Perception method and device, first perception node, control node, second perception node and computer storage medium

Abstract

The invention relates to a sensing method and device, a first sensing node, a control node, a second sensing node, a computer storage medium and a computer program product. The method comprises the following steps: determining a target sensing node and / or target sensing transceiving mode information according to at least one of position information of a sensing target, configuration information from a control node and first information indicated by a second sensing node; or indicating the sensing node and / or sensing the switching of the transceiving mode to the control node, and / or indicating the position information of the sensing target to the control node. The position information for indicating the switching of the sensing node and / or the sensing transceiving mode and indicating the sensing target is used for determining the information of the target sensing node and / or the target sensing transceiving mode. By adopting the method, the resource occupation of the sensing node is reduced, and the sensing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of sensing technology, and in particular to a sensing method, apparatus, first sensing node, control node, second sensing node, computer storage medium, and computer program product. Background Technology

[0002] With the development of sensing and communication technologies, communication and sensing convergence has emerged, namely, communication and sensing integration. Through joint design of air interface and protocol, reuse of time, frequency and space resources, and sharing of hardware devices, communication and sensing functions are designed in a unified manner, enabling wireless networks to perform sensing functions while conducting communication interactions.

[0003] Currently, the method for determining the User Equipment (UE) to participate in sensing involves the base station or sensing network element first determining a set of candidate UEs, then sending measurement configuration signaling to the candidate UEs to notify them to report measurement values ​​of sensing parameters that reflect the echo quality of the sensing signal, or measurement values ​​of sensing parameters that reflect the sensing performance. The base station or sensing network element then determines the target UE from the candidate UEs based on the measured sensing parameters and a preset threshold value.

[0004] However, in the current methods for identifying target UEs to participate in sensing, candidate UEs need to report measurements, and there is a lot of signaling interaction between the base station or sensing network element and the UE, which results in a lot of resource consumption. Summary of the Invention

[0005] Based on this, it is necessary to provide a sensing method, device, first sensing node, control node, second sensing node, computer-readable storage medium, and computer program product that improve sensing efficiency in response to the above-mentioned technical problems.

[0006] Firstly, a sensing method is provided, the method being applied to a first sensing node, the method comprising:

[0007] Based on at least one of the following: the location information of the sensed target, the configuration information from the control node, and the first information indicated by the second sensed node, determine the target sensed node and / or the target sensed transceiver mode information; or,

[0008] Instructing the control node to switch the sensing node and / or the sensing transceiver mode, and / or instructing the control node to indicate the location information of the sensing target; the instruction to switch the sensing node and / or the sensing transceiver mode and the instruction to indicate the location information of the sensing target are used to determine the target sensing node and / or the target sensing transceiver mode information.

[0009] In one embodiment, instructing the control node to switch the sensing node and / or sensing transceiver mode includes:

[0010] Based on the location information of the sensed target, instruct the control node to switch the sensed node and / or the sensed transceiver mode, or...

[0011] Based on the location information of the sensed target and the configuration information from the control node, instruct the control node to switch the sensed node and / or sensed transceiver mode.

[0012] In one embodiment, the method further includes:

[0013] Instruct the target sensing node to perform sensing and / or the target sensing transmit / receive mode information; or...

[0014] Instruct the control node on the target sensing node and / or the target sensing transceiver mode information.

[0015] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information based on at least one of the location information of the sensing target, configuration information from the control node, and first information indicated by the second sensing node includes:

[0016] Based on the location information of the sensed target, determine the target sensing node and / or the target sensing transmission and reception mode information; or...

[0017] Based on the location information of the sensed target and the configuration information from the control node, the target sensed node and / or the target sensed transceiver mode information are determined.

[0018] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information based on at least one of the location information of the sensing target, configuration information from the control node, and first information indicated by the second sensing node includes:

[0019] Based on the first information indicated by the second sensing node, determine the second sensing node and / or the target sensing transceiver mode information; or...

[0020] Based on the first information indicated by the second sensing node and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information;

[0021] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0022] In one embodiment, the method further includes:

[0023] The location information and / or sensing quality information of the sensing target are indicated to the second sensing node.

[0024] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information based on the location information of the sensing target includes:

[0025] Based on the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information.

[0026] In one embodiment, instructing the control node of the location information of the perceived target includes:

[0027] Based on the location information of the sensed target, the control node is instructed with the location information of the sensed target; or...

[0028] Based on the location information of the perceived target and the configuration information from the control node, the location information of the perceived target is indicated to the control node.

[0029] Secondly, a sensing method is provided, the method being applied to a control node, the method comprising:

[0030] Send configuration information to the first sensing node, and / or determine the target sensing node and / or the target sensing transceiver mode information;

[0031] The configuration information is used to indicate at least one of the following situations:

[0032] The first sensing node determines the target sensing node and / or the target sensing transceiver mode information based on the configuration information;

[0033] The first sensing node indicates the location information of the sensing target to the control node according to the configuration information;

[0034] The first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes according to the configuration information.

[0035] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information includes:

[0036] Based on the location information of the sensed target, determine the target sensing node and / or the target sensing transmission and reception mode information; or...

[0037] Based on the first information indicated by the second sensing node, determine the target sensing node and / or the target sensing transceiver mode information; or...

[0038] Based on the first information indicated by the second sensing node and the location information of the sensing target, determine the target sensing node and / or the target sensing transmission and reception mode information.

[0039] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0040] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information based on the location information of the sensing target includes:

[0041] Based on the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information.

[0042] In one embodiment, the method further includes:

[0043] The location information and / or sensing quality information of the sensing target are indicated to the second sensing node.

[0044] In one embodiment, the method further includes:

[0045] The configuration information is determined based on the sensing coverage information of the first sensing node and / or the second sensing node; or,

[0046] The configuration information is determined based on the location information of the first sensing node and / or the second sensing node.

[0047] In one embodiment, the method further includes:

[0048] Instruct the target sensing node to perform sensing and / or the target sensing transmit / receive mode information.

[0049] Thirdly, a sensing method is provided, the method being applied to a second sensing node, the method comprising:

[0050] The control node or the first sensing node is instructed with at least one of the following: first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, sensing coverage information of the second sensing node, and location information of the second sensing node are used to determine the target sensing node and / or target sensing transceiver mode information.

[0051] The first information includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0052] In one embodiment, the method further includes:

[0053] Sensing is performed based on indication information from the control node or the first sensing node, the indication information being used to instruct the second sensing node to perform sensing and / or target sensing transceiver mode.

[0054] In one embodiment, before indicating the first information to the control node or the first sensing node, the method further includes:

[0055] The first information is determined based on the location information and / or perception quality information of the perceived target.

[0056] Fourthly, a first sensing node is provided, including a memory, a transceiver, and a processor;

[0057] The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0058] Based on at least one of the following: the location information of the sensed target, the configuration information from the control node, and the first information indicated by the second sensed node, determine the target sensed node and / or the target sensed transceiver mode information; or,

[0059] Instructing the control node to switch the sensing node and / or the sensing transceiver mode, and / or instructing the control node to indicate the location information of the sensing target; the instruction to switch the sensing node and / or the sensing transceiver mode and the instruction to indicate the location information of the sensing target are used to determine the target sensing node and / or the target sensing transceiver mode information.

[0060] In one embodiment, instructing the control node to switch the sensing node and / or sensing transceiver mode includes:

[0061] Based on the location information of the sensed target, instruct the control node to switch the sensed node and / or the sensed transceiver mode; or...

[0062] Based on the location information of the sensed target and the configuration information from the control node, instruct the control node to switch the sensed node and / or sensed transceiver mode.

[0063] In one embodiment, the processor is further configured to read a computer program from the memory and perform the following operations:

[0064] Instruct the target sensing node to perform sensing and / or the target sensing transmit / receive mode information; or...

[0065] Instruct the control node on the target sensing node and / or the target sensing transceiver mode information.

[0066] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information based on at least one of the location information of the sensing target, configuration information from the control node, and first information indicated by the second sensing node includes:

[0067] Based on the location information of the sensed target, determine the target sensing node and / or the target sensing transmission and reception mode information; or...

[0068] Based on the location information of the sensed target and the configuration information from the control node, the target sensed node and / or the target sensed transceiver mode information are determined.

[0069] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information based on at least one of the location information of the sensing target, configuration information from the control node, and first information indicated by the second sensing node includes:

[0070] Based on the first information indicated by the second sensing node, determine the target sensing node and / or the target sensing transceiver mode information; or...

[0071] Based on the first information indicated by the second sensing node and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information;

[0072] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0073] In one embodiment, the processor is further configured to read a computer program from the memory and perform the following operations:

[0074] The location information and / or sensing quality information of the sensing target are indicated to the second sensing node.

[0075] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information based on the location information of the sensing target includes:

[0076] Based on the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information.

[0077] In one embodiment, instructing the control node of the location information of the perceived target includes:

[0078] Based on the location information of the sensed target, the control node is instructed with the location information of the sensed target; or...

[0079] Based on the location information of the perceived target and the configuration information from the control node, the location information of the perceived target is indicated to the control node.

[0080] Fifthly, a control node is provided, including a memory, a transceiver, and a processor;

[0081] The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0082] Send configuration information to the first sensing node, and / or determine the target sensing node and / or the target sensing transceiver mode information;

[0083] The configuration information is used in at least one of the following situations:

[0084] The first sensing node determines the target sensing node and / or the target sensing transceiver mode information based on the configuration information;

[0085] The first sensing node indicates the location information of the sensing target to the control node according to the configuration information;

[0086] The first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes according to the configuration information.

[0087] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information includes:

[0088] Based on the location information of the sensed target, determine the target sensed node and / or the target sensed transceiver mode information;

[0089] Based on the first information indicated by the second sensing node, determine the target sensing node and / or the target sensing transceiver mode information, or...

[0090] Based on the first information indicated by the second sensing node and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information;

[0091] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0092] In one embodiment, determining the target sensing node and / or target sensing transceiver mode information based on the location information of the sensing target includes:

[0093] Based on the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information.

[0094] In one embodiment, the processor is further configured to read a computer program from the memory and perform the following operations:

[0095] The location information and / or sensing quality information of the sensing target are indicated to the second sensing node.

[0096] In one embodiment, the processor is further configured to read a computer program from the memory and perform the following operations:

[0097] The configuration information is determined based on the sensing coverage information of the first sensing node and / or the second sensing node; or,

[0098] The configuration information is determined based on the location information of the first sensing node and / or the second sensing node.

[0099] Sixthly, a second sensing node is provided, including a memory, a transceiver, and a processor;

[0100] The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0101] The control node or the first sensing node is instructed with at least one of the following: first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, sensing coverage information of the second sensing node, and location information of the second sensing node are used to determine the target sensing node and / or target sensing transceiver mode information.

[0102] Sensing is performed based on indication information from the control node or the first sensing node, the indication information being used to indicate sensing and / or target sensing transmit / receive mode information;

[0103] The first information includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0104] In one embodiment, the processor is further configured to read a computer program from the memory and perform the following operations:

[0105] Sensing is performed based on indication information from the control node or the first sensing node, the indication information being used to instruct the second sensing node to perform sensing and / or target sensing transceiver mode.

[0106] In one embodiment, before indicating the first information to the control node or the first sensing node, the processor is further configured to read the computer program in the memory and perform the following operations:

[0107] The first information is determined based on the location information and / or perception quality information of the perceived target.

[0108] In a seventh aspect, a sensing device is provided, the device being applied to a first sensing node, the device comprising:

[0109] The first determining unit is configured to determine the target sensing node and / or the target sensing transceiver mode information based on at least one of the following: the location information of the sensing target, the configuration information from the control node, and the first information indicated by the second sensing node; or,

[0110] The first indication unit is used to indicate to the control node the switching of the sensing node and / or the sensing transceiver mode, and / or to the control node the location information of the sensing target; the indication of the sensing node and / or the switching of the sensing transceiver mode and the indication of the location information of the sensing target are used to determine the target sensing node and / or the target sensing transceiver mode information.

[0111] In one embodiment, the first indicating unit is specifically used for:

[0112] Based on the location information of the sensed target, instruct the control node to switch the sensed node and / or the sensed transceiver mode; or...

[0113] Based on the location information of the sensed target and the configuration information from the control node, instruct the control node to switch the sensed node and / or sensed transceiver mode.

[0114] In one embodiment, the device further includes:

[0115] The second instruction unit is used to instruct the target sensing node to perform sensing and / or the target sensing transmit / receive mode information, or...

[0116] The third instruction unit is used to instruct the control node on the target sensing node and / or the target sensing transceiver mode information.

[0117] In one embodiment, the first determining unit is specifically used for:

[0118] Based on the location information of the sensed target, determine the target sensing node and / or the target sensing transmission and reception mode information; or...

[0119] Based on the location information of the sensed target and the configuration information from the control node, the target sensed node and / or the target sensed transceiver mode information are determined.

[0120] In one embodiment, the first determining unit is specifically used for:

[0121] Based on the first information indicated by the second sensing node, determine the target sensing node and / or the target sensing transceiver mode information; or...

[0122] Based on the first information indicated by the second sensing node and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information;

[0123] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0124] In one embodiment, the device further includes:

[0125] The fourth indicating unit is used to indicate the location information and / or sensing quality information of the sensing target to the second sensing node.

[0126] In one embodiment, the first determining unit is specifically used for:

[0127] Based on the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information.

[0128] In one embodiment, the first indicating unit is specifically used for:

[0129] Based on the location information of the sensed target, the control node is instructed with the location information of the sensed target; or...

[0130] Based on the location information of the perceived target and the configuration information from the control node, the location information of the perceived target is indicated to the control node.

[0131] Eighthly, a sensing device is provided, the device being applied to a control node, the device comprising:

[0132] The first determining unit is used to send configuration information to the first sensing node, and / or determine the target sensing node and / or the target sensing transceiver mode information;

[0133] The configuration information is used in at least one of the following situations:

[0134] The first sensing node determines the target sensing node and / or the target sensing transceiver mode information based on the configuration information;

[0135] The first sensing node indicates the location information of the sensing target to the control node according to the configuration information;

[0136] The first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes according to the configuration information.

[0137] In one embodiment, the first determining unit is specifically used for:

[0138] Based on the location information of the sensed target, determine the target sensing node and / or the target sensing transmission and reception mode information; or...

[0139] Based on the first information indicated by the second sensing node, determine the target sensing node and / or the target sensing transceiver mode information; or...

[0140] Based on the first information indicated by the second sensing node and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information;

[0141] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0142] In one embodiment, the first determining unit is specifically used for:

[0143] Based on the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information.

[0144] In one embodiment, the device further includes:

[0145] The first indicating unit is used to indicate the location information and / or sensing quality information of the sensing target to the second sensing node.

[0146] In one embodiment, the device further includes:

[0147] The second determining unit is configured to determine the configuration information based on the sensing coverage information of the first sensing node and / or the second sensing node; or,

[0148] The third determining unit is used to determine the configuration information based on the location information of the first sensing node and / or the second sensing node.

[0149] In one embodiment, the device further includes:

[0150] The second instruction unit is used to instruct the target sensing node to perform sensing and / or the target sensing transmit / receive mode information.

[0151] Ninthly, a sensing device is provided, the device being applied to a second sensing node, the device comprising:

[0152] The first indicating unit is used to indicate at least one of the following to the control node or the first sensing node: first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, sensing coverage information of the second sensing node, and location information of the second sensing node are used to determine the target sensing node and / or the target sensing transceiver mode information.

[0153] The first information includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0154] In one embodiment, the device further includes:

[0155] The second indication unit is used to perform perception based on indication information from the control node or the first sensing node, wherein the indication information is used to instruct the second sensing node to perform perception and / or target perception transceiver mode.

[0156] In one embodiment, the device further includes:

[0157] The determining unit is configured to determine the first information based on the location information and / or perception quality information of the perceived target.

[0158] In a tenth aspect, a communication system is provided, the communication system comprising a first sensing node, a control node, and a second sensing node;

[0159] Wherein, the first sensing node performs the steps of the method as described in the first aspect, the control node performs the steps of the method as described in the second aspect, and the second sensing node performs the steps of the method as described in the third aspect.

[0160] Eleventhly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method steps of any one of the first, second, or third aspects.

[0161] The aforementioned sensing method, apparatus, first sensing node, control node, second sensing node, computer storage medium, and computer program product are described. The method is applied to the first sensing node, which directly determines the second sensing node and / or target sensing transceiver mode information; and / or instructs the control node to switch sensing node and / or sensing transceiver mode, or sends the location information of the sensing target to the control node. Using this method, the first sensing node can directly determine the target sensing node and / or target sensing transceiver mode information, or the first sensing node instructs the control node so that the control node can determine the target sensing node and / or target sensing transceiver mode information, maintaining sensing service continuity with less signaling interaction and measurement. This reduces resource consumption on the sensing node and improves sensing efficiency. Attached Figure Description

[0162] To more clearly illustrate the technical solutions in the embodiments or related technologies of this disclosure, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0163] Figure 1 This is a flowchart illustrating a sensing method on the first sensing node side in one embodiment;

[0164] Figure 2 This is a flowchart illustrating a method for determining a target sensing node and / or target sensing transmission and reception mode information in one embodiment.

[0165] Figure 3 A flowchart illustrating a method for a target sensing node to sense and / or transmit and receive target sensing mode information in one embodiment;

[0166] Figure 4 A flowchart illustrating a method for determining a target sensing node and / or target sensing transmit / receive mode information for a first sensing node in another embodiment;

[0167] Figure 5 This is a flowchart illustrating a method for determining a target sensing node and / or target sensing transmission and reception mode information based on a second sensing node in one embodiment.

[0168] Figure 6 This is a flowchart illustrating the steps of indicating the location information and / or sensing quality information of a sensing target to a second sensing node in one embodiment.

[0169] Figure 7 A flowchart illustrating a method for a first sensing node to determine a target sensing node and / or target sensing transmit / receive mode information in one embodiment;

[0170] Figure 8 This is a flowchart illustrating the stopping sensing step in one embodiment;

[0171] Figure 9 This is a flowchart illustrating various stop sensing methods in one embodiment;

[0172] Figure 10 This is a flowchart illustrating a method for determining a target sensing node and / or target sensing transceiver mode information based on the sensing coverage information or location information of a second sensing node in one embodiment.

[0173] Figure 11 This is a flowchart illustrating a sensing method on the control node side in one embodiment;

[0174] Figure 12 This is a flowchart illustrating a method for a control node to determine a target sensing node and / or target sensing transmit / receive mode information in one embodiment.

[0175] Figure 13 This is a flowchart illustrating a method for a control node to determine a target sensing node and / or target sensing transceiver mode information based on the sensing coverage information or location information of a second sensing node in one embodiment.

[0176] Figure 14 This is a flowchart illustrating the steps of indicating the location information and / or sensing quality information of a sensing target to a second sensing node in one embodiment.

[0177] Figure 15 This is a flowchart illustrating the steps for determining configuration information in one embodiment;

[0178] Figure 16 This is a flowchart illustrating the steps of instructing a target sensing node to perform sensing and / or target sensing transmission and reception mode information in one embodiment.

[0179] Figure 17 This is a flowchart illustrating a method for determining a target sensing node and / or target sensing transceiver mode information based on first information and the location information of the sensing target in one embodiment.

[0180] Figure 18 This is a flowchart illustrating the step of instructing configuration information to a first sensing node in one embodiment;

[0181] Figure 19 This is a flowchart illustrating the steps for obtaining sensing coverage information or location information of a sensing node in one embodiment.

[0182] Figure 20 This is a signaling interaction diagram for obtaining perceived coverage information in one embodiment;

[0183] Figure 21 This is a flowchart illustrating the steps of a control node acquiring sensing coverage information or the location information of a sensing node in one embodiment.

[0184] Figure 22 This is a flowchart illustrating a sensing method on the second sensing node side in one embodiment;

[0185] Figure 23 This is a flowchart illustrating the process of instructing a second sensing node to perform sensing steps in one embodiment.

[0186] Figure 24 A flowchart illustrating the steps for a second sensing node to determine first information in one embodiment;

[0187] Figure 25 This is an example flowchart in one embodiment where, based on the configuration of the control node, the first sensing node triggers the switching of sensing node and / or sensing transceiver mode, and determines the target sensing node and / or target sensing transceiver mode information.

[0188] Figure 26 This is an example flowchart in one embodiment of a control node triggering a switching of a sensing node and / or a sensing transceiver mode to determine the target sensing node and / or the target sensing transceiver mode information.

[0189] Figure 27 This is an example flowchart of a first sensing node triggering a switching of sensing node and / or sensing transceiver mode in one embodiment, and a control node determining the target sensing node and / or target sensing transceiver mode information.

[0190] Figure 28 An example flowchart for determining target sensing node and / or target sensing transceiver mode information by triggering a switching of sensing node and / or sensing transceiver mode by a first sensing node in one embodiment;

[0191] Figure 29 This is an example flowchart of a first sensing node triggering a switching of sensing node and / or sensing transceiver mode in one embodiment, and a control node determining the target sensing node and / or target sensing transceiver mode information.

[0192] Figure 30 This is a structural block diagram of a sensing device controlling the first sensing node side in one embodiment. Detailed Implementation

[0193] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0194] Before introducing specific embodiments of the present invention, the technical terms involved in the present invention will be explained:

[0195] The sensing node mentioned in this embodiment is a logical functional entity with the function of transmitting and / or receiving sensing signals. Any network entity with the above-mentioned functions can be a sensing node. A sensing node can be a network device or a user equipment. When the sensing node is a network device, it can be, for example, a network-side transmit / receive point, an access network distribution unit node, an access network sensing distribution unit, an access network sensing unit, or an access network node.

[0196] In this embodiment, the control node is a logical functional entity with the function of controlling and / or configuring sensing nodes. Any network entity with the above functions can be a control node. A control node can be a network device or a user equipment. When the control node is a network device, it can be, for example, an access network control node, an access network centralized unit node, an access network sensing centralized unit, an access network sensing unit, an access network distributed unit, an access network sensing distributed unit, or a core network element.

[0197] In this embodiment, the sensing data processing node is a logical functional entity with functions such as collecting, processing, or storing sensing-related data. Any network entity possessing these functions can be a sensing data processing node. A sensing data processing node can be a network device or a user equipment. When the sensing data processing node is a network device, it can be, for example, an access network control node, an access network centralized unit node, an access network sensing centralized unit, an access network sensing unit, an access network distribution unit, an access network sensing distribution unit, or a core network element.

[0198] In this embodiment, the control node and the sensing node may be the same network entity or different network entities. For example, the control node, the first sensing node, and the second sensing node may be different network entities. Alternatively, the control node and the first sensing node may be the same network entity. Yet another example is that the control node and the second sensing node may be the same network entity. The first sensing node can be understood as the source sensing node. The second sensing node can be understood as any sensing node other than the source sensing node; this embodiment does not limit the scope of the discussion.

[0199] In this embodiment, the sensing nodes, namely the first sensing node and the second sensing node, may be different network entities or the same network entity. For example, the first sensing node and the second sensing node may be the same access network distribution unit, the same access network sensing distribution unit, the same access network sensing unit, or the same access network node. Alternatively, the first sensing node and the second sensing node may be different access network distribution units, different access network sensing distribution units, different access network sensing units, or different access network nodes. The first sensing node, the second sensing node, and the control node can all be terminals or other network nodes.

[0200] Network functions, logical functions, logical nodes, logical units, or functional entities can be understood as network entities. In this embodiment, network devices, user equipment, network-side transmit / receive points, access network distribution units, access network centralized units, access network sensing centralized units, access network sensing distribution units, access network sensing units, access network nodes, and core network elements can be understood as network entities. Network entities can be implemented as network elements on dedicated hardware, as software instances running on dedicated hardware, or as virtualized functions instantiated on a platform; this application does not impose any restrictions on this.

[0201] In the technical concept of this application: the switching of sensing nodes and / or sensing transceiver modes can be triggered based on the location information of the sensing target, the sensing coverage information of the sensing nodes, or the location information or configuration information of the sensing nodes, and / or the determination of the target sensing node and / or the target sensing transceiver mode, thereby reducing signaling interaction and measurement resource consumption during the switching process of sensing nodes and / or sensing transceiver modes. Instructing the switching of sensing nodes and / or sensing transceiver modes, and / or determining the target sensing node and / or target sensing transceiver mode information, can be based on the configuration of the control node, or it can be based on the sensing node itself, or it can be based on the control node.

[0202] Specifically, this application provides various different implementation methods to determine the second sensing node and / or target sensing transceiver mode information, which are described in detail below:

[0203] In one embodiment, such as Figure 1 As shown, a sensing method is provided, which is applied to a first sensing node. The first sensing node can choose to directly determine the target sensing node and / or the target sensing transceiver mode information (i.e., step 101), or it can choose to determine the target sensing node and / or the target sensing transceiver mode by instructing the control node to switch the sensing node and / or instructing the control node to indicate the location information of the sensing target, etc. (102), so as to determine the target sensing node and / or the target sensing transceiver mode information. The two methods are described separately. The method also includes:

[0204] Steps 101 and 102 can be implemented independently or sequentially. This embodiment does not limit the specific execution logic and execution order between steps 101 and 102.

[0205] Step 101: Determine the target sensing node and / or target sensing transceiver mode information. Alternatively,

[0206] In implementation, in the integrated communication and sensing technology, sensing functions are achieved simultaneously through wireless network communication interaction. Sensing nodes transmit and / or receive sensing signals. After being transmitted by the sensing transmitting node, the sensing signal is reflected or scattered by the sensing target to obtain a sensing echo signal, which is then received by the sensing receiving node. If the position between the sensing node and the sensing target changes, the signal-to-noise ratio of the sensing target echo signal may be low, or the sensing target echo signal may not be received, requiring a switch between the sensing nodes involved in the sensing and / or the sensing transceiver mode. The target sensing transceiver mode information includes at least one of the following: target sensing transceiver mode, target sensing node as a sensing transmitting node, and target sensing node as a sensing receiving node. If there are multiple target sensing nodes, one or more of them act as sensing transmitting nodes, and another one or more act as sensing receiving nodes. The first sensing node can determine the target sensing node and / or target sensing transceiver mode information based on at least one of the following: the sensing coverage information of the second sensing node, the location information of the second sensing node, the location information of the sensing target, configuration information used to determine the target sensing node and / or target sensing transceiver mode information, and first information of the second sensing node. The first information of the second sensing node includes at least one of the following: sensing result information, sensing transmission and reception mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transmission and reception mode information corresponding to the sensing parameter information.

[0207] The perception coverage information represents the relevant information of the perception node's perception of objects at one or more locations. The perception coverage information includes one or more of the following: location information, perception parameter information corresponding to the location information, and perception transceiver mode information corresponding to the location information. The location information in the perception coverage information can be location information corresponding to the perception performance meeting certain conditions. Specifically, the location information in the perception coverage information can be location information corresponding to the perception parameter information meeting certain conditions. The location information includes one or more locations. In this embodiment, the location can be a distance, angle, or absolute location. The location can be a point location or a range of locations. In this embodiment, the perception parameter information can be the value of a perception parameter or a range of perception parameter values. The range of values ​​is, for example, greater than or equal to a certain value; or, greater than or equal to a certain value and less than or equal to another value. Perception parameters include one or more of the following: perception signal receiving power, perception signal receiving signal-to-noise ratio, perception signal signal-to-interference-plus-noise ratio, or perception signal propagation distance. The perception parameter information can characterize the perception performance. The perception transceiver mode information corresponding to the perception parameter information can be understood as the perception parameter information obtained using that perception transceiver mode. The perception parameter information corresponding to the location information can characterize the perception performance for perceiving objects at that location. The sensing parameters corresponding to location information can be understood as the sensing parameters corresponding to the reflection or scattering of the sensing signal by an object at that location. For example, the propagation distance of the sensing signal corresponding to location information is the propagation distance of the sensing signal after reflection or scattering by an object at that location. The propagation distance of the sensing signal corresponding to location information can also be understood as the distance between that location and the sensing node.

[0208] Since the sensing coverage of sensing nodes may differ under different sensing transceiver modes, sensing coverage information can include sensing coverage information for different sensing transceiver modes. Sensing coverage information can include sensing transceiver mode information corresponding to location information. The sensing transceiver mode information corresponding to location information can be understood as using this sensing transceiver mode to sense objects at that location. Sensing transceiver mode information includes at least one of the following: sensing transceiver mode, sensing node as a sensing transmitting node, sensing node as a sensing receiving node. The sensing transceiver mode can be self-transmitting and self-receiving (i.e., A transmits and A receives), or A transmits and B receives, or other transceiver modes.

[0209] Among them, the information on the results of the perception process is used to characterize whether perception was performed.

[0210] For example, the first sensing node determines the target sensing node and / or the target sensing transceiver mode information, including one or more of the following:

[0211] 1) The positions of the target sensing node and the sensing target satisfy certain conditions. For example, the distance between the target sensing node and the sensing target is less than a certain threshold. Another example is that the distance between the target sensing node and the sensing target in the second sensing node is the closest. And / or,

[0212] 2) The location of the perceived target is within the sensing coverage of the target sensing node. And / or,

[0213] 3) The location of the perceived target is within the sensing coverage area of ​​the target sensing node using the target sensing transceiver mode. And / or,

[0214] 4) The sensing parameter information of the target sensing node at the location of the sensing target meets certain conditions. For example, the sensing parameter information is higher than a certain threshold. Or, the sensing parameter information of the target sensing node in the second sensing node at the location of the sensing target best represents the sensing performance. And / or,

[0215] 5) When the target sensing node uses the target sensing transceiver mode, the sensing parameter information corresponding to the location of the sensed target meets certain conditions. For example, the sensing parameter information is higher than a certain threshold. Also, in the second sensing node, the sensing parameter information corresponding to the location of the sensed target best represents the sensing performance when using the target sensing transceiver mode.

[0216] 6) The target sensing node is the sensing node among the second sensing nodes that indicates participation in sensing. And / or,

[0217] 7) The target sensing transceiver mode information is the sensing transceiver mode information indicated by the target sensing node. And / or,

[0218] 8) The target sensing transceiver mode information is the sensing transceiver mode information corresponding to the sensing parameter information indicated by the target sensing node. And / or,

[0219] 9) Configuration information used to determine the target sensing node and / or target sensing transceiver mode information indicates the correspondence between location information and sensing nodes and / or sensing transceiver mode information. The first sensing node determines the target sensing node and / or target sensing transceiver mode information based on this configuration information as the sensing node and / or sensing transceiver mode information corresponding to the obtained location information of the sensing target. And / or,

[0220] 10) The configuration information used to determine the target sensing node and / or target sensing transceiver mode information indicates the correspondence between sensing parameter information and sensing node and / or sensing transceiver mode information. The first sensing node determines the target sensing node and / or target sensing transceiver mode information according to the configuration information as the sensing node and / or sensing transceiver mode information corresponding to the sensing parameter information of the obtained sensing target.

[0221] Specifically, the following embodiments will provide specific examples of the process by which the first sensing node directly determines the target sensing node and / or the target sensing transmission and reception mode information, which will not be elaborated upon here.

[0222] The first sensing node (which can be understood as the source sensing node) can determine the target sensing node and / or target sensing transceiver mode information when it is determined that a sensing node and / or sensing transceiver mode switch is required. The first sensing node can determine the need for a sensing node and / or sensing transceiver mode switch based on at least one of the following: the location information of the sensing target, the sensing parameter information of the first sensing node regarding the sensing target, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, the location information of the second sensing node, and configuration information used to determine the sensing node and / or sensing transceiver mode switch. The configuration information used to determine the sensing node and / or sensing transceiver mode switch indicates the conditions for the switching. If the indicated conditions are met, the first sensing node determines that a sensing node and / or sensing transceiver mode switch is required. These conditions can be related to the location information of the sensing target or the sensing parameter information corresponding to the sensing target.

[0223] For example, the first sensing node determines that a switching of sensing node and / or sensing transmit / receive mode is required under one or more of the following conditions:

[0224] The location of the perceived target is at or outside the sensing coverage edge of the first sensing node; and / or,

[0225] The location of the target being sensed is far from the location of the first sensing node; and / or,

[0226] The location of the perceived target is within the sensing coverage of the second sensing node; and / or,

[0227] The location of the perceived target is relatively close to the location of the second sensing node; and / or,

[0228] The location of the perceived target is closer to the location of the second sensing node than the location information of the perceived target is closer to the location of the second sensing node; and / or,

[0229] The perception parameter information corresponding to the perceived target indicates poor perception performance; and / or,

[0230] The location information of the sensed target or the sensed parameter information corresponding to the sensed target meets the conditions indicated by the configuration information used to determine the sensed node and / or the sensed transmit / receive mode switching.

[0231] In the case where the first sensing node determines one or more situations requiring switching between sensing nodes and / or sensing transmit / receive modes, corresponding distance thresholds can be set for both near and far locations for judgment, which will not be elaborated in this embodiment.

[0232] Optionally, before determining that a switching of sensing node and / or sensing transceiver mode is required, the first sensing node acquires at least one of the following: location information of the sensing target, sensing parameter information of the first sensing node regarding the sensing target, sensing coverage information of the first sensing node, location information of the first sensing node, sensing coverage information of the second sensing node, location information of the second sensing node, and configuration information for determining the switching of sensing node and / or sensing transceiver mode.

[0233] Step 102: Instruct the control node to switch the sensing node and / or sensing transceiver mode, and / or instruct the control node to indicate the location information of the sensing target.

[0234] In implementation, the first sensing node can also send indication information to the control node, enabling the control node to determine, based on the indication information, the need for sensing node and / or sensing transceiver mode switching, and / or to determine the target sensing node and / or target sensing transceiver mode information. Specifically, the first sensing node instructs the control node to switch sensing nodes and / or switch sensing transceiver modes, and / or the first sensing node instructs the control node to indicate the location information of the sensing target.

[0235] If the first sensing node determines that a switching of sensing node and / or sensing transceiver mode is required, it may instruct the control node to switch the sensing node and / or sensing transceiver mode, and / or instruct the control node to indicate the location information of the sensing target. The determination by the first sensing node that a switching of sensing node and / or sensing transceiver mode is required is described in step 101 and will not be repeated here. Optionally, before determining that a switching of sensing node and / or sensing transceiver mode is required, the first sensing node may acquire at least one of the following: location information of the sensing target, sensing parameter information of the first sensing node regarding the sensing target, sensing coverage information of the first sensing node, location information of the first sensing node, sensing coverage information of the second sensing node, location information of the second sensing node, and configuration information used to determine the switching of sensing node and / or sensing transceiver mode.

[0236] In implementation, the first sensing node can indicate the location information of the sensing target to the control node, and / or indicate the location information of the sensing target to the control node, based on one or more of the following information: the location information of the sensing target, the sensing parameter information of the first sensing node regarding the sensing target, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, the location information of the second sensing node, configuration information for determining to indicate the sensing node and / or the sensing transceiver mode switch to the control node, and configuration information for determining to indicate the location information of the sensing target to the control node. The configuration information for determining to indicate the sensing node and / or the sensing transceiver mode switch to the control node indicates the conditions for indicating the sensing node and / or the sensing transceiver mode switch to the control node. If the indicated conditions are met, the first sensing node indicates the sensing node and / or the sensing transceiver mode switch to the control node. These conditions can be related to the location information of the sensing target or the sensing parameter information corresponding to the sensing target. The configuration information for determining to indicate the location information of the sensing target to the control node indicates the conditions for indicating the location information of the sensing target to the control node. If the indicated conditions are met, the first sensing node indicates the location information of the sensing target to the control node. This condition can be related to the location information of the target or the sensing parameter information corresponding to the target.

[0237] For example, in one or more of the following situations, the first sensing node determines that it needs to indicate the location information of the sensing target to the control node, and / or indicates the location information of the sensing target to the control node:

[0238] The location information of the target is sensed at the edge of the sensing coverage area or outside the sensing coverage area of ​​the first sensing node; and / or,

[0239] The location information of the perceived target is far from the location of the first sensing node; and / or,

[0240] The location information of the perceived target is within the sensing coverage of the second sensing node; and / or,

[0241] The location information of the perceived target is relatively close to the location of the second sensing node; and / or,

[0242] The location information of the perceived target is closer to the location of the second sensing node than the location information of the perceived target is closer to the location of the second sensing node; and / or,

[0243] The perception parameter information corresponding to the perceived target indicates poor perception performance; and / or,

[0244] The location information of the sensed target or the sensed parameter information corresponding to the sensed target satisfies the conditions for determining the configuration information indication used to instruct the control node to switch the sensed node and / or the sensed transceiver mode; and / or,

[0245] The location information of the perceived target or the sensing parameter information corresponding to the perceived target meets the conditions for determining the configuration information indication to the control node to indicate the location information of the perceived target.

[0246] In the aforementioned cases where the first sensing node determines one or more configuration information that needs to be indicated to the control node regarding the location information of the sensing target, corresponding distance thresholds can be set for both near and far locations for judgment, which will not be elaborated upon in this embodiment. Similarly, in the aforementioned cases where the first sensing node determines one or more configuration information that needs to be indicated to the control node regarding the switching of the sensing node and / or sensing transceiver mode, corresponding distance thresholds can be set for both near and far locations for judgment, which will not be elaborated upon in this embodiment.

[0247] In this embodiment, the first sensing node can directly determine the target sensing node and / or the target sensing transceiver mode information, or the first sensing node can instruct the control node so that the control node can determine the target sensing node and / or the target sensing transceiver mode information. This maintains the continuity of sensing services with less signaling interaction and measurement, reduces resource consumption, and improves sensing efficiency.

[0248] In one embodiment, such as Figure 2 As shown, step 102, which instructs the control node to switch the sensing node and / or sensing transceiver mode, includes the following specific processing steps:

[0249] Step 201: Based on the location information of the sensed target, instruct the control node to switch the sensed node and / or sensed transceiver mode.

[0250] In practice, the first sensing node sends an instruction message to the control node, which can instruct the sensing node and / or the sensing transceiver mode to switch.

[0251] Specifically, the first sensing node instructs the control node to switch sensing nodes and / or sensing transmission and reception modes based on the location information of the sensing target. In other words, the first sensing node can determine whether to switch sensing nodes and / or sensing transmission and reception modes based on the location information of the sensing target, and then instruct the control node to switch sensing nodes and / or sensing transmission and reception modes.

[0252] The first sensing node can also instruct the control node to switch sensing nodes and / or sensing transceiver modes based on at least one of the following information: sensing parameter information of the first sensing node for the sensing target, sensing coverage information of the first sensing node, location information of the first sensing node, sensing coverage information of the second sensing node, location information of the second sensing node, and configuration information for determining to instruct the control node to switch sensing nodes and / or sensing transceiver modes.

[0253] Based on the location information of the sensed target, the first sensing node instructs the control node to switch the sensing node and / or sensing transceiver mode. Specifically, the first sensing node instructs the control node to switch the sensing node and / or sensing transceiver mode under one or more of the following conditions:

[0254] The location information of the target is sensed at the edge of the sensing coverage area or outside the sensing coverage area of ​​the first sensing node; and / or,

[0255] The location information of the perceived target is far from the location of the first sensing node; and / or,

[0256] The location information of the perceived target is within the sensing coverage of the second sensing node; and / or,

[0257] The location information of the perceived target is relatively close to the location of the second sensing node; and / or,

[0258] The location information of the perceived target is closer to the location of the second sensing node than the location information of the perceived target is closer to the location of the second sensing node; and / or,

[0259] The first sensing node has poor performance in representing the sensing parameters of the sensing target.

[0260] In this embodiment, the first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes, so that the control node can determine the target sensing node and / or target sensing transceiver mode information, thereby reducing signaling interaction and sensing parameter measurement in the process of determining the target sensing node and reducing resource consumption.

[0261] Step 202: Based on the location information of the sensed target and the configuration information from the control node, instruct the control node to switch the sensed node and / or sensed transceiver mode.

[0262] In implementation, the control node can instruct the first sensing node to provide configuration information. Then, the first sensing node, based on the location information of the sensing target and the configuration information of the control node, sends instruction information to the control node. Specifically, the first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes based on the location information of the sensing target and the configuration information of the control node. Specifically, if the location information of the sensing target meets the conditions indicated by the configuration information, the first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes. The configuration information indicates the conditions that the location information of the sensing target must meet for the first sensing node to instruct the control node to switch sensing nodes and / or sensing transceiver modes.

[0263] Optionally, the scheme involving step 202, which instructs the control node to switch the sensing node and / or sensing transceiver mode based on the location information of the sensing target and the configuration information from the control node, can be understood as a scheme parallel to step 201, or it can be considered as a specific implementation of step 201.

[0264] In this embodiment, the control node can pre-configure the first sensing node. The first sensing node instructs the control node based on the location information of the sensing target and the information configured by the control node, so that the control node can determine the target sensing node and / or the target sensing transmission and reception mode information based on the instruction information, thereby reducing the signaling interaction and sensing parameter measurement between the first sensing node and the control node and improving the sensing control efficiency.

[0265] In one exemplary embodiment, such as Figure 3 As shown, the method also includes:

[0266] Step 301: Instruct the target sensing node to perform sensing and / or target sensing transmit / receive mode information; or, instruct the control node to perform the target sensing node and / or target sensing transmit / receive mode information.

[0267] In implementation, after identifying the target sensing node and / or the target sensing transceiver mode information, the first sensing node instructs the target sensing node to perform sensing and / or use the target sensing transceiver mode information. Then, the target sensing node performs sensing and / or uses the target sensing transceiver mode information for sensing. Alternatively, after identifying the target sensing node and / or the target sensing transceiver mode information, the first sensing node instructs the control node to perform sensing and / or use the target sensing transceiver mode information, so that the control node instructs the target sensing node to perform sensing and / or use the target sensing transceiver mode information. Optionally, the target sensing node may be sensing a specific target, or it may not be sensing a particular target. For example, before the first sensing node or the control node instructs the target sensing node to perform sensing and / or use the target sensing transceiver mode information, the target sensing node may not be performing any sensing, or it may be performing sensing. The target sensing node can adjust its sensing-related parameters and / or sensing transceiver mode information after receiving the instruction.

[0268] Optionally, the first sensing node may also indicate the location information and / or sensing quality information of the sensing target to the target sensing node.

[0269] In this embodiment, after determining the target sensing node and / or the target sensing transceiver mode information, the first sensing node instructs the target sensing node to perform sensing and / or the target sensing transceiver mode information, or the first sensing node instructs the control node to perform sensing and / or the target sensing transceiver mode information, so that the control node instructs the target sensing node to perform sensing and / or the target sensing transceiver mode information. By having the target sensing node participate in the sensing process, the continuity of sensing services is maintained.

[0270] In one exemplary embodiment, such as Figure 4 As shown, the specific processing steps of step 101 include:

[0271] Step 401: Determine the target sensing node and / or target sensing transmission and reception mode information based on the location information of the sensing target.

[0272] In implementation, when the first sensing node directly determines the target sensing node and / or the target sensing transceiver mode information, it can determine the target sensing node and / or the target sensing transceiver mode information based on the acquired location information of the sensing target. Specifically, the first sensing node can determine the target sensing node and / or the target sensing transceiver mode information based on the location information of the sensing target and at least one of the following:

[0273] The second sensing node includes sensing coverage information, location information, configuration information for determining the target sensing node and / or target sensing transceiver mode information, first information of the second sensing node, and the correspondence between the location information of the sensing target and the sensing node and / or sensing transceiver mode information. The first information of the second sensing node includes at least one of the following: sensing result information, sensing transceiver mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transceiver mode information corresponding to the sensing parameter information. For example, if there is a correspondence between the location information of the sensing target and the sensing node and / or sensing transceiver mode information, based on the location information of the sensing target (which can be understood as the currently acquired location information of the sensing target) and this correspondence, the target sensing node and / or target sensing transceiver mode information is determined to be the sensing node and / or sensing transceiver mode information corresponding to the location information of the sensing target.

[0274] Therefore, the determination of the target sensing node and / or target sensing transmission and reception mode information based on the location information of the sensing target by the first sensing node includes various situations, which will be described in detail in the following embodiments, and will not be repeated here.

[0275] In this embodiment, the first sensing node can directly determine the target sensing node and / or the target sensing transmission and reception mode information, maintaining sensing service continuity with less signaling interaction and measurement. This reduces resource consumption on the sensing node and improves sensing efficiency.

[0276] Step 402: Determine the target sensing node and / or target sensing transceiver mode information based on the location information of the sensing target and the configuration information from the control node.

[0277] In implementation, determining the target sensing node and / or target sensing transceiver mode information can be based on the control node configuration. Specifically, the first sensing node determines the target sensing node and / or target sensing transceiver mode information based on the location information of the sensed target and the configuration information of the control node. The configuration information of the control node is used to determine the target sensing node and / or target sensing transceiver mode information. The first sensing node determines the target sensing node and / or target sensing transceiver mode information based on the configuration information of the control node and the location information of the sensed target.

[0278] Specifically, the configuration information indicates the target sensing node and / or target sensing transceiver mode information corresponding to the location information of the sensing target, and the first sensing node determines the target sensing node and / or target sensing transceiver mode information corresponding to the location information of the sensing target. Alternatively, the configuration information indicates the correspondence between the location information of the sensing target and the sensing node and / or sensing transceiver mode information, and the first sensing node determines the target sensing node and / or target sensing transceiver mode information as the sensing node and / or sensing transceiver mode information corresponding to the location information of the sensing target.

[0279] Optionally, the scheme involving instructing the control node to switch the sensing node and / or sensing transceiver mode based on the location information of the sensing target and the configuration information from the control node in step 402 can be understood as a scheme parallel to step 401, or it can be considered as a specific implementation of step 401.

[0280] In this embodiment, the first sensing node can directly determine the target sensing node and / or the target sensing transmission and reception mode information based on the location information of the sensing target and the configuration information of the control node, maintaining the continuity of sensing services with less signaling interaction and measurement. This reduces the resource consumption of the sensing node and improves sensing efficiency.

[0281] In an exemplary embodiment, when determining the target sensing node and / or target sensing transceiver mode information for the first sensing node, the first sensing node can make the determination based not only on the location information of the sensing target and / or the configuration information of the control node, but also on information provided by the second sensing node. Specifically, such as... Figure 5 As shown, in the above embodiment, step 101, determining the target sensing node and / or target sensing transceiver mode information, includes:

[0282] Step 501: Determine the target sensing node and / or target sensing transceiver mode information based on the first information indicated by the second sensing node.

[0283] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transmission and reception mode information corresponding to the sensing parameter information.

[0284] In implementation, the second sensing node indicates first information to the first sensing node. Based on the first information indicated by the second sensing node, the first sensing node determines the target sensing node and / or target sensing transceiver mode information. The target sensing node is a sensing node within the second sensing node group. Specifically, it includes one or more of the following:

[0285] The target sensing node is a second sensing node that participates in the sensing result information; and / or,

[0286] The target sensing and transceiver mode information is the sensing and transceiver mode information indicated by the second sensing node; and / or,

[0287] A target sensing node is a second sensing node whose sensing parameter information corresponding to the location information of the sensing target meets certain conditions; and / or,

[0288] The target perception transmission and reception mode information is the perception transmission and reception mode information corresponding to the perception parameter information of the second perception node.

[0289] Optionally, before the first sensing node acquires the first information indicated by the second sensing node, the first sensing node indicates the location information of the sensing target to the second sensing node. The second sensing node determines the first information based on the location information of the sensing target.

[0290] Optionally, the first sensing node can also indicate sensing quality information to the second sensing node. Then, the second sensing node can determine the first information based on the location information of the sensed target and the sensing quality information. Here, sensing quality information can be understood as sensing quality requirements, which typically refer to the standards and expectations set for the quality of sensed data in a sensing system or network. For example, sensing quality includes one or more of the following: sensing accuracy, sensing resolution, sensing detection rate, sensing detection miss rate, sensing latency, sensing refresh rate, sensing timeliness, and sensing accuracy.

[0291] In this embodiment, the first sensing node determines the target sensing node and / or target sensing transceiver mode information based on the first information indicated by the second sensing node, thereby reducing signaling interaction between the first sensing node and the control node, reducing the resource consumption of the first sensing node, and improving sensing efficiency.

[0292] Step 502: Determine the target sensing node and / or target sensing transceiver mode information based on the first information indicated by the second sensing node and the location information of the sensing target.

[0293] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transmission and reception mode information corresponding to the sensing parameter information.

[0294] In implementation, the second sensing node indicates first information to the first sensing node. Based on the first information indicated by the second sensing node and the location information of the sensing target, the first sensing node determines the target sensing node and / or the target sensing transmission and reception mode information. Specifically, this includes one or more of the following:

[0295] The target sensing node is a second sensing node that participates in sensing, representing the sensing result information; and / or,

[0296] The target sensing and transceiver mode information is the sensing and transceiver mode information indicated by the second sensing node; and / or,

[0297] A target sensing node is a second sensing node whose sensing parameter information corresponding to the location information of the sensing target meets certain conditions; and / or,

[0298] The target perception transmission and reception mode information is the perception transmission and reception mode information corresponding to the perception parameter information of the target perception node.

[0299] Optionally, before the first sensing node acquires the first information indicated by the second sensing node, the first sensing node indicates the location information of the sensing target to the second sensing node. The second sensing node determines the first information based on the location information of the sensing target.

[0300] Optionally, the first sensing node can also indicate sensing quality information to the second sensing node. Then, the second sensing node can determine the first information based on the location information of the sensing target and the sensing quality information.

[0301] Optionally, in implementation, the first sensing node acquires the sensing coverage information or location information of the second sensing node. Based on the sensing coverage information or location information of the second sensing node, the first sensing node indicates the location information and / or sensing quality information of the sensing target to the second sensing node, so that the second sensing node determines first information based on the location information and / or sensing quality information of the sensing target, and feeds back the first information to the first sensing node. After receiving the first information indicated by the second sensing node, the first sensing node determines the target sensing node and / or target sensing transceiver mode information based on the first information indicated by the second sensing node and the location information of the sensing target.

[0302] Optionally, the scheme involved in step 502, which determines the target sensing node and / or the target sensing transmission and reception mode information based on the first information indicated by the second sensing node and the location information of the sensing target, can be understood as a scheme parallel to step 501, or it can be considered as a specific implementation of step 501.

[0303] In one exemplary embodiment, such as Figure 6 As shown, the method also includes:

[0304] Step 601: Indicate the location information and / or sensing quality information of the sensing target to the second sensing node.

[0305] In implementation, the first sensing node indicates the location information and / or sensing quality information of the sensing target to the second sensing node, so that the second sensing node determines the first information based on the location information and / or sensing quality information of the sensing target. The first information is described in step 501. The sensing quality information can be understood as sensing quality requirements, which include requirements for sensing accuracy, sensing timeliness, sensing precision, etc., which are not limited in this embodiment. A description of the sensing quality information is also provided in step 501.

[0306] In one exemplary embodiment, such as Figure 7 As shown, the method also includes:

[0307] Step 701: Obtain the sensing coverage information of the second sensing node or the location information of the second sensing node.

[0308] In implementation, the first sensing node acquires the sensing coverage information or the location information of the second sensing node. Specifically, the first sensing node can directly acquire other sensing coverage information or the location information of the second sensing node. Alternatively, the first sensing node acquires the sensing coverage information or the location information of the second sensing node through other nodes (e.g., sensing data processing nodes).

[0309] The specific processing steps of step 101 or step 401 include:

[0310] Step 702: Based on the sensing coverage information or the location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information.

[0311] For example, determining the target sensing node and / or target sensing transceiver mode information includes one or more of the following:

[0312] The target sensing node is a second sensing node whose sensing coverage contains the location information of the sensing target; and / or,

[0313] The target sensing node is a second sensing node whose sensing coverage includes the location information of the sensing target when using target sensing transceiver mode information; and / or,

[0314] The target sensing node is a second sensing node whose position and the position information of the sensed target satisfy certain conditions; and / or,

[0315] The distance between the location of the target sensing node and the location information of the sensing target is the smallest among the distances between the location of the second sensing node and the location information of the sensing target.

[0316] In one exemplary embodiment, such as Figure 8 As shown, the method also includes:

[0317] Step 801: Stop sensing the target.

[0318] In implementation, after determining the target sensing node and / or the target sensing transmission and reception mode information, the first sensing node and the target sensing node, or the first sensing node using the target sensing transmission and reception mode information, initiate sensing of the target. Once sensing is complete, the first sensing node ceases sensing the target. It is understood that ceasing sensing in this disclosure can mean ceasing sensing caused by a specific sensing target. For example, if the first sensing node is also sensing other targets, it may continue sensing.

[0319] Optionally, there are several ways for the first sensing node to stop sensing.

[0320] Method 1: The control node instructs the first sensing node to stop sensing / stop sensing the given sensing target.

[0321] The control node can determine whether the first sensing node should stop sensing based on at least one of the location information of the sensing target, the sensing coverage information of the first sensing node, and the sensing coverage information of the target sensing node.

[0322] Method 2: The control node configures the first sensing node with the information to stop sensing.

[0323] The control node configures the first sensing node with settings to stop sensing. This configuration includes the location information / range of the sensing target to be stopped. The location information / range of the sensing target to be stopped may be the same as or different from the location information / range of the sensing target that triggered the sensing node's sensing. The first sensing node acquires the location information of the sensing target; if the location information / range of the sensing target satisfies the stop sensing configuration, the first sensing node stops sensing that target.

[0324] Method 3: The first sensing node determines itself to stop sensing / stop sensing the given sensing target.

[0325] The first sensing node can stop sensing / stop sensing a given sensing target in at least one of the following situations:

[0326] After instructing or requesting the target sensing node to perform sensing,

[0327] After receiving the response from the target sensing node,

[0328] The perceived parameters of the target must meet certain conditions.

[0329] In one exemplary embodiment, such as Figure 9 As shown, step 801, which stops sensing the target, specifically includes the following steps:

[0330] Step 901, completely cease perception of the target; or,

[0331] Step 902: Based on the configuration information for stopping sensing and the location information of the sensing target, determine to stop sensing; or,

[0332] Step 903: Based on the second information received from the target sensing node, determine to stop sensing; or...

[0333] Step 904: Based on the instruction received from the control node, determine to stop sensing.

[0334] In implementation, the first sensing node can either cease sensing the target or completely stop sensing. Specifically, the first sensing node can completely stop sensing the target, or it can determine to stop sensing based on the configuration information for stopping sensing and the location information of the target. Alternatively, the first sensing node can determine to stop sensing based on receiving stop sensing information from the control node. Or, the first sensing node can also determine to stop sensing based on the sensing and / or sensing transmission / reception mode information indicated by the target sensing node in response to the first sensing node, or a request for sensing and / or sensing transmission / reception mode information. That is, the second information includes at least one of sensing and / or sensing transmission / reception mode information, or a request for sensing and / or sensing transmission / reception mode information.

[0335] In an exemplary embodiment, the configuration information of the control node includes at least one of the following: configuration information for triggering the target sensing node and / or the target sensing transceiver mode information, configuration information for triggering reporting, and configuration information for triggering switching. This embodiment does not limit the type and content of the configuration information configured by the control node for the first sensing node.

[0336] Optionally, the target sensing node in this embodiment of the disclosure may include one or more sensing nodes. The target sensing node may include a first sensing node. For example, when switching sensing transmit / receive mode information, the target sensing node may include a first sensing node.

[0337] Optionally, the first sensing node in this embodiment may include one or more sensing nodes. Switching between sensing nodes and / or sensing transmit / receive mode information may involve some or all of the first sensing nodes.

[0338] In one exemplary embodiment, such as Figure 10 As shown, the specific processing steps of step 101 or step 401 include:

[0339] Step 1001: Determine the target sensing node and / or target sensing transceiver mode information based on the sensing coverage information of the second sensing node or the location information of the second sensing node and the location information of the sensing target.

[0340] In implementation, the second sensing node is a sensing node other than the first sensing node (i.e., the source sensing node). The second sensing node can be a target sensing node or a sensing node other than the first sensing node and the target sensing node. The first sensing node determines the target sensing node and / or the target sensing transmission and reception mode information based on the sensing coverage information or the location information of the second sensing node and the location information of the sensing target. Specifically, the process of determining the target sensing node and / or the target sensing transmission and reception mode information in step 1001 is the same as the process of determining the target sensing node and / or the target sensing transmission and reception mode information based on the sensing coverage information or the location information of the second sensing node in step 101 or step 401, and will not be described again in this embodiment.

[0341] In one exemplary embodiment, such as Figure 11 As shown, a sensing method is provided. This method is applied to a control node. Determining the target sensing node and / or target sensing transceiver mode information on the control node side can be divided into two main forms. The first is that the control node determines the target sensing node and / or target sensing transceiver mode information itself. The second is that the control node configures a first sensing node to determine the target sensing node and / or target sensing transceiver mode information, or instructs the control node to switch the sensing node and / or sensing transceiver mode, or instructs the control node to indicate the location information of the sensing target. Specifically, the method includes:

[0342] Step 1101: Send configuration information to the first sensing node, and / or determine the target sensing node and / or the target sensing transceiver mode information.

[0343] In implementation, the control node can send configuration information to the first sensing node to determine the target sensing node and / or the target sensing transceiver mode information. Alternatively, the control node can directly determine the target sensing node and / or the target sensing transceiver mode information.

[0344] Specifically, the control node can send configuration information to the first sensing node via broadcast or multicast messages. The control node can also send configuration information to the first sensing node via dedicated signaling. The configuration information is used in at least one of the following situations: the first sensing node determines the target sensing node and / or target sensing transceiver mode information based on the configuration information; or, the first sensing node indicates the sensing target location information to the control node based on the configuration information; or, the first sensing node indicates the switching of the sensing node and / or sensing transceiver mode to the control node based on the configuration information. For details on the configuration information used by the first sensing node to determine the target sensing node and / or target sensing transceiver mode, please refer to the relevant description of the configuration information used to determine the target sensing node and / or target sensing transceiver mode in step 101.

[0345] The process by which the first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes based on configuration information can be specifically referred to in step 102, which describes the configuration information for instructing the control node to switch sensing nodes and / or sensing transceiver modes. Similarly, the process by which the first sensing node instructs the control node to determine the location information of the sensing target based on configuration information can be referred to in step 102, which describes the configuration information for determining the location information of the sensing target to be instructed to the control node. For example, the control node sends configuration information to the first sensing node, whereby the configuration information indicates the conditions that the location information of the sensing target corresponding to the first sensing node's instruction to the control node to switch sensing nodes and / or sensing transceiver modes must meet. If the location information of the sensing target meets the conditions indicated by the configuration information, the first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes.

[0346] Optionally, the control node can determine the conditions for triggering the reporting of the location information of the sensing target based on the sensing coverage information or the location information of the sensing node, and then indicate the conditions through configuration information.

[0347] The control node can determine the configuration information to trigger the switching of sensing nodes and / or sensing transceiver modes based on the sensing coverage information or the location information of the sensing nodes.

[0348] The execution of different configuration information will be described in detail in the following embodiments, and will not be repeated here.

[0349] Furthermore, the control node can also directly determine the target sensing node and / or the target sensing transceiver mode information. Specifically, the control node can determine the target sensing node and / or the target sensing transceiver mode information based on at least one of the following: the sensing coverage information of the second sensing node, the location information of the second sensing node, the location information of the sensing target, and the first information of the second sensing node. The first information of the second sensing node includes at least one of the following: information on the sensing results, sensing transceiver mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transceiver mode information corresponding to the sensing parameter information.

[0350] For example, the location information of the sensed target can be indicated by the first sensed node to the control node based on configuration information. That is, the control node first sends configuration information to the first sensed node, the first sensed node indicates the location information of the sensed target to the control node based on the configuration information, and then the control node directly determines the target sensed node and / or the target sensed transceiver mode information based on the location information of the sensed target.

[0351] For example, a control node acquires the sensing coverage information or location information of multiple sensing nodes, and determines the target sensing node and / or target sensing transceiver mode information based on the sensing node coverage information or location information, and the location information of the sensing target. Alternatively, the control node indicates the location information of the sensing target to a second sensing node, and the second sensing node feeds back first information to the control node. Based on this first information, the control node determines the target sensing node and / or target sensing transceiver mode information. Therefore, there are multiple ways for the control node to determine the target sensing node and / or target sensing transceiver mode information. These various methods will be described in detail in the following embodiments and will not be repeated here.

[0352] Optionally, before determining the target sensing node and / or the target sensing transmission and reception mode information, the control node obtains at least one of the following: the sensing parameter information of the first sensing node to the sensing target, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, the location information of the second sensing node, the location information of the sensing target, and the first information of the second sensing node.

[0353] Optionally, the control node periodically obtains the location information of the sensed target from the first sensing node or the data processing node.

[0354] The control node can determine the target sensing node and / or target sensing transceiver mode information when it is determined that a switching of sensing node and / or sensing transceiver mode is required. The control node can determine the need for a switching of sensing node and / or sensing transceiver mode based on at least one of the following: the location information of the sensing target, the sensing parameter information of the first sensing node regarding the sensing target, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, and the location information of the second sensing node. The method by which the control node determines the need for a switching of sensing node and / or sensing transceiver mode is the same as the method by which the first sensing node determines the need for a switching of sensing node and / or sensing transceiver mode in step 101, except that the first sensing node in step 101 is replaced by the control node; this will not be described further here.

[0355] Optionally, before determining the target sensing node and / or target sensing transceiver mode information, the control node receives a sensing node and / or sensing transceiver mode switching instruction from the first sensing node, and / or receives the location information of the sensing target indicated by the first sensing node. The control node can determine the need for a sensing node and / or sensing transceiver mode switching upon receiving the location information of the sensing target indicated by the first sensing node, thereby determining the target sensing node and / or target sensing transceiver mode information. For details regarding the control node receiving the sensing node and / or sensing transceiver mode switching instruction from the first sensing node, and / or receiving the location information of the sensing target indicated by the first sensing node, please refer to the description in step 102, which will not be repeated here.

[0356] In this embodiment, the control node can directly determine the target sensing node and / or the target sensing transceiver mode information, or the control node can pre-configure the first sensing node so that the first sensing node can determine the target sensing node and / or the target sensing transceiver mode information, maintaining sensing service continuity with less signaling interaction and measurement. This reduces the resource consumption of the sensing node and improves sensing efficiency.

[0357] In one exemplary embodiment, such as Figure 12 As shown, the specific processing steps for determining the target sensing node and / or target sensing transceiver mode information in step 1101 include:

[0358] Step 1201: Determine the target sensing node and / or target sensing transceiver mode information based on the location information of the sensing target.

[0359] In implementation, the control node determines the target sensing node and / or the target sensing transmission and reception mode information based on the location information of the sensing target. For example, the control node determines the target sensing node and / or the target sensing transmission and reception mode information based on the location information of the sensing target and the coverage information of the second sensing node.

[0360] Step 1202: Determine the target sensing node and / or target sensing transceiver mode information based on the first information indicated by the second sensing node.

[0361] In implementation, the control node indicates the location information of the target to the second sensing node. Optionally, the control node may also indicate sensing quality information to the second sensing node. Then, the second sensing node determines whether to perform sensing and / or sensing transmission / reception mode information based on the target's location information and sensing quality information. If the second sensing node determines to perform sensing and / or sensing transmission / reception mode information, it indicates first information to the control node. Then, the control node determines the target sensing node and / or the target sensing transmission / reception mode information based on the first information indicated by the second sensing node.

[0362] Step 1203: Determine the target sensing node and / or target sensing transceiver mode information based on the first information indicated by the second sensing node and the location information of the sensing target.

[0363] In implementation, steps 1201 and 1202 can be considered as two parallel solutions. Step 1203 can be considered as a specific implementation of step 1202 or step 1201, or steps 1203, 1202, or 1201 can be considered as two parallel solutions. Specifically, the control node determines the target sensing node and / or target sensing transceiver mode information based on the first information indicated by the second sensing node and the location information of the sensing target. The process of the second sensing node indicating the first information to the control node has been described in step 1202 and will not be repeated here.

[0364] The first information indicated by the second sensing node includes at least one or more of the following: sensing result information, sensing transmission and reception mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transmission and reception mode information corresponding to the sensing parameter information. The sensing result information indicates whether sensing was performed.

[0365] In one exemplary embodiment, such as Figure 13 As shown, the specific processing steps of step 1201 include:

[0366] Step 1301: Determine the target sensing node and / or target sensing transceiver mode information based on the sensing coverage information or location information of the second sensing node and the location information of the sensing target.

[0367] In implementation, the control node acquires the sensing coverage information or location information of the second sensing node. Specifically, the control node can directly acquire other sensing coverage information or location information of the second sensing node from the second sensing node. Alternatively, the control node acquires the sensing coverage information or location information of the second sensing node through other nodes (e.g., sensing data processing nodes). Then, based on the sensing coverage information or location information of the second sensing node and the location information of the sensing target, the control node determines the target sensing node and / or the target sensing transceiver mode information. The process of the control node determining the target sensing node and / or the target sensing transceiver mode information is the same as in step 702 above, and will not be repeated in this embodiment.

[0368] In one exemplary embodiment, such as Figure 14 As shown, the method also includes:

[0369] Step 1401: Indicate the location information and / or sensing quality information of the sensing target to the second sensing node.

[0370] In implementation, the control node indicates the location information and / or perception quality information of the perceived target to the second sensing node, so that the second sensing node determines the first information based on the location information and / or perception quality information of the perceived target. The perception quality information can be understood as perception quality requirements, which include requirements for perception accuracy, perception timeliness, perception precision, etc., which are not limited in this embodiment. A description of the perception quality information can also be found in step 501.

[0371] In one exemplary embodiment, such as Figure 15 As shown, the method also includes:

[0372] Step 1501: Determine configuration information based on the sensing coverage information of the first sensing node and / or the second sensing node. And / or,

[0373] Step 1502: Determine configuration information based on the location information of the first sensing node and / or the second sensing node.

[0374] In implementation, the control node determines configuration information based on at least one of the following: the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, and the location information of the second sensing node. The control node can determine the configuration information such that, when the source sensing node and / or the source sensing transceiver mode is no longer suitable for sensing the target, the source sensing node triggers a switching of the sensing node and / or the sensing transceiver mode, and / or reports the location information of the target, and / or determines the target sensing node and / or the sensing transceiver mode information.

[0375] Optionally, before determining the configuration information, the control node obtains the sensing coverage information and / or the location information of the sensing node, which may include a first sensing node and / or a second sensing node.

[0376] In one exemplary embodiment, such as Figure 16 As shown, the method also includes:

[0377] Step 1601: Instruct the target sensing node to perform sensing and / or target sensing transmit and receive mode information.

[0378] In implementation, after identifying the target sensing node and / or the target sensing transceiver mode information, the control node instructs the target sensing node to perform sensing and / or use the target sensing transceiver mode information. The target sensing node then performs sensing and / or uses the target sensing transceiver mode information for sensing. This target sensing node can be a sensing node within a second sensing node set. The target sensing node can also include a first sensing node.

[0379] Optionally, the target sensing node may be sensing a specific target, or it may not be sensing a target at all. For example, before the control node instructs the target sensing node to perform sensing and / or sense transmit / receive mode information, the target sensing node may not be performing any sensing, or it may be performing sensing. The target sensing node can adjust sensing-related parameters and / or sense transmit / receive mode information after receiving the instruction.

[0380] In one exemplary embodiment, such as Figure 17 As shown, the specific processing steps of step 1202 include:

[0381] Step 1701: Determine the target sensing node and / or target sensing transceiver mode information based on the first information indicated by the second sensing node and the location information of the sensing target.

[0382] In implementation, the control node determines the target sensing node and / or the target sensing transmission and reception mode information based on the first information indicated by the second sensing node and the location information of the sensing target. The target sensing node can perform sensing of the target with certain sensing capabilities. Then, the control node can instruct the target sensing node to perform sensing and / or the target sensing transmission and reception mode information.

[0383] In an exemplary embodiment, the first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transmission and reception mode information corresponding to the sensing parameter information.

[0384] In one exemplary embodiment, such as Figure 18 As shown, the specific processing steps of step 1101 include:

[0385] Step 1801: Configure the first sensing node with configuration information to trigger the determination of the target sensing node and / or the target sensing transceiver mode information. Alternatively,

[0386] In implementation, the control node configures the first sensing node with configuration information to trigger and determine the target sensing node. Specifically, the control node configures the first sensing node with configuration information to trigger the target sensing node and / or target sensing transceiver mode information. This allows the first sensing node to determine, based on this configuration information and the location information of the sensing target, whether or not to trigger the target sensing node to perform sensing and / or to perform the target sensing transceiver mode information. The first sensing node then instructs the target sensing node to perform sensing and / or to perform the target sensing transceiver mode information. It can also instruct the first sensing node to provide the location information of the sensing target.

[0387] Step 1802: Configure the reporting trigger information to the first sensing node. Alternatively,

[0388] In implementation, the control node configures the first sensing node with trigger reporting information. This allows the first sensing node to determine the need for reporting based on the trigger reporting configuration information and the location information of the sensed target, and then instruct the control node on the target's location. Subsequently, the control node determines which sensing node to use for sensing based on the target's location information and the target sensing node's coverage information.

[0389] Step 1803: Configure the switching trigger information to the first sensing node.

[0390] In implementation, the control node configures the handover trigger information to the first sensing node. Based on the handover trigger configuration information and the location information of the sensing target, the first sensing node determines the handover trigger and instructs the control node to trigger the handover. Then, the control node determines the target sensing node to perform sensing based on the target's location information and the coverage information of the target sensing node.

[0391] In an optional embodiment, the control node may also configure the first sensing node with configuration information to stop sensing.

[0392] The control node configures the first sensing node with settings to stop sensing. This configuration information includes the location information / range of the sensing target to be stopped. The location information / range of the sensing target to be stopped may be the same as or different from the location information / range of the sensing target that triggered the sensing node's detection.

[0393] In an optional embodiment, the control node instructs the first sensing node to stop sensing / stop sensing a given sensing target. The control node can determine whether the first sensing node should stop sensing based on at least one of the location information of the sensing target, the sensing coverage information of the first sensing node, and the sensing coverage information of the target sensing node.

[0394] It is understood that the control node stopping sensing in this disclosure can refer to stopping sensing caused by a certain sensing target. For example, if the first sensing node is also sensing other sensing targets besides the one in question, the first sensing node is still performing sensing.

[0395] In one exemplary embodiment, such as Figure 19 As shown, the method also includes:

[0396] Step 1901: Obtain the sensing coverage information and / or the location information of the sensing nodes.

[0397] In implementation, the control node acquires the sensing coverage information and / or location information of the sensing nodes. Specifically, the control node can directly acquire the sensing coverage information and / or location information of the sensing nodes. Alternatively, the control node can acquire the sensing coverage information and / or location information of the sensing nodes through other nodes (e.g., sensing data processing nodes). Figure 20 As shown, the method for the control node to obtain the sensing coverage information of the sensing nodes includes: Step 1, the control node configures the sensing node coverage information reporting configuration to the sensing node or sensing data processing node. For example, the reporting configuration instructs the reporting of sensing coverage information when the values ​​of sensing parameters meet certain conditions. Another example is that the reporting configuration instructs the reporting of sensing coverage information when changes in the values ​​of sensing parameters meet certain conditions. Yet another example is that the reporting configuration instructs the periodic reporting of sensing coverage information. Step 2, the sensing node or sensing data processing node, according to the reporting configuration, instructs the control node to indicate the sensing node coverage information. The sensing node can be a first sensing node, a second sensing node, or other sensing nodes.

[0398] Before the sensing data processing node instructs the control node on the coverage information of the sensing node, the sensing data processing node obtains the location information and / or the sensing parameter information corresponding to the location information from the sensing node.

[0399] In one exemplary embodiment, such as Figure 21 As shown, the following describes in detail the two cases in step 1901 where the control node obtains the sensing coverage information or the location information of the sensing node. The specific processing steps include:

[0400] Step 2101: Directly obtain the sensing coverage information and / or the location information of the sensing nodes.

[0401] In implementation, the control node directly acquires the sensing coverage information and / or the location information of the sensing nodes. The sensing coverage information is described in step 101 of the above embodiment and will not be repeated here.

[0402] Control nodes can acquire partial sensing coverage information. For example, a control node can acquire sensing coverage information where the sensing performance of a sensing node is poor. Alternatively, a control node can acquire sensing coverage information where sensing parameters meet certain conditions. For instance, the received power of the sensing echo signal is below a certain threshold, or the received signal-to-noise ratio of the sensing echo signal is below a certain threshold, or the signal-to-interference-plus-noise ratio of the sensing echo signal is below a certain threshold. Another example is when the propagation distance of the sensing signal is less than or equal to a certain threshold.

[0403] The sensing coverage information of sensing nodes may change with environmental variations. Even if the control node has already acquired the sensing coverage information of the sensing nodes, it can still obtain updated sensing coverage information. For example, the sensing control node may acquire sensing coverage information based on changes in sensing parameters that meet certain conditions. Another example is that the sensing control node periodically acquires the sensing coverage information of the sensing nodes.

[0404] Alternatively, in step 2102, the sensing coverage information and / or location information of the sensing nodes are obtained through the sensing data processing node.

[0405] In implementation, the sensing data processing node acquires the location information of the sensing target from the sensing node and the corresponding sensing parameter information. The control node receives the sensing coverage information indicated by the sensing data processing node. Furthermore, the control node acquires the location information of the sensing target from the sensing data processing node; specifically, the control node acquires the location information of the sensing target from either the sensing node or the sensing data processing node. For example, the control node indicates the conditions (configuration information) for triggering the reporting of the location information of the sensing target to the first sensing node or the sensing data processing node. If the conditions for triggering the reporting of the location information of the sensing target are met, the sensing node or the sensing data processing node indicates the location information of the sensing target to the control node. The control node can determine the conditions for triggering the reporting of the location information of the sensing target based on the acquired sensing coverage information or location information of the sensing node. Alternatively, the control node periodically obtains the location information of the sensing target from either the sensing node or the sensing data processing node.

[0406] Optionally, the control node determines to switch the sensing node and / or sensing transceiver mode based on the location information of the sensing target. The control node may determine to switch the sensing node and / or sensing transceiver mode based on the location information of the sensing target, as well as the acquired sensing coverage information or location information of the sensing node. Alternatively, the control node indicates the configuration information for switching the sensing node and / or sensing transceiver mode to the sensing node, and the first sensing node triggers the switching based on the configuration information.

[0407] The control node in steps 1901, 2101, and 2102 acquiring the sensing coverage information and / or location information of the sensing node is also applicable to the sensing node acquiring the sensing coverage information and / or location information of other sensing nodes. For example, the first sensing node acquires the sensing coverage information and / or location information of the second sensing node.

[0408] In one exemplary embodiment, such as Figure 22 As shown, a perception method is provided, which is applied to a second perception node. The method includes:

[0409] Step 2201: Instruct the control node or the first sensing node to indicate at least one of the following: first information, sensing coverage information of the second sensing node, and location information of the second sensing node.

[0410] The first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node are used to determine the target sensing node and / or the target sensing transceiver mode information. The first information includes one or more of the following: sensing result information, sensing transceiver mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transceiver mode information corresponding to the sensing parameter information.

[0411] In practice, the second sensing node indicates at least one of the following to the control node or the first sensing node: first information, sensing coverage information of the second sensing node, and location information of the second sensing node.

[0412] The second sensing node indicates its sensing coverage information and location information to the control node or the first sensing node. For details, please refer to the relevant descriptions of the control node obtaining the sensing coverage information and / or location information of the sensing node in steps 1901, 2101, and 2102.

[0413] In one exemplary embodiment, such as Figure 23 As shown, when the second sensing node is the target sensing node, the method further includes:

[0414] Step 2302: Perform perception based on the instruction information from the control node or the first sensing node.

[0415] The instruction information is used to instruct the target sensing node to perform sensing and / or target sensing transmission and reception mode information.

[0416] When the second sensing node acts as the target sensing node, it performs sensing based on instructions from the control node or the first sensing node. Alternatively, it can be understood that the target sensing node within the second sensing node performs sensing based on instructions from the control node or the first sensing node.

[0417] In implementation, the second sensing node indicates first information to the control node or the first sensing node. This first information determines whether to switch sensing node and / or sensing transmission / reception mode information. Specifically, the second sensing node determines the first information based on the location information of the sensing target indicated by the control node and / or the first sensing node, and then indicates the first information to the control node or the first sensing node. The first information includes, but is not limited to, one or more of the following: sensing result information, sensing transmission / reception mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transmission / reception mode information corresponding to the sensing parameter information.

[0418] In one exemplary embodiment, such as Figure 24 As shown, prior to step 2201, the method further includes:

[0419] Step 2401: Determine the first information based on the location information and / or perception quality information of the perceived target.

[0420] During implementation, the first sensing node determines the first information based on the location information of the sensing target.

[0421] Optionally, the second sensing node can also determine whether to perform sensing and / or sensing transmission and reception mode information based on the location information and sensing quality information of the sensing target.

[0422] Following a detailed description of each step in the above embodiments, this disclosure provides the following specific example methods for several different scenarios. The specific processing procedures for each step in these specific example methods are not repeated here, as they are the same as the corresponding steps in the above embodiments.

[0423] In an optional example, such as Figure 25 As shown, based on the control node configuration, the source sensing node triggers the switching of sensing node and / or sensing transceiver mode to determine the target sensing node and / or target sensing transceiver mode. This example method includes:

[0424] Optionally, in step 2501, the control node acquires the sensing coverage information or location information of the sensing node. This sensing node includes the source sensing node and other sensing nodes.

[0425] Step 2502: The control node configures the source sensing node to trigger the switching of sensing node and / or sensing transceiver mode, and / or determines the target sensing node and / or the target sensing transceiver mode. Optionally, the control node determines this configuration information based on the sensing coverage information or the location information of the sensing node.

[0426] Optionally, in step 2503, the control node configures the source sensing node with configuration information to stop sensing. Optionally, the control node determines this configuration information based on the sensing coverage information or the location information of the sensing node.

[0427] Step 2504: The source sensing node obtains the location of the sensing target through sensing.

[0428] Step 2505: The source sensing node determines the target sensing node and / or the target sensing transceiver mode. The source sensing node can determine the target sensing node and / or the target sensing transceiver mode based on configuration information used to determine the target sensing node and / or the target sensing transceiver mode, and / or the location of the sensing target. The source sensing node can also determine the target sensing node and / or the target sensing transceiver mode based on first information indicated by other sensing nodes. The target sensing node is a sensing node among the other sensing nodes.

[0429] Optionally, before determining the target sensing node and / or the target sensing transceiver mode, the source sensing node triggers a switching of the sensing node and / or the sensing transceiver mode. The source sensing node may trigger the switching of the sensing node and / or the sensing transceiver mode based on the configuration information that triggers the switching of the sensing node and / or the sensing transceiver mode, and / or the location of the sensing target.

[0430] Step 2506: The source sensing node indicates the sensing and / or target sensing transceiver mode to the target sensing node. Alternatively, the source sensing node indicates or requests the target sensing node and / or target sensing transceiver mode to the control node. The control node indicates the sensing and / or target sensing transceiver mode to the target sensing node.

[0431] Step 2507: The target sensing node performs sensing according to the instructions of the source sensing node or the control node.

[0432] Optionally, in step 2508, the source sensing node stops sensing. The source sensing node can stop sensing based on the configuration information for stopping sensing and / or the location of the sensing target. Alternatively, the source sensing node can stop sensing upon receiving confirmation feedback from the target sensing node or the control node regarding the instruction information sent by the source sensing node in step 2506.

[0433] In an optional example, such as Figure 26 As shown, the control node triggers the switching of the sensing node and / or sensing transceiver mode, and determines the target sensing node and / or target sensing transceiver mode. This example method includes:

[0434] Optionally, in step 2601, the control node acquires the sensing coverage information or location information of the sensing node. This sensing node includes the source sensing node and other sensing nodes.

[0435] Optionally, in step 2602, the control node configures the source sensing node with configuration information to trigger the reporting of the location information of the sensing target. Optionally, the control node determines the configuration information based on the sensing coverage information or the location information of the sensing node.

[0436] Optionally, in step 2603, the control node configures the source sensing node with configuration information to stop sensing. Optionally, the control node determines this configuration information based on the sensing coverage information or the location information of the sensing node.

[0437] Step 2604: The source sensing node obtains the location of the sensing target through sensing.

[0438] Step 2605: The source sensing node indicates the location information of the sensing target to the control node. The source sensing node can trigger the reporting of the location information of the sensing target based on the configuration information that triggers the reporting of the location information of the sensing target, and / or the location of the sensing target, and indicate the location information of the sensing target to the control node.

[0439] Step 2606: The control node determines the target sensing node and / or the target sensing transceiver mode. The control node can determine the target sensing node and / or the target sensing transceiver mode based on the location information of the sensing target, and / or the coverage information of the target sensing node or the location information of the sensing node itself. The control node can also determine the target sensing node and / or the target sensing transceiver mode based on first information indicated by other sensing nodes. The target sensing node can be a sensing node among other sensing nodes and / or a source sensing node.

[0440] Step 2607: The control node indicates the sensing and / or target sensing transmit / receive mode to the target sensing node.

[0441] Step 2608: The target sensing node performs sensing according to the instructions of the control node.

[0442] Optionally, in step 2609, the control node instructs the source sensing node to stop sensing.

[0443] Optionally, in step 2610, the source sensing node stops sensing. The source sensing node can stop sensing based on the configuration information for stopping sensing and / or the location of the sensing target. The source sensing node can also stop sensing based on the stop sensing information indicated by the control node.

[0444] In an optional example, such as Figure 27 As shown, the source sensing node triggers a switching of the sensing node and / or sensing transceiver mode, and the control node determines the target sensing node and / or the target sensing transceiver mode. This example method includes:

[0445] Optionally, in step 2701, the control node acquires the sensing coverage information or location information of the sensing node. This sensing node includes the source sensing node and other sensing nodes.

[0446] Optionally, in step 2702, the control node configures configuration information to the source sensing node to trigger the switching of sensing node and / or sensing transceiver modes. Optionally, the control node determines this configuration information based on the sensing coverage information or the location information of the sensing node.

[0447] Optionally, in step 2703, the control node configures the source sensing node with configuration information to stop sensing. Optionally, the control node determines this configuration information based on the sensing coverage information or the location information of the sensing node.

[0448] Step 2704: The source sensing node obtains the location of the sensing target through sensing.

[0449] Step 2705: The source sensing node indicates or requests a switching of the sensing node and / or sensing transceiver mode to the control node. The source sensing node can trigger the switching of the sensing node and / or sensing transceiver mode based on the configuration information that triggers the switching, and / or the location of the sensing target, and indicate the switching to the control node. The source sensing node can also indicate the location information of the sensing target to the control node.

[0450] Step 2706: The control node determines the target sensing node and / or the target sensing transceiver mode. The control node can determine the target sensing node and / or the target sensing transceiver mode based on the location information of the sensing target, and / or the coverage information of the sensing node or the location information of the sensing node. The control node can also determine the target sensing node and / or the target sensing transceiver mode based on the first information indicated by other sensing nodes.

[0451] Step 2707: The control node indicates the sensing and / or target sensing transmit / receive mode to the target sensing node.

[0452] Step 2708: The target sensing node performs sensing according to the instructions of the control node.

[0453] Optionally, in step 2709, the control node instructs the source sensing node to stop sensing.

[0454] Optionally, in step 2710, the source sensing node stops sensing. The source sensing node can stop sensing based on the configuration information for stopping sensing and / or the location of the sensing target. The source sensing node can also stop sensing based on receiving a stop sensing instruction from the control node.

[0455] In an optional example, such as Figure 28 As shown, the source sensing node triggers a switching of sensing node and / or sensing transceiver mode to determine the target sensing node and / or target sensing transceiver mode. This example method includes:

[0456] Optionally, in step 2801, the source sensing node obtains the sensing coverage information or location information of other sensing nodes.

[0457] Optionally, in step 2802, the source sensing node indicates the location of the sensing target to other sensing nodes, and / or requests sensing. The source sensing node may also indicate sensing quality information to other sensing nodes.

[0458] Optionally, in step 2803, other sensing nodes indicate the first information to the source sensing node.

[0459] Step 2804: The source sensing node instructs the target sensing node to perform sensing and / or target sensing transmit / receive mode.

[0460] Before instructing the target sensing node to perform sensing and / or the target sensing transceiver mode, the source sensing node determines the target sensing node and / or the target sensing transceiver mode. The source sensing node can determine the target sensing node and / or the target sensing transceiver mode based on the location information of the sensing target, and / or the sensing coverage information or location information of other sensing nodes. The source sensing node can also determine the target sensing node and / or the target sensing transceiver mode based on first information. The target sensing node is a sensing node among other sensing nodes.

[0461] Optionally, before determining the target sensing node and / or the target sensing transceiver mode, the source sensing node triggers a switching of the sensing node and / or the sensing transceiver mode. The source sensing node can trigger the switching of the sensing node and / or the sensing transceiver mode based on the location of the sensing target, and / or the sensing coverage information or location information of other sensing nodes.

[0462] Step 2805: The target sensing node performs sensing according to the instructions of the source sensing node.

[0463] Optionally, in step 2806, the source sensing node stops sensing. The source sensing node can stop sensing based on the location of the sensing target. Alternatively, the source sensing node can stop sensing upon receiving confirmation feedback from the target sensing node regarding the instruction information sent by the source sensing node in step 2804.

[0464] In an optional example, such as Figure 29 As shown, the source sensing node triggers a switching of the sensing node and / or sensing transceiver mode, and the control node determines the target sensing node and / or the target sensing transceiver mode. This example method includes:

[0465] Optionally, in step 2901, the control node obtains the sensing coverage information or the location information of the sensing node.

[0466] Step 2902: The source sensing node indicates or requests a switching of the sensing node and / or sensing transceiver mode to the control node. The source sensing node can trigger the switching of the sensing node and / or sensing transceiver mode based on the location of the sensing target, and indicate this switching to the control node. The source sensing node can also indicate the location of the sensing target to the control node.

[0467] Optionally, in step 2903, the control node indicates the location of the target to other sensing nodes and / or requests sensing. The control node may also indicate sensing quality information to other sensing nodes.

[0468] Optionally, in step 2904, other sensing nodes indicate the first information to the control node.

[0469] Step 2805: The control node instructs the target sensing node to perform sensing and / or target sensing transmit / receive mode.

[0470] Before instructing the target sensing node to perform sensing and / or the target sensing transceiver mode, the control node determines the target sensing node and / or the target sensing transceiver mode. The control node can determine the target sensing node and / or the target sensing transceiver mode based on the location information of the sensing target, and / or the sensing coverage information or location information of other sensing nodes. The control node can also determine the target sensing node and / or the target sensing transceiver mode based on first information. The target sensing node is a sensing node among other sensing nodes.

[0471] Step 2906: The target sensing node performs sensing according to the instructions of the control node.

[0472] Optionally, in step 2907, the control node instructs the source sensing node to stop sensing.

[0473] Optionally, in step 2908, the source sensing node stops sensing. The source sensing node can stop sensing based on the location of the sensing target. Alternatively, the source sensing node can stop sensing based on a stop sensing instruction from the control node.

[0474] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows or numbers, these steps are not necessarily executed in the order indicated by the arrows or numbers. Unless explicitly stated in this embodiment, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0475] Based on the same inventive concept, this disclosure also provides a sensing device for implementing the sensing method described above. The solution provided by this device is similar to the solution described in the above method; therefore, specific limitations in one or more sensing device embodiments provided below can be found in the limitations of the sensing control method described above, and will not be repeated here.

[0476] In one exemplary embodiment, such as Figure 30 As shown, a sensing device is provided, which is applied to a first sensing node, wherein the device includes:

[0477] The first determining unit 3001 is configured to determine the target sensing node and / or the target sensing transceiver mode information based on at least one of the location information of the sensing target, configuration information from the control node, and first information indicated by the second sensing node; or,

[0478] The first indication unit 3002 is used to indicate the sensing node and / or the sensing transceiver mode switching to the control node, and / or to indicate the location information of the sensing target to the control node; the indication of the sensing node and / or the sensing transceiver mode switching and the indication of the location information of the sensing target are used to determine the target sensing node and / or the target sensing transceiver mode information.

[0479] In one embodiment, the first indicating unit 3002 is specifically used for:

[0480] Based on the location information of the sensed target, instruct the control node to switch the sensed node and / or the sensed transceiver mode; or...

[0481] Based on the location information of the sensed target and the configuration information from the control node, instruct the control node to switch the sensed node and / or sensed transceiver mode.

[0482] In one embodiment, the device further includes:

[0483] The second instruction unit is used to instruct the target sensing node to perform sensing and / or target sensing transmission and reception mode information, or...

[0484] The third instruction unit is used to instruct the control node on the target sensing node and / or the target sensing transceiver mode information.

[0485] In one embodiment, the first determining unit 3001 is specifically used for:

[0486] Based on the location information of the sensed target, determine the target sensing node and / or the target sensing transmission and reception mode information; or...

[0487] Based on the location information of the sensed target and the configuration information from the control node, determine the target sensed node and / or the target sensed transceiver mode information.

[0488] In one embodiment, the first determining unit 3001 is specifically used for:

[0489] Based on the first information indicated by the second sensing node, determine the target sensing node and / or the target sensing transceiver mode information; or...

[0490] Based on the first information indicated by the second sensing node and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information;

[0491] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transmission and reception mode information corresponding to the sensing parameter information.

[0492] In one embodiment, the device further includes:

[0493] The fourth indication unit is used to indicate the location information and / or perception quality information of the perceived target to the second perception node.

[0494] In one embodiment, the first determining unit 3001 is specifically used for:

[0495] Based on the sensing coverage information or location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transmission and reception mode information.

[0496] In one embodiment, the first indicating unit 3002 is specifically used for:

[0497] Based on the location information of the sensed target, the control node is instructed to indicate the location information of the sensed target; or...

[0498] Based on the location information of the perceived target and the configuration information from the control node, the location information of the perceived target is indicated to the control node.

[0499] In one embodiment, a sensing device is provided, applied to a control node, the device comprising:

[0500] The first determining unit is used to send configuration information to the first sensing node, and / or determine the target sensing node and / or the target sensing transceiver mode information;

[0501] The configuration information is used in at least one of the following situations:

[0502] The first sensing node determines the target sensing node and / or the target sensing transceiver mode information based on the configuration information.

[0503] The first sensing node indicates the location information of the sensing target to the control node based on the configuration information;

[0504] The first sensing node instructs the control node to switch sensing nodes and / or sensing transceiver modes based on the configuration information.

[0505] In one embodiment, the first determining unit is specifically used for:

[0506] Based on the location information of the sensed target, determine the target sensing node and / or the target sensing transmission and reception mode information; or...

[0507] Based on the first information indicated by the second sensing node, determine the target sensing node and / or the target sensing transceiver mode information; or...

[0508] Based on the first information indicated by the second sensing node and the location information of the sensing target, determine the target sensing node and / or the target sensing transceiver mode information;

[0509] The first information indicated by the second sensing node includes one or more of the following: sensing result information, sensing transmission and reception mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transmission and reception mode information corresponding to the sensing parameter information.

[0510] In one embodiment, the first determining unit is specifically used for:

[0511] Based on the sensing coverage information or location information of the second sensing node, and the location information of the sensing target, determine the target sensing node and / or the target sensing transmission and reception mode information.

[0512] In one embodiment, the device further includes:

[0513] The first indicating unit is used to indicate the location information and / or sensing quality information of the sensing target to the second sensing node.

[0514] In one embodiment, the device further includes:

[0515] The second determining unit is configured to determine configuration information based on the sensing coverage information of the first sensing node and / or the second sensing node; or,

[0516] The third determining unit is used to determine configuration information based on the location information of the first sensing node and / or the second sensing node.

[0517] In one embodiment, the device further includes:

[0518] The second instruction unit is used to instruct the target sensing node to perform sensing and / or target sensing transmission and reception mode information.

[0519] In one exemplary embodiment, a sensing device is provided, which is applied to a second sensing node, the device comprising:

[0520] The first indicating unit is used to indicate at least one of the following to the control node or the first sensing node: first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, sensing coverage information of the second sensing node, and location information of the second sensing node are used to determine the target sensing node and / or the target sensing transceiver mode information.

[0521] The first information includes one or more of the following: information on the results of the sensing, information on the sensing transmission and reception mode, information on the sensing parameters corresponding to the location information of the sensing target, and information on the sensing transmission and reception mode corresponding to the sensing parameters.

[0522] In one embodiment, the device further includes:

[0523] The second instruction unit is used to perform sensing based on instruction information from the control node or the first sensing node. The instruction information is used to instruct the second sensing node to perform sensing and / or target sensing transmission and reception mode information.

[0524] In one embodiment, the device further includes:

[0525] The determining unit is used to determine first information based on the location information and / or perception quality information of the perceived target.

[0526] Each module in the aforementioned sensing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0527] The first sensing node or control node involved in the embodiments of this disclosure can be a terminal or a base station. A base station can include multiple cells providing services to the terminal. Depending on the specific application, a base station can also be called an access point, or a device in the access network that communicates with the wireless terminal device through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of this disclosure can be an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in the embodiments of this disclosure. In some network architectures, network devices may include centralized unit (CU) nodes and distributed unit (DU) nodes, which may also be geographically separated.

[0528] The second sensing node or control node involved in the embodiments of this disclosure can be a terminal, or a device that provides voice and / or data connectivity to a user, such as a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The name of the terminal device may differ in different systems; for example, in a 5G or 6G system, the terminal device may be called User Equipment (UE). The wireless terminal device can be a USB storage device, other personal computer memory devices, and a dongle. It can also communicate with one or more core networks (CNs) via a Radio Access Network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device, for example, a portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile device that exchanges voice and / or data with the radio access network. Examples of such devices include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), personal computers, tablets, and Machine-type Communication (MTC) terminal devices. Wireless terminal devices can also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile devices, remote stations, access points, remote terminals, access terminals, user terminals, user agents, user devices, and wireless access devices and routers / modems that meet the limitations of this definition, but are not limited to these in the embodiments of this disclosure.

Claims

1. A perception method, comprising: The method is applied to a first sensing node, and the method comprises: determining target sensing node and / or target sensing transceiving mode information according to at least one of the following: position information of a sensing target, configuration information from a control node, and first information indicated by a second sensing node; or, indicating sensing node and / or sensing transceiving mode switching to a control node, and / or indicating position information of a sensing target to the control node; the indication of sensing node and / or sensing transceiving mode switching and the indication of position information of a sensing target are used to determine target sensing node and / or target sensing transceiving mode information.

2. The method of claim 1, wherein, The indication of sensing node and / or sensing transceiving mode switching to a control node comprises: indicating sensing node and / or sensing transceiving mode switching to a control node according to position information of a sensing target; or, indicating sensing node and / or sensing transceiving mode switching to a control node according to position information of a sensing target and configuration information from the control node.

3. The method of claim 1, wherein, The method further comprises: indicating a target sensing node and / or the target sensing transceiving mode information to the control node. The determination of target sensing node and / or target sensing transceiving mode information according to at least one of the following: position information of a sensing target, configuration information from a control node, and first information indicated by a second sensing node, comprises:

4. The method of claim 1, wherein, determining target sensing node and / or target sensing transceiving mode information according to position information of a sensing target; or, determining target sensing node and / or target sensing transceiving mode information according to position information of a sensing target and configuration information from the control node. The determination of target sensing node and / or target sensing transceiving mode information according to at least one of the following: position information of a sensing target, configuration information from a control node, and first information indicated by a second sensing node, comprises:

5. The method of claim 1, wherein, determining target sensing node and / or target sensing transceiving mode information according to first information indicated by a second sensing node; or, determining target sensing node and / or target sensing transceiving mode information according to first information indicated by a second sensing node and position information of a sensing target; wherein the first information indicated by the second sensing node comprises one or more of the following: participation sensing result information, sensing transceiving mode information, and sensing parameter information corresponding to position information of a sensing target. The method further comprises:

6. The method of claim 5, wherein, indicating position information of a sensing target and / or sensing quality information to the second sensing node. The determination of target sensing node and / or target sensing transceiving mode information according to position information of a sensing target comprises:

7. The method of claim 4, wherein, determining target sensing node and / or target sensing transceiving mode information according to sensing coverage information of a second sensing node or position information of the second sensing node, and position information of a sensing target. The indication of position information of a sensing target to the control node comprises:

8. The method of claim 1, wherein, indicating position information of the sensing target to the control node according to position information of the sensing target; or, indicating position information of the sensing target to the control node according to position information of the sensing target and configuration information from the control node. indicating, to the control node, the location information of the sensing target according to the location information of the sensing target and configuration information from the control node.

9. A perception method comprising: The method is applied to a control node, and the method comprises: sending configuration information to a first sensing node, and / or determining target sensing node and / or target sensing transceiving mode information; wherein the configuration information is used for at least one of the following situations: the first sensing node determines target sensing node and / or target sensing transceiving mode information according to the configuration information; the first sensing node indicates sensing target location information to the control node according to the configuration information; the first sensing node indicates sensing node and / or sensing transceiving mode switching to the control node according to the configuration information.

10. The method of claim 9, wherein, The determination of target sensing node and / or target sensing transceiving mode information comprises: determining target sensing node and / or target sensing transceiving mode information according to the location information of the sensing target; or, determining target sensing node and / or target sensing transceiving mode information according to first information indicated by a second sensing node; or, determining target sensing node and / or target sensing transceiving mode information according to first information indicated by a second sensing node and the location information of the sensing target; wherein the first information indicated by the second sensing node comprises one or more of the following: participation sensing result information, sensing transceiving mode information, and sensing parameter information corresponding to the location information of the sensing target.

11. The method of claim 10, wherein, The determination of target sensing node and / or target sensing transceiving mode information according to the location information of the sensing target comprises: determining target sensing node and / or target sensing transceiving mode information according to sensing coverage information of a second sensing node or location information of the second sensing node, and the location information of the sensing target.

12. The method of claim 10, wherein, The method further comprises: indicating, to the second sensing node, the location information of the sensing target and / or sensing quality information.

13. The method of claim 9, wherein, The method further comprises: determining the configuration information according to sensing coverage information of the first sensing node and / or second sensing node; or, determining the configuration information according to location information of the first sensing node and / or second sensing node.

14. A perception method comprising: The method is applied to a second sensing node, and the method comprises: indicating, to a control node or a first sensing node, at least one of the following: first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node are used for determining target sensing node and / or target sensing transceiving mode information; wherein the first information comprises one or more of the following: participation sensing result information, sensing transceiving mode information, and sensing parameter information corresponding to the location information of the sensing target.

15. The method of claim 14, wherein, The method further comprises: performing sensing according to indication information from the control node or the first sensing node, the indication information being used for indicating the second sensing node to perform sensing and / or target sensing transceiving mode.

16. The method of claim 14, wherein, Before the indication of the first information to the control node or the first sensing node, the method further comprises: determine the first information according to the location information of the sensing target and / or the sensing quality information.

17. A first sensing node, comprising: comprise a memory, a transceiver and a processor; The memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations: determine the target sensing node and / or the target sensing transceiving mode information according to at least one of the location information of the sensing target, the configuration information from the control node and the first information indicated by the second sensing node; or indicate the sensing node and / or the sensing transceiving mode switching to the control node, and / or indicate the location information of the sensing target to the control node; the indication of the sensing node and / or the sensing transceiving mode switching and the indication of the location information of the sensing target are used to determine the target sensing node and / or the target sensing transceiving mode information.

18. The first awareness node of claim 17, wherein, The indication of the sensing node and / or the sensing transceiving mode switching to the control node comprises: indicate the sensing node and / or the sensing transceiving mode switching to the control node according to the location information of the sensing target; or indicate the sensing node and / or the sensing transceiving mode switching to the control node according to the location information of the sensing target and the configuration information from the control node.

19. The first awareness node of claim 17, wherein, The processor is further configured to read the computer program in the memory and perform the following operations: indicate the target sensing node and / or the target sensing transceiving mode information to the target sensing node; or indicate the target sensing node and / or the target sensing transceiving mode information to the control node.

20. The first awareness node of claim 17, wherein, The determination of the target sensing node and / or the target sensing transceiving mode information according to at least one of the location information of the sensing target, the configuration information from the control node and the first information indicated by the second sensing node comprises: determine the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target; or determine the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target and the configuration information from the control node.

21. The first awareness node of claim 17, wherein, The determination of the target sensing node and / or the target sensing transceiving mode information according to at least one of the location information of the sensing target, the configuration information from the control node and the first information indicated by the second sensing node comprises: determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node; or determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target; The first information indicated by the second sensing node comprises one or more of participation sensing result information, sensing transceiving mode information and sensing parameter information corresponding to the location information of the sensing target.

22. The first awareness node of claim 21, wherein, The processor is further configured to read the computer program in the memory and perform the following operations: indicate the location information of the sensing target and / or the sensing quality information to the second sensing node.

23. The first awareness node of claim 20, wherein, The determination of the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target comprises: determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the sensing target and the location information of the second sensing node.

24. The first awareness node of claim 17, wherein, The indicating the location information of the sensing target to the control node comprises: indicating the location information of the sensing target to the control node according to the location information of the sensing target; or indicating the location information of the sensing target to the control node according to the location information of the sensing target and the configuration information from the control node.

25. A control node, characterized by comprising a memory, a transceiver and a processor; The memory is configured to store computer programs; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer programs in the memory and perform the following operations: sending configuration information to the first sensing node, and / or determining the target sensing node and / or the target sensing and / or transmitting mode information; The configuration information is used for at least one of the following situations: The first sensing node determines the target sensing node and / or the target sensing and / or transmitting mode information according to the configuration information; The first sensing node indicates the location information of the sensing target to the control node according to the configuration information; The first sensing node indicates the sensing node and / or the sensing and / or transmitting mode switching to the control node according to the configuration information.

26. A control node according to claim 25, characterised in that, The determining the target sensing node and / or the target sensing and / or transmitting mode information comprises: determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the sensing target; determining the target sensing node and / or the target sensing and / or transmitting mode information according to the first information indicated by the second sensing node; or determining the target sensing node and / or the target sensing and / or transmitting mode information according to the first information indicated by the second sensing node and the location information of the sensing target; The first information indicated by the second sensing node comprises one or more of the following: participation sensing result information, sensing and / or transmitting mode information, and sensing parameter information corresponding to the location information of the sensing target.

27. A control node according to claim 26, characterised in that, The determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the sensing target comprises: determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the second sensing node or the location information of the second sensing node and the location information of the sensing target.

28. A control node according to claim 26, characterised in that, The processor is further configured to read the computer programs in the memory and perform the following operations: indicating the location information of the sensing target and / or the sensing quality information to the second sensing node.

29. The control node of claim 25, wherein, The processor is further configured to read the computer programs in the memory and perform the following operations: determining the configuration information according to the sensing coverage information of the first sensing node and / or the second sensing node; or determining the configuration information according to the location information of the first sensing node and / or the second sensing node.

30. A second sensing node, comprising: comprising a memory, a transceiver and a processor; The memory is configured to store computer programs; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer programs in the memory and perform the following operations: The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations: indicating, to a control node or a first sensing node, at least one of first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node being used to determine target sensing node and / or target sensing transceiving mode information; The first information includes one or more of participation sensing result information, sensing transceiving mode information, and sensing parameter information corresponding to the location information of the sensing target.

31. The second awareness node of claim 30, wherein, The processor is further configured to read the computer program in the memory and perform the following operations: performing sensing according to indication information from the control node or the first sensing node, the indication information being used to instruct the second sensing node to perform sensing and / or target sensing transceiving mode.

32. The second awareness node of claim 30, wherein, Before the indicating, to the control node or the first sensing node, of the first information, the processor is further configured to read the computer program in the memory and perform the following operations: determining the first information according to location information of a sensing target and / or sensing quality information.

33. A sensing device, comprising: The apparatus is applied to a first sensing node, and the apparatus includes: a first determining unit configured to determine target sensing node and / or target sensing transceiving mode information according to at least one of location information of a sensing target, configuration information from a control node, and first information indicated by a second sensing node; or, a first indicating unit configured to indicate, to a control node, sensing node and / or sensing transceiving mode switching, and / or indicate, to the control node, location information of a sensing target; the indicating of the sensing node and / or the sensing transceiving mode switching and the indicating of the location information of the sensing target being used to determine target sensing node and / or target sensing transceiving mode information.

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