereby stopping measurement of the first sensing transmitting node 101;

[0387] Optionally, the perception receiving node 100 sends a second notification to the second perception transmitting node 102, where the second notification is used to notify the second perception transmitting node 102 that the perception receiving node 100 chooses to use the second perception transmitting node 102 to perform perception measurement, thereby stopping measurement of the first perception transmitting node 101.

[0388] The above method is intended for situations where information such as the speed, moving direction, and location of the perception target 103 needs to be obtained. In some embodiments, environmental information such as road conditions and greening construction needs to be obtained. As shown in Figure 2, the perception target carries a perception receiving node 100, and the entire perception receiving node 100 performs perception and reception. Figure 2 shows a schematic diagram of a node switching method provided by an exemplary embodiment of the present application, which is performed by the perception receiving node 100.

[0389] Figure 2 includes a perception receiving node 100, a first perception transmitting node 101 and a second perception transmitting node 102, wherein the positions of the first perception transmitting node 101 and the second perception transmitting node 102 do not move, and the position of the perception receiving node 100 moves.

[0390] When the sensing target carries a sensing receiving node, the distance between the sensing target and the sensing receiving node is zero. That is, in the aforementioned node switching method, the object represented by the sensing target and the object represented by the sensing receiving node are the same. Because the node switching method for scenarios where the sensing target carries a sensing receiving node shares the same principles as the node switching method for scenarios where the sensing target and sensing receiving node are separate, it will not be further described here.

[0391] To sum up, the method provided in this embodiment switches from the first perception transmitting node to the second perception transmitting node when the switching conditions are met, so that the signal quality received by the perception receiving node remains in a good state, ensuring that the perception service can be continuous and the perception target in a continuously moving state can be perceived.

[0392] The method provided in this embodiment further selects a suitable candidate sensing transmitting node by measuring a sensing reference signal transmitted by at least one candidate sensing transmitting node when a measurement start condition is met.

[0393] FIG5 shows a block diagram of a sensing receiving device provided by an exemplary embodiment of the present application, the device comprising:

[0394] The switching module 510 is configured to switch from the first sensing and emitting device to the second sensing and emitting device when a switching condition is met.

[0395] In a possible design of this embodiment, the switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the sensing reference signal transmitted by the second sensing transmitting node.

[0396] In a possible design of this embodiment, the switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the first condition;

[0397] or,

[0398] The switching condition is used to indicate that the sensing reference signal transmitted by the second sensing transmitting node is better than the second condition;

[0399] or,

[0400] The switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the first condition, and the sensing reference signal transmitted by the second sensing transmitting node is better than the second condition;

[0401] Among them, the first condition is equal to or worse than the second condition.

[0402] In a possible design of this embodiment, the switching condition is represented by at least one of the following information:

[0403] Measurement results of the sensing reference signal;

[0404] sensing an absolute sending position or a relative sending position of a reference signal;

[0405] The relative sending position is a position relative to a sensing receiving node, or the relative sending position is a position relative to a sensing target.

[0406] In a possible design of this embodiment, the switching condition includes at least one of the following:

[0407] a switching condition related to a measurement result of a sensing reference signal;

[0408] Position-dependent switching conditions;

[0409] Switching conditions related to transmission delay;

[0410] Distance-related switching conditions;

[0411] Among them, the measurement result of the perception reference signal includes: at least one of the measurement result of the perception reference signal transmitted by the first perception transmitting device and the measurement result of the perception reference signal transmitted by the second perception transmitting device; the position includes: at least one of the position of the first perception transmitting device, the position of the second perception transmitting device, the position of the perception receiving device, and the position of the perception target; the transmission delay includes: at least one of the transmission delay corresponding to the path of the perception reference signal reflected from the first perception transmitting device through the perception target to the perception receiving device, and the transmission delay corresponding to the path of the perception reference signal reflected from the second perception transmitting device through the perception target to the perception receiving device; the distance includes: at least one of the distance between the perception receiving device and the first perception transmitting device, the distance between the perception receiving device and the second perception transmitting device, the distance between the perception target and the first perception transmitting device, and the distance between the perception target and the second perception transmitting device.

[0412] In a possible design of this embodiment, the switching condition related to the measurement result of the sensing reference signal includes at least one of the following:

[0413] A measurement result of the sensing reference signal transmitted by the first sensing transmitting device is less than a first threshold;

[0414] A measurement result of the sensing reference signal transmitted by the second sensing transmitting device is greater than a second threshold;

[0415] A measurement result of the sensing reference signal transmitted by the first sensing transmitting device is less than a first threshold, and a measurement result of the sensing reference signal transmitted by the second sensing transmitting device is greater than a second threshold;

[0416] A difference between a measurement result of the sensing reference signal transmitted by the second sensing transmitting device and a measurement result of the sensing reference signal transmitted by the first sensing transmitting device is greater than a third threshold.

[0417] In a possible design of this embodiment, the measurement result of the perception reference signal includes at least one of the following:

[0418] The average measurement result corresponding to the perception reference signal on a path component;

[0419] The average measurement results corresponding to the perception reference signal on multiple path components;

[0420] The average measurement result of the perceptual reference signal corresponding to all path components.

[0421] In a possible design of this embodiment, the location-related switching condition includes at least one of the following:

[0422] The location of the perceived target moves from the first area to the second area;

[0423] The position of the sensing receiving device moves from the first area to the second area;

[0424] The position of the sensing target moves from the first area to the second area, and the position of the sensing receiving device moves from the first area to the second area;

[0425] The first area corresponds to the position of the first sensing and emitting device, and the second area corresponds to the position of the second sensing and emitting device.

[0426] In one possible design of this embodiment, the switching condition related to the transmission delay includes at least one of the following:

[0427] The first transmission delay is greater than a fourth threshold;

[0428] The second transmission delay is less than a fifth threshold;

[0429] The first transmission delay is greater than a fourth threshold, and the second transmission delay is less than a fifth threshold;

[0430] A difference between the first transmission delay and the second transmission delay is greater than a sixth threshold;

[0431] Among them, the first transmission delay is the transmission delay corresponding to the path of the perception reference signal from the first perception transmitting device through the perception target reflection to the perception receiving device, and the second transmission delay is the transmission delay corresponding to the path of the perception reference signal from the second perception transmitting device through the perception target reflection to the perception receiving device.

[0432] In one possible design of this embodiment, the distance-related handover condition includes at least one of the following:

[0433] The distance between the sensing receiving device and the first sensing transmitting device is greater than a seventh threshold;

[0434] The distance between the sensing receiving device and the second sensing transmitting device is less than an eighth threshold;

[0435] The distance between the sensing receiving device and the first sensing transmitting device is greater than a seventh threshold, and the distance between the sensing receiving device and the second sensing transmitting device is less than an eighth threshold;

[0436] The difference between the distance between the sensing receiving device and the first sensing transmitting device and the distance between the sensing receiving device and the second sensing transmitting device is greater than a ninth threshold;

[0437] The distance between the sensing target and the first sensing transmitting device is greater than a tenth threshold;

[0438] The distance between the sensing target and the second sensing transmitting device is less than an eleventh threshold;

[0439] The distance between the perceived target and the first perception transmitting device is greater than a tenth threshold, and the distance between the perceived target and the second perception transmitting device is less than an eleventh threshold;

[0440] A difference between a distance between the perception target and the first perception transmitting device and a distance between the perception target and the second perception transmitting device is greater than a twelfth threshold.

[0441] In a possible design of this embodiment, the apparatus further includes: a measurement module 520, configured to measure a perception reference signal transmitted by at least one candidate perception transmitting device; wherein the second perception transmitting device is one of the at least one candidate perception transmitting device.

[0442] In a possible design of this embodiment, the apparatus further includes: a sending module 530, configured to send a first notification to the first sensing transmitting apparatus, where the first notification is used to notify the first sensing transmitting apparatus to stop transmitting the sensing reference signal.

[0443] In a possible design of this embodiment, the sending module 530 is further configured to send a second notification to the second perception transmitting device, where the second notification is configured to notify the second perception transmitting device that the perception receiving device chooses to use the second perception transmitting device to perform perception measurement.

[0444] In a possible design of this embodiment, the second sensing and transmitting device is selected from at least two candidate sensing and transmitting devices that meet the switching condition based on a selection condition, where the selection condition includes at least one of the following:

[0445] a candidate sensing transmitting device having the largest measurement result of the sensing reference signal;

[0446] The candidate sensing transmitting device having the smallest transmission delay corresponding to the path where the reference signal is reflected from the candidate sensing transmitting device through the sensing target to the sensing receiving device;

[0447] a candidate sensing transmitting device having the shortest distance from the sensing receiving device;

[0448] a candidate sensing transmitter with the smallest distance to the sensing target;

[0449] Any candidate sensing transmitter.

[0450] In a possible design of this embodiment, the apparatus further includes: a receiving module 540, configured to receive first configuration information, where the first configuration information is used to configure the sensing receiving apparatus to measure a sensing reference signal transmitted by at least one candidate sensing transmitting apparatus when a measurement start condition is met.

[0451] In a possible design of this embodiment, the measurement initiation condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than a third condition.

[0452] In a possible design of this embodiment, the measurement start condition is represented by at least one of the following information:

[0453] measurement results of the sensing reference signal;

[0454] sensing an absolute sending position or a relative sending position of a reference signal;

[0455] The relative sending position is a position relative to a sensing receiving node, or the relative sending position is a position relative to a sensing target.

[0456] In one possible design of this embodiment, the measurement start condition includes at least one of the following:

[0457] a start condition related to a measurement result of a sensing reference signal transmitted by the first sensing transmitting device;

[0458] a start condition related to a transmission delay corresponding to a path of a sensing reference signal from a first sensing transmitting device to a sensing receiving device via reflection from a sensing target;

[0459] a triggering condition related to the position of the first sensing and transmitting device;

[0460] a triggering condition related to the distance between the first sensing transmitting device and the sensing receiving device;

[0461] A starting condition related to the distance between the first sensing transmitting device and the sensing target.

[0462] In a possible design of this embodiment, the activation condition related to the measurement result of the sensing reference signal transmitted by the first sensing transmitting device includes: the measurement result of the sensing reference signal transmitted by the first sensing transmitting device is less than a thirteenth threshold.

[0463] In one possible design of this embodiment, a start condition related to a transmission delay corresponding to a path of the sensing reference signal from the first sensing transmitting device to the sensing receiving device after being reflected by the sensing target includes: the first transmission delay being greater than a fourteenth threshold;

[0464] The first transmission delay is a transmission delay corresponding to a path of the sensing reference signal from the first sensing transmitting device through the sensing target and reflected to the sensing receiving device.

[0465] In a possible design of this embodiment, the activation condition related to the position of the first sensing and transmitting device includes at least one of the following:

[0466] The position of the perceived target leaves the first area;

[0467] sensing that the position of the receiving device leaves the first area;

[0468] sensing that the position of the target leaves the first area, and sensing that the position of the receiving device leaves the first area;

[0469] The first area corresponds to the position of the first sensing and emitting device.

[0470] In a possible design of this embodiment, the starting condition related to the distance between the first sensing transmitting device and the sensing receiving device includes: the distance between the first sensing transmitting device and the sensing receiving device is greater than a fifteenth threshold.

[0471] In a possible design of this embodiment, the starting condition related to the distance between the first sensing emitting device and the sensing target includes: the distance between the first sensing emitting device and the sensing target is greater than a sixteenth threshold.

[0472] In a possible design of this embodiment, the receiving module 540 is further configured to receive second configuration information, where the second configuration information is used to indicate a sending configuration of a sensing reference signal transmitted by the candidate sensing transmitting device.

[0473] In a possible design of this embodiment, the receiving module 540 is further used to receive third configuration information, and the third configuration information is used to configure the switching condition.

[0474] FIG6 shows a block diagram of a first sensing and transmitting device provided by an exemplary embodiment of the present application, the device comprising:

[0475] The first sending module 610 is used to send third configuration information, where the third configuration information is used to configure the sensing receiving device to switch from the first sensing transmitting device to the second sensing transmitting device when a switching condition is met.

[0476] In a possible design of this embodiment, the first sending module 610 is further configured to send first configuration information, where the first configuration information is used to configure the sensing receiving apparatus to measure a sensing reference signal transmitted by at least one candidate sensing transmitting apparatus when a measurement start condition is met.

[0477] In a possible design of this embodiment, the measurement initiation condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than a third condition.

[0478] In a possible design of this embodiment, the measurement start condition is represented by at least one of the following information:

[0479] Measurement results of the sensing reference signal;

[0480] sensing an absolute sending position or a relative sending position of a reference signal;

[0481] The relative sending position is a position relative to a sensing receiving node, or the relative sending position is a position relative to a sensing target.

[0482] In one possible design of this embodiment, the measurement start condition includes at least one of the following:

[0483] a start condition related to a measurement result of a sensing reference signal transmitted by the first sensing transmitting device;

[0484] a start condition related to a transmission delay corresponding to a path of a sensing reference signal from a first sensing transmitting device to a sensing receiving device via reflection from a sensing target;

[0485] a triggering condition related to the position of the first sensing and transmitting device;

[0486] a triggering condition related to the distance between the first sensing transmitting device and the sensing receiving device;

[0487] A starting condition related to the distance between the first sensing transmitting device and the sensing target.

[0488] In a possible design of this embodiment, the activation condition related to the measurement result of the sensing reference signal transmitted by the first sensing transmitting device includes: the measurement result of the sensing reference signal transmitted by the first sensing transmitting device is less than a thirteenth threshold.

[0489] In one possible design of this embodiment, a start condition related to a transmission delay corresponding to a path of the sensing reference signal from the first sensing transmitting device to the sensing receiving device after being reflected by the sensing target includes: the first transmission delay being greater than a fourteenth threshold;

[0490] The first transmission delay is a transmission delay corresponding to a path of the sensing reference signal from the first sensing transmitting device through the sensing target and reflected to the sensing receiving device.

[0491] In a possible design of this embodiment, the activation condition related to the position of the first sensing and transmitting device includes at least one of the following:

[0492] The position of the perceived target leaves the first area;

[0493] sensing that the position of the receiving device leaves the first area;

[0494] sensing that the position of the target leaves the first area, and sensing that the position of the receiving device leaves the first area;

[0495] The first area corresponds to the position of the first sensing and emitting device.

[0496] In a possible design of this embodiment, the starting condition related to the distance between the first sensing transmitting device and the sensing receiving device includes: the distance between the first sensing transmitting device and the sensing receiving device is greater than a fifteenth threshold.

[0497] In a possible design of this embodiment, the starting condition related to the distance between the first sensing emitting device and the sensing target includes: the distance between the first sensing emitting device and the sensing target is greater than a sixteenth threshold.

[0498] In a possible design of this embodiment, the apparatus further includes: a first receiving module 820, configured to receive a first notification sent by the sensing receiving apparatus, where the first notification is used to notify the first sensing transmitting apparatus to stop transmitting the sensing reference signal.

[0499] FIG7 shows a block diagram of a candidate sensing emission device provided by an exemplary embodiment of the present application, the device comprising:

[0500] A second sending module 710 is configured to send second configuration information, where the second configuration information is used to indicate a sending configuration of a sensing reference signal transmitted by a candidate sensing transmitting device;

[0501] The sending configuration is used for the perceived receiving device to measure the perception reference signal, and when the measurement result of the perception reference signal meets the switching condition, the device switches from the first perception transmitting device to the second perception transmitting device, where the second perception transmitting device is one of the candidate perception transmitting devices.

[0502] In a possible design of this embodiment, the apparatus further includes: a second receiving module 720, configured to receive a second notification sent by the perception receiving apparatus; wherein the second notification is used to notify the second perception transmitting apparatus that the perception receiving apparatus selects to use the second perception transmitting apparatus to perform perception measurement.

[0503] FIG8 shows a schematic structural diagram of a perception receiving node or a perception transmitting node provided by an exemplary embodiment of the present application, including: a processor 801 , a receiver 802 , a transmitter 803 , a memory 804 and a bus 805 .

[0504] The processor 801 includes one or more processing cores. The processor 801 executes various functional applications and information processing by running software programs and modules.

[0505] The receiver 802 and the transmitter 803 may be implemented as a communication component, which may be a communication chip, and may be referred to as a transceiver.

[0506] The memory 804 is connected to the processor 801 via a bus 805 .

[0507] The memory 804 may be used to store at least one instruction, and the processor 801 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0508] In addition, the memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0509] In a possible implementation, the processor in the sensing receiving node is configured to switch from the first sensing transmitting node to the second sensing transmitting node when a switching condition is met;

[0510] a processor in the sensing receiving node, configured to measure a sensing reference signal transmitted by at least one candidate sensing transmitting node, wherein the second sensing transmitting node is one of the at least one candidate sensing transmitting node;

[0511] A transceiver in the sensing receiving node is configured to receive first configuration information, where the first configuration information is used to configure the sensing receiving node to measure a sensing reference signal transmitted by at least one candidate sensing transmitting node when a measurement start condition is met;

[0512] The transceiver in the sensing receiving node is configured to receive second configuration information, where the second configuration information is used to indicate a sending configuration of a sensing reference signal transmitted by the candidate sensing transmitting node;

[0513] The transceiver in the sensing receiving node is used to receive third configuration information, where the third configuration information is used to configure the switching condition.

[0514] In a possible implementation, a transceiver in the sensing transmitting node is configured to send third configuration information, where the third configuration information is used to configure the sensing receiving node to switch from the first sensing transmitting node to the second sensing transmitting node when a switching condition is met;

[0515] The transceiver in the sensing transmitting node is configured to receive a first notification sent by the sensing receiving node, where the first notification is used to notify the first sensing transmitting node to stop transmitting the sensing reference signal;

[0516] A transceiver in the sensing transmitting node is configured to send second configuration information, where the second configuration information is used to indicate a sending configuration of a sensing reference signal transmitted by the candidate sensing transmitting node; wherein the sending configuration is used for the sensed receiving node to measure the sensing reference signal, and when a measurement result of the sensing reference signal meets a switching condition, the sensing receiving node is switched from the first sensing transmitting node to the second sensing transmitting node, where the second sensing transmitting node is one of the candidate sensing transmitting nodes;

[0517] The transceiver in the perception transmitting node is used to receive a second notification sent by the perception receiving node; wherein the second notification is used to notify the second perception transmitting node: the perception receiving node selects to use the second perception transmitting node to perform perception measurement.

[0518] In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the node switching method provided by the above-mentioned various method embodiments.

[0519] In an exemplary embodiment, a computer program product is further provided. When the computer program product is executed on a processor of a computer device, the computer device executes the node switching method according to the above aspect.

[0520] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program instructing the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0521] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A node switching method, characterized in that: The method is performed by a sensing receiving node, and the method includes: When the switching condition is met, the first sensing transmitting node is switched to the second sensing transmitting node.

2. The method according to claim 1, characterized in that The switching condition is used to indicate that a sensing reference signal transmitted by the first sensing transmitting node is worse than a sensing reference signal transmitted by the second sensing transmitting node.

3. The method according to claim 1, characterized in that The switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the first condition; or, The switching condition is used to indicate that the sensing reference signal transmitted by the second sensing transmitting node is better than the second condition; or, The switching condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than the first condition, and the sensing reference signal transmitted by the second sensing transmitting node is better than the second condition; Wherein, the first condition is equal to or worse than the second condition.

4. The method according to claim 1, wherein The switching condition is represented by at least one of the following information: a measurement result of the sensing reference signal; an absolute sending position or a relative sending position of the sensing reference signal; The relative sending position is relative to the position of the sensing receiving node, or the relative sending position is relative to the position of the sensing target.

5. The method according to any one of claims 1 to 4, characterized in that: The switching condition includes at least one of the following: a switching condition related to a measurement result of the sensing reference signal; Position-dependent switching conditions; Switching conditions related to transmission delay; Distance-related switching conditions; The measurement result of the perception reference signal includes: at least one of a measurement result of the perception reference signal transmitted by the first perception transmitting node and a measurement result of the perception reference signal transmitted by the second perception transmitting node; the position includes: at least one of a position of the first perception transmitting node, a position of the second perception transmitting node, a position of the perception receiving node, and a position of the perception target; the transmission delay includes: at least one of a transmission delay corresponding to a path of the perception reference signal reflected from the first perception transmitting node through the perception target to the perception receiving node and a transmission delay corresponding to a path of the perception reference signal reflected from the second perception transmitting node through the perception target to the perception receiving node; the distance includes: at least one of a distance between the perception receiving node and the first perception transmitting node, a distance between the perception receiving node and the second perception transmitting node, a distance between the perception target and the first perception transmitting node, and a distance between the perception target and the second perception transmitting node.

6. The method according to claim 5, characterized in that The switching condition related to the measurement result of the sensing reference signal includes at least one of the following: A measurement result of the sensing reference signal transmitted by the first sensing transmitting node is less than a first threshold; A measurement result of the sensing reference signal transmitted by the second sensing transmitting node is greater than a second threshold; A measurement result of a perception reference signal transmitted by the first perception transmitting node is less than the first threshold, and a measurement result of a perception reference signal transmitted by the second perception transmitting node is greater than the second threshold; A difference between a measurement result of the perception reference signal transmitted by the second perception transmitting node and a measurement result of the perception reference signal transmitted by the first perception transmitting node is greater than a third threshold.

7. The method according to claim 6, characterized in that The measurement result of the perceptual reference signal includes at least one of the following: An average measurement result corresponding to the perception reference signal on a path component; the average measurement result corresponding to the perception reference signal on the multiple path components; The average measurement result corresponding to the perceptual reference signal on all the path components.

8. The method according to claim 5, characterized in that The location-related switching condition includes at least one of the following: The position of the sensing target moves from the first area to the second area; The position of the sensing receiving node moves from the first area to the second area; The position of the sensing target moves from the first area to the second area, and the position of the sensing receiving node moves from the first area to the second area; The first area corresponds to the position of the first sensing transmitting node, and the second area corresponds to the position of the second sensing transmitting node.

9. The method according to claim 5, characterized in that The switching condition related to transmission delay includes at least one of the following: The first transmission delay is greater than a fourth threshold; The second transmission delay is less than a fifth threshold; The first transmission delay is greater than the fourth threshold, and the second transmission delay is less than the fifth threshold; A difference between the first transmission delay and the second transmission delay is greater than a sixth threshold; The first transmission delay is the transmission delay corresponding to the path of the perception reference signal reflected from the first perception transmitting node through the perception target to the perception receiving node, and the second transmission delay is the transmission delay corresponding to the path of the perception reference signal reflected from the second perception transmitting node through the perception target to the perception receiving node.

10. The method according to claim 5, characterized in that The distance-related switching condition includes at least one of the following: The distance between the sensing receiving node and the first sensing transmitting node is greater than a seventh threshold; The distance between the sensing receiving node and the second sensing transmitting node is less than an eighth threshold; The distance between the sensing receiving node and the first sensing transmitting node is greater than the seventh threshold, and the distance between the sensing receiving node and the second sensing transmitting node is less than the eighth threshold; a difference between a distance between the sensing receiving node and the first sensing transmitting node and a distance between the sensing receiving node and the second sensing transmitting node being greater than a ninth threshold; The distance between the sensing target and the first sensing transmitting node is greater than a tenth threshold; The distance between the sensing target and the second sensing transmitting node is less than an eleventh threshold; The distance between the sensing target and the first sensing transmitting node is greater than the tenth threshold, and the distance between the sensing target and the second sensing transmitting node is less than the eleventh threshold; A difference between a distance between the perception target and the first perception transmitting node and a distance between the perception target and the second perception transmitting node is greater than a twelfth threshold.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: measuring a sensing reference signal transmitted by at least one candidate sensing transmitting node; The second sensing transmitting node is one of the at least one candidate sensing transmitting node.

12. The method according to claim 11, characterized in that The method further comprises: First configuration information is received, where the first configuration information is used to configure the sensing receiving node to measure a sensing reference signal transmitted by the at least one candidate sensing transmitting node when a measurement start condition is met.

13. The method according to claim 12, characterized in that The measurement start condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than a third condition.

14. The method according to claim 12, characterized in that The measurement start condition is represented by at least one of the following information: a measurement result of the sensing reference signal; an absolute sending position or a relative sending position of the sensing reference signal; The relative sending position is relative to the position of the sensing receiving node, or the relative sending position is relative to the position of the sensing target.

15. The method according to any one of claims 12 to 14, characterized in that: The measurement start condition includes at least one of the following: a start condition related to a measurement result of the perception reference signal transmitted by the first perception transmitting node; a start condition related to a transmission delay corresponding to a path of the sensing reference signal from the first sensing transmitting node through the sensing target and reflected to the sensing receiving node; a start condition related to the position of the first sensing transmitting node; a start condition related to the distance between the first sensing transmitting node and the sensing receiving node; A starting condition related to the distance between the first sensing transmitting node and the sensing target.

16. The method according to claim 15, characterized in that The starting condition related to the measurement result of the perception reference signal transmitted by the first perception transmitting node includes: A measurement result of the perception reference signal transmitted by the first perception transmitting node is less than a thirteenth threshold.

17. The method according to claim 15, characterized in that The start condition related to the transmission delay corresponding to the path of the sensing reference signal reflected from the first sensing transmitting node through the sensing target to the sensing receiving node includes: The first transmission delay is greater than a fourteenth threshold; The first transmission delay is the transmission delay corresponding to a path along which the sensing reference signal is reflected from the first sensing transmitting node through the sensing target to the sensing receiving node.

18. The method according to claim 15, characterized in that The starting condition related to the position of the first sensing transmitting node includes at least one of the following: The position of the sensing target leaves the first area; The sensing receiving node leaves the first area; The position of the sensing target leaves the first area, and the position of the sensing receiving node leaves the first area; The first area corresponds to the position of the first sensing transmitting node.

19. The method according to claim 15, characterized in that The starting condition related to the distance between the first sensing transmitting node and the sensing receiving node includes: The distance between the first sensing transmitting node and the sensing receiving node is greater than a fifteenth threshold.

20. The method according to claim 15, wherein The starting condition related to the distance between the first sensing transmitting node and the sensing target includes: The distance between the first sensing transmitting node and the sensing target is greater than a sixteenth threshold.

21. The method according to claim 11, wherein The method further comprises: Second configuration information is received, where the second configuration information is used to indicate a sending configuration of the perception reference signal transmitted by the candidate perception transmitting node.

22. The method according to any one of claims 1 to 21, characterized in that The method further comprises: Receive third configuration information, where the third configuration information is used to configure the switching condition.

23. The method according to any one of claims 1 to 22, characterized in that The method further comprises: A first notification is sent to the first sensing transmitting node, where the first notification is used to notify the first sensing transmitting node to stop transmitting the sensing reference signal.

24. The method according to any one of claims 1 to 22, characterized in that The method further comprises: A second notification is sent to the second perception transmitting node, where the second notification is used to notify the second perception transmitting node that the perception receiving node selects to use the second perception transmitting node to perform perception measurement.

25. The method according to claim 11, wherein The second sensing transmitting node is selected from at least two candidate sensing transmitting nodes that meet the switching condition based on a selection condition.

26. The method according to claim 25, characterized in that The selection condition includes at least one of the following: the candidate sensing transmitting node having the largest measurement result of the sensing reference signal; The candidate sensing transmitting node having the smallest transmission delay corresponding to a path where the sensing reference signal is reflected from the candidate sensing transmitting node through the sensing target to the sensing receiving node; the candidate sensing transmitting node having the smallest distance to the sensing receiving node; the candidate sensing transmitting node having the smallest distance to the sensing target; Any one of the candidate sensing transmitting nodes.

27. A node switching method, characterized in that: The method is performed by a first sensing transmitting node, and the method includes: Send third configuration information, where the third configuration information is used to configure the perception receiving node to switch from the first perception transmitting node to the second perception transmitting node when a switching condition is met.

28. The method according to claim 27, characterized in that The method further comprises: First configuration information is sent, where the first configuration information is used to configure the sensing receiving node to measure a sensing reference signal transmitted by at least one candidate sensing transmitting node when a measurement start condition is met.

29. The method according to claim 28, characterized in that The measurement start condition is used to indicate that the sensing reference signal transmitted by the first sensing transmitting node is worse than a third condition.

30. The method according to claim 28, wherein The measurement start condition is represented by at least one of the following information: a measurement result of the sensing reference signal; an absolute sending position or a relative sending position of the sensing reference signal; The relative sending position is relative to the position of the sensing receiving node, or the relative sending position is relative to the position of the sensing target.

31. The method according to any one of claims 28 to 30, characterized in that The measurement start condition includes at least one of the following: a start condition related to a measurement result of the perception reference signal transmitted by the first perception transmitting node; a start condition related to a transmission delay corresponding to a path of the sensing reference signal from the first sensing transmitting node to the sensing receiving node via reflection from the sensing target; a start condition related to the position of the first sensing transmitting node; a start condition related to the distance between the first sensing transmitting node and the sensing receiving node; A starting condition related to the distance between the first sensing transmitting node and the sensing target.

32. The method according to claim 31, characterized in that The activation condition related to the measurement result of the perception reference signal transmitted by the first perception transmitting node includes: A measurement result of the perception reference signal transmitted by the first perception transmitting node is less than a thirteenth threshold.

33. The method according to claim 31, characterized in that The starting condition related to the transmission delay corresponding to the path of the sensing reference signal from the first sensing transmitting node to the sensing receiving node through the sensing target reflection includes: The first transmission delay is greater than a fourteenth threshold; The first transmission delay is the transmission delay corresponding to a path along which the sensing reference signal is reflected from the first sensing transmitting node through the sensing target to the sensing receiving node.

34. The method according to claim 31, wherein The starting condition related to the position of the first sensing transmitting node includes at least one of the following: The position of the sensing target leaves the first area; The sensing receiving node leaves the first area; The position of the sensing target leaves the first area, and the position of the sensing receiving node leaves the first area; The first area corresponds to the position of the first sensing transmitting node.

35. The method according to claim 31, wherein The starting condition related to the distance between the first sensing transmitting node and the sensing receiving node includes: The distance between the first sensing transmitting node and the sensing receiving node is greater than a fifteenth threshold.

36. The method according to claim 31, wherein The starting condition related to the distance between the first sensing transmitting node and the sensing target includes: The distance between the first sensing transmitting node and the sensing target is greater than a sixteenth threshold.

37. The method according to claim 27, wherein The method further comprises: A first notification sent by the perception receiving node is received, where the first notification is used to notify the first perception transmitting node to stop transmitting the perception reference signal.

38. A node switching method, characterized in that: The method is performed by a candidate sensing transmitting node, and the method includes: Sending second configuration information, where the second configuration information is used to indicate a sending configuration of the perception reference signal transmitted by the candidate perception transmitting node; The sending configuration is used for the perceived receiving node to measure the perception reference signal, and when the measurement result of the perception reference signal meets the switching condition, switch from the first perception transmitting node to the second perception transmitting node, where the second perception transmitting node is one of the candidate perception transmitting nodes.

39. The method according to claim 38, characterized in that The method further comprises: receiving a second notification sent by the perception receiving node; The second notification is used to notify the second perception transmitting node that the perception receiving node selects to use the second perception transmitting node to perform perception measurement.

40. A sensing receiving device, characterized in that: The device comprises: The switching module is used to switch from the first sensing and emitting device to the second sensing and emitting device when a switching condition is met.

41. A first sensing and transmitting device, characterized in that: The device comprises: The first sending module is used to send third configuration information, where the third configuration information is used to configure the sensing receiving device to switch from the first sensing transmitting device to the second sensing transmitting device when a switching condition is met.

42. A candidate sensing and emitting device, characterized in that: The device comprises: A second sending module, configured to send second configuration information, where the second configuration information is used to indicate a sending configuration of the perception reference signal transmitted by the candidate perception transmitting device; The sending configuration is used for the perceived receiving node to measure the perception reference signal, and when the measurement result of the perception reference signal meets the switching condition, switch from the first perception transmitting device to the second perception transmitting device, where the second perception transmitting device is one of the candidate perception transmitting devices.

43. A sensing receiving node, characterized in that The sensing receiving node includes: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load and execute the executable instructions to implement the node switching method according to any one of claims 1 to 26.

44. A sensing transmitting node, characterized in that The sensing transmitting node includes: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load and execute the executable instructions to implement the node switching method as described in any one of claims 27 to 39.

45. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the node switching method according to any one of claims 1 to 39.

46. ​​A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor obtains the computer instructions from the computer-readable storage medium, so that the processor loads and executes them to implement the node switching method as described in any one of claims 1 to 39.

47. A computer program, characterized in that The computer program includes computer instructions, which are stored in a computer-readable storage medium. The processor obtains the computer instructions from the computer-readable storage medium, so that the processor loads and executes them to implement the node switching method as described in any one of claims 1 to 39.

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