A perception task processing method, device, system and storage medium

Abstract

The application provides a sensing task processing method, device, system and storage medium. The method can be applied to a sensing integration scene. In the method, a first network device obtains first information. First indication information is used to indicate a reason for triggering first sensing link switching. Specifically, the first information is that a communication link corresponding to a first terminal device is switched, or the first information is that a sensing link cannot meet sensing requirements of a sensing task. Then, the first network device determines a first sensing strategy and a second sensing node for executing the sensing task according to the first information. That is, the first network device can dynamically determine a sensing sending node and / or a sensing receiving node corresponding to the sensing task according to environmental changes, so as to ensure continuity of the sensing task.

Description

Technical Field

[0001] This application relates to the field of wireless communication, and in particular to a sensing task processing method, apparatus, system and storage medium. Background Technology

[0002] With the continuous development of network technology, future mobile communication systems not only need to possess highly reliable communication capabilities, but also need to provide accurate environmental awareness. Integrated sensing and communication (ISAC) technology combines the two major functions of communication and sensing, enabling wireless networks to not only transmit data, but also perceive the surrounding environment.

[0003] In traditional mobile communication systems, when terminal devices move between different areas, they rely on handover between base stations to maintain the continuity of the communication link. However, in integrated sensing systems, communication handover often leads to interruptions in the sensing link, resulting in discontinuity or decreased accuracy in sensing tasks. The sensing link includes sensing transmitting nodes and sensing receiving nodes. Sensing transmitting nodes are those that send sensing signals, and sensing receiving nodes are those that receive the echo signals reflected from the target.

[0004] However, traditional mobility management mechanisms only consider the continuity of communication links and do not take into account the continuity requirements of sensing tasks. How to efficiently carry out integrated mobility management is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a sensing task processing method, apparatus, system, and storage medium, which can realize the collaborative mobility management of the integrated sensing system to simultaneously ensure communication reliability and sensing continuity.

[0006] Firstly, a perception task processing method is provided. This method can be executed by a first network device, or by a component (such as a circuit, chip, or chip system) configured in the first network device, or by a logic module or software capable of implementing all or part of the functions of the first network device. This application does not limit this approach. The following description uses a first network device as an example.

[0007] The method includes: a first network device acquiring first information, which indicates the reason for triggering a first sensing link switch. The first sensing link includes a first sensing node required to execute a sensing task corresponding to a first terminal device. Specifically, the first information indicates that the communication link corresponding to the first terminal device has switched, or that the sensing link cannot meet the sensing requirements of the sensing task. Then, the first network device determines a second sensing link for executing the sensing task based on the first information. This second sensing link includes a second sensing node (e.g., a second sensing transmitting node and / or a second sensing receiving node). That is, the first network device can dynamically determine the sensing transmitting node and / or sensing receiving node corresponding to the sensing task according to environmental changes, ensuring the continuity of the sensing task.

[0008] Specifically, if the sensing switchover command is triggered by a switch in the communication link corresponding to the first terminal device, the first network device determines the second sensing transmitting node and / or the second sensing receiving node to perform the sensing task based on the sensing capabilities of the second network device. Here, a communication link switchover refers to the network device providing communication services to the first terminal device switching from the first network device to the second network device. That is, when the communication link of the first terminal device switches, a switching of the sensing link is triggered, realizing a coordinated switchover between communication and sensing, thereby ensuring the continuity of sensing services. If the sensing switchover command is triggered by the sensing link being unable to meet the sensing requirements of the sensing task, the first network device determines the second sensing transmitting node and / or the second sensing receiving node to perform the sensing task based on the type of the target event. Here, the target event indicates an event that causes the sensing link to be unable to meet the sensing requirements of the sensing task. That is, when the quality of the original sensing link cannot meet the sensing requirements, a sensing link switchover will be triggered to avoid sensing interruption and maintain the stability of the sensing task.

[0009] Secondly, a perception task processing method is provided. This method can be executed by a first network device, or by a component (such as a circuit, chip, or chip system) configured in the first network device, or by a logic module or software capable of implementing all or part of the functions of the first network device. This application does not limit this. The following description uses a first network device as an example.

[0010] The method includes: a first network device acquiring first information, the first information being used to instruct the execution of a first sensing link switch, the first sensing link including a first sensing node required to execute a sensing task corresponding to a first terminal device, the first information including a measurement report reported by the first terminal device, the measurement report including the measurement results of the first sensing link; and the first network device executing the first sensing link switch according to the measurement report.

[0011] In some implementations, the measurement report may also include measurement results from a second sensing link. This second sensing link may be a sensing link randomly selected by the first terminal device, or a sensing link pre-configured on the network side, and it includes a second sensing node.

[0012] In some implementations, the measurement results include at least one of the following: the quality of the communication signal of the first network device (e.g., RSRP, RSRP), the quality of the communication signal of the surrounding network device (cell) (e.g., RSRP, RSRP), the quality of the sensing signal of the surrounding network device (cell) (e.g., RSRP, RSRP), the sensing accuracy of the first sensing link, and the sensing accuracy of the sensing link of the surrounding network device.

[0013] In the context of integrated sensing and communication, the quality measurement of sensing signals refers to the echo signal that is reflected and scattered back by the target after the integrated sensing and communication signal is emitted.

[0014] In some implementations, the first network device transmits the capability information and sensing requirements of the first terminal device to the second network device. The capability information (UE Capabilities) of the first terminal device includes at least the supported sensing capabilities, supported sensing accuracy, and supported sensing modes; the sensing requirement information includes at least the service parameters of the current sensing service, such as latency, bandwidth, and sensing accuracy.

[0015] Among them, perception accuracy includes at least one of the following: target detection probability, false alarm probability, etc.; estimation reliability indicators include estimation mean square error (or measured by Fisher information or Cramer-Rao bound), fuzzy function, etc.; recognition reliability indicators include resolution, recognition accuracy, horizontal accuracy, vertical accuracy, speed accuracy, and angular accuracy.

[0016] For example, horizontal and vertical accuracy can be at the centimeter or meter level; angular accuracy can be at the 0.1 degree, 1 degree, or 10 degree level; and speed accuracy can be at the centimeter / second, meter / second, or kilometer / hour level.

[0017] In some implementations, the first network device notifies the first terminal device to perform a handover.

[0018] In some implementations, before the first network device notifies the first terminal device to perform a handover, the method further includes: the first network device receiving a handover confirmation response from the second network device. The second sensing node can be the second network device.

[0019] In some implementations, after receiving a handover notification from the first network device, the first terminal device interrupts its sensing services with the first network device and establishes a connection with the second network device to perform sensing services.

[0020] In some implementations, the first terminal device uses the second network device as the sensing master device to perform sensing services.

[0021] In some implementations, the first terminal device uses the first network device as a sensing auxiliary device to assist the second network device in performing sensing services.

[0022] Thirdly, a communication device is provided, comprising a processing module. The processing module is configured to acquire first information, the first information indicating a reason for triggering a first sensing link switch, the first sensing link including a first sensing node required to perform a sensing task corresponding to a first terminal device. The first information indicates that a communication link corresponding to the first terminal device has switched, or that the sensing link cannot meet the sensing requirements of the sensing task, wherein the communication link switch refers to a switch of the network device providing communication services to the first terminal device from the first network device to a second network device. The processing module is further configured to determine a second sensing link for performing the sensing task based on the first information.

[0023] Fourthly, a communication device is provided, comprising a processing module. The processing module is configured to acquire first information indicating the reason for triggering a first sensing link switch. The first sensing link includes a first sensing node required to perform a sensing task corresponding to a first terminal device. Specifically, the first information indicates that the communication link corresponding to the first terminal device has switched, or that the sensing link cannot meet the sensing requirements of the sensing task. The processing module is then further configured to determine, based on the first information, a second sensing link for performing the sensing task, the second sensing link including a second sensing node (e.g., a second sensing transmitting node and / or a second sensing receiving node).

[0024] Fifthly, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the methods in any possible implementation of any of the above aspects. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0025] In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0026] In another implementation, the communication device is a chip configured in a terminal device. When the communication device is a chip configured in a terminal device, the communication interface can be an input / output interface.

[0027] In a sixth aspect, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive signals through the input circuit and transmit signals through the output circuit, causing the processor to execute a method in any possible implementation of any aspect.

[0028] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0029] In a seventh aspect, a communication device is provided, including a processor and a memory. The processor is used to read instructions stored in the memory and to receive signals via a receiver and transmit signals via a transmitter to execute the method in any possible implementation of any of the above aspects.

[0030] Optionally, the processor may be one or more, and the memory may be one or more.

[0031] Eighthly, a computer program product is provided, the computer program product comprising: a computer program (also referred to as code or instructions) that, when the computer program is run, causes a computer to perform a method in any possible implementation of any of the above aspects.

[0032] In a ninth aspect, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when executed on a computer, causes the computer to perform the methods in any possible implementation of any of the preceding aspects.

[0033] In a tenth aspect, embodiments of this application provide a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in any of the above aspects or possible implementations to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0034] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0035] Eleventhly, a communication system is provided, including the aforementioned terminal device and network device. Optionally, the communication system may further include other devices that communicate with the terminal device and / or network device. Attached Figure Description

[0036] Figure 1 A communication system structure diagram provided in this application embodiment;

[0037] Figure 2 A flowchart of a perception task processing method provided in an embodiment of this application;

[0038] Figure 3a and Figure 3b This is a schematic diagram of a sensing handover triggered by a communication handover, provided in an embodiment of this application.

[0039] Figure 4 This application provides a perception handover interaction diagram triggered by a communication handover in an embodiment of the present application;

[0040] Figure 5 This is a schematic diagram of a set of sensing nodes provided in an embodiment of this application;

[0041] Figure 6 This is a schematic diagram illustrating a target event-triggered perception switching provided in an embodiment of this application;

[0042] Figure 7 A flowchart for determining a perception strategy is provided in an embodiment of this application;

[0043] Figure 8 A sensing handover flowchart is provided as an embodiment of this application;

[0044] Figure 9 A structural diagram of a communication device provided in an embodiment of this application;

[0045] Figure 10 This is a structural diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0046] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0047] The technical solutions provided in this application can be applied to various communication systems, such as: Global System for Mobile Communications (GSM) systems, General Packet Radio Service (GPRS), Wireless Local Area Network (WLAN), Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, sidelink communication systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, non-terrestrial network (NTN) communication systems, 5th generation (5G) mobile communication systems, or new radio access technology (NR). Among these, 5G mobile communication systems can include non-standalone (NSA) and / or standalone (SA) networking. The technical solutions provided in this application can also be applied to future communication systems. This application does not limit the scope of these applications.

[0048] Figure 1 This is a schematic diagram of a communication system 100 used in an embodiment of this application. The communication system 100 may include network devices, such as... Figure 1 The network device 110 is shown. The communication system 100 may also include terminal devices, such as... Figure 1 The terminal device 120 shown. The network device 110 and the terminal device 120 can communicate via a wireless link.

[0049] In a sensing scenario, both network device 110 and terminal device 120 can be devices with sensing capabilities. For example, in a self-transmitting and self-receiving scenario, network device 110 acts as both a sensing transmitting node and a sensing receiving node. Specifically, network device 110 transmits sensing signals and then receives the echo signals of the sensing signals, thereby achieving target sensing. In a non-self-transmitting and self-receiving scenario, network device 110 acts as a sensing transmitting node and terminal device 120 acts as a sensing receiving node. Specifically, network device 110 transmits sensing signals, and terminal device 120 receives the echo signals of the sensing signals, obtains the sensing results, and sends the sensing results back to network device 110.

[0050] Figure 1 An exemplary network device 110 and a terminal device 120 are shown. Optionally, the communication system 100 may also include multiple network devices and / or multiple terminal devices.

[0051] The network equipment in this application can be network-side equipment such as access network equipment and core network equipment. Access network equipment is sometimes also called access node. Access network equipment has wireless transceiver capabilities and is used to communicate with terminals. Access network equipment includes, but is not limited to, base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs) in the aforementioned communication systems, next-generation NodeBs (gNBs) in 5G mobile communication systems, access network equipment or modules of access network equipment in open RAN (ORAN) systems, satellites in NTN communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems. Access network equipment can also be modules or units capable of implementing some of the functions of a base station. Access network equipment can be a macro base station (such as...). Figure 1The access network device can be a micro base station or indoor station, a relay node or donor node, or a wireless controller in a cloud radio access network (CRAN) scenario. Optionally, the access network device can also be a server, wearable device, or vehicle-mounted device. For example, in vehicle-to-everything (V2X) technology, the access network device can be a roadside unit (RSU). Multiple access network devices in a communication system can be base stations of the same type or different types. Base stations can communicate with terminals directly or via relay stations. Terminals can communicate with multiple base stations using different access technologies. The embodiments of this application do not limit the specific technology or device form used in the access network device. In this application, the access network device is referred to as a network device.

[0052] In this application, the means for implementing the functions of a network device can be a network device itself, or a means capable of supporting the network device in implementing those functions, such as a processor, circuit, chip, or chip system. This means can be installed in or connected to the network device. In the technical solutions provided in this application, the example of a network device being used to implement the functions of a network device is used to describe the technical solutions provided in this application.

[0053] The terminal device in this application can be a wireless terminal device capable of receiving network device scheduling and instruction information. The wireless terminal device can be a device providing voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. For example, the terminal device can communicate with one or more core networks or the Internet via a radio access network (RAN). The terminal device can also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), ultra-reliable low-latency communication (URLLC), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, or satellite communication, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver capabilities, wearable device, vehicle, aircraft (such as drone, helicopter, airplane), hot air balloon, ship, robot, robotic arm, or smart home device, etc. The embodiments of this application do not limit the form of the terminal device.

[0054] In this application, the apparatus for implementing the functions of a terminal device can be the terminal device itself, or any apparatus capable of supporting the terminal device in implementing those functions, such as a processor, circuit, chip, or chip system. This apparatus can be installed in or connected to the terminal device. In the technical solutions provided in this application, the example of a terminal device being used to implement the functions of a terminal device is used to describe the technical solutions provided in this application.

[0055] Access network devices and / or terminals can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. This application does not limit the application scenarios of the access network devices and terminals. Access network devices and terminal devices can be deployed in the same or different scenarios; for example, both can be deployed on land; or the access network device can be deployed on land, and the terminal device on water, etc., and so on.

[0056] In practical applications, multiple network devices can collaborate to assist terminals in achieving wireless access, with different network devices each implementing a portion of the base station's functions. For example, network devices can be central units (CUs), distributed units (DUs), CUs (control planes, CPs), CUs (user planes, UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0057] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (Open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. CU (or CU-CP and CU-UP), DU, and RU can implement different protocol layer functions.

[0058] To facilitate understanding of the embodiments of this application, the terminology used in this application will be briefly explained first. Optionally, the explanation of some terms may also refer to the explanations in the 3rd Generation Partnership Project (3GPP) standard protocol.

[0059] 1. A synesthetic user is a user who has both communication and sensory needs.

[0060] 2. Source service base station: The base station that provides communication services to sensing users before communication handover is performed.

[0061] 3. Sensing Nodes

[0062] A sensing node is a set of physical or logical nodes that undertake sensing / communication tasks, including sensing transmitting nodes and sensing receiving nodes. The selection of sensing nodes determines the observable signal sources and geometric conditions, affecting positioning accuracy, coverage capabilities, and other aspects. Specifically, a sensing transmitting node is the node that sends sensing signals, and a sensing receiving node is the node that receives the echo signals reflected back from the target.

[0063] 4. Perception Strategy

[0064] A sensing strategy, also known as a sensing mode, refers to the operational method of a sensing node when performing sensing tasks. Currently, 3GPP has defined various integrated sensing strategies. These include: base station self-transmission and self-reception, base station-assisted self-transmission and self-reception, terminal-assisted self-transmission and self-reception, gNB single-site sensing, gNB dual-site sensing, gNB multi-site sensing, UE-assisted sensing, UE-to-UE dual-site sensing, and passive sensing. Specifically, base station self-transmission and self-reception refers to a base station transmitting a signal and receiving the echo signal; self-transmission and self-reception refers to one node transmitting a signal and another node receiving the echo signal. In particular, base station-assisted self-transmission and self-reception refers to one base station transmitting a signal and another base station receiving the echo signal; terminal-assisted self-transmission and self-reception refers to the base station transmitting a signal and the terminal device receiving the echo signal.

[0065] Typically, the foundation for achieving synesthesia lies in determining the sensing nodes and sensing strategies. The selection of sensing nodes and sensing strategies is the core issue in achieving synesthesia.

[0066] It should be understood that the technical terms used in this application are for illustrative purposes only and not as limiting. For example, as technology evolves, technical terms may also change, and other technical terms that have the same technical meaning should also apply to this application.

[0067] In a sensor-integrated system, users need to maintain a stable communication connection and may also receive environmental perception information (such as target location and maps) provided by the network side to achieve coordinated communication and perception services. As users (such as vehicles and drones) move continuously, communication links need to be switched, and perception links must also be adjusted accordingly to maintain the effectiveness of perception tasks. However, the switching mechanism of traditional mobile communication systems makes decisions based solely on communication quality, which is insufficient to meet the specific needs of perception services. Perception tasks typically have higher requirements for latency, continuous target tracking, and spatial consistency, making it more complex to ensure the continuity and stability of sensor services in mobile scenarios.

[0068] Furthermore, in integrated sensing and communication systems, communication handover can lead to temporary interruptions in signals used for sensing, affecting the continuity of sensing and even causing a decrease in sensing accuracy. Simultaneously, traditional mobility management mechanisms do not consider the continuity requirements of sensing tasks; frequent handovers or additional signaling overhead can lead to a dual degradation of communication and sensing performance. Moreover, because ISAC multiplexes communication signals for sensing, sensing capabilities are deeply embedded in the communication protocol stack. Mobility management is no longer merely a local optimization of the communication link, but has a systemic impact on the architecture and operation of the entire sensing and communication system, requiring joint design of communication and sensing. Therefore, mobility management mechanisms need to fundamentally adapt to the architecture and performance requirements of integrated sensing and communication systems, and cannot continue to use traditional solutions that only focus on communication link quality. In conclusion, under integrated communication and sensing, how to build an efficient and collaborative mobility management mechanism has become an urgent problem to be solved.

[0069] In view of this, this application provides a sensing task processing method. When the communication link corresponding to the first terminal device switches, a sensing link switch is triggered to re-determine the second sensing link for executing the sensing task, thereby realizing the coordinated switching of the communication link and the sensing link, while ensuring communication reliability and sensing continuity. When the original sensing link cannot meet the sensing requirements of the sensing task, a sensing link switch is triggered to re-determine the second sensing link for executing the sensing task, and the new sensing link is used to execute the sensing task to meet the sensing requirements.

[0070] The solution provided in this application will be described in detail below with reference to the corresponding flowcharts. It is understood that the illustrative flowcharts provided in this application primarily use different devices (e.g., terminal devices, network devices) as examples of the execution subjects of this interactive illustration to illustrate the method, but this application does not limit the execution subjects of the interactive illustrations. For example, the devices (e.g., terminal devices, network devices) in the illustrative flowcharts can also be chips, chip systems, or processors that support the implementation of this method on the device, or logic modules or software that can implement all or part of the functions of the device.

[0071] As a general statement, the message or signaling interactions involved in the interaction process of this application embodiment can be standard messages or signaling or newly introduced messages or signaling. This application embodiment does not make specific limitations on this.

[0072] Figure 2 This is a schematic diagram illustrating a communication method according to an embodiment of this application. It can be understood that... Figure 2 The terminal device in the middle can be Figure 1 Any terminal device in the context of network equipment can refer to any component within that terminal device (such as a processor, chip, or chip system). Network equipment can be... Figure 1Any access network device, or a component within an access network device (such as a processor, chip, or chip system). Figure 2 As shown, the method includes the following steps:

[0073] S201: The first network device obtains first information, which is used to indicate the reason for triggering the first sensing link switch.

[0074] This embodiment defines two sources that can trigger a switching of the sensing link for an integrated sensing system:

[0075] The first scenario involves a communication switchover triggered when the first terminal device needs to perform a communication switchover in a mobile scenario due to changes in coverage, degraded link quality, or adjustments in load distribution. This change in the communication link simultaneously affects the stability of the sensing link. To ensure the continuity of sensing tasks, a sensing link switchover is triggered when the communication link changes. Specifically, the first information indicates that a switching of the communication link corresponding to the first terminal device has occurred, thus initiating the sensing link switchover. The first sensing link includes a first sensing node required to perform the sensing task corresponding to the first terminal device. This first sensing node may include a first sensing transmitting node and / or a first sensing receiving node. Specifically, the first sensing node may be a first network device.

[0076] In the first scenario, the communication quality of the communication link can be monitored. When the communication quality fails to meet communication requirements, a communication link switch can be triggered. Specifically, the first network device determines whether to perform a communication switch based on the measurement report reported by the first terminal device.

[0077] The second scenario involves a sensing link switchover triggered when the target of the sensing task undergoes spatial displacement, the echo quality of the sensing link deteriorates, or the sensing performance fails to meet the needs of the sensing task, even if the communication link remains in good condition. Specifically, a sensing link switchover is initiated when the original sensing link is deemed unable to meet the sensing requirements of the task. The original sensing link includes the first sensing receiving node and the first sensing transmitting node that perform the sensing task.

[0078] In the second scenario, where the original sensing link cannot meet the sensing requirements of the sensing task, the sensing performance can be assessed by monitoring whether the performance indicators of the transmitting and / or receiving nodes of the sensing link are below preset thresholds. These performance indicators reflect the quality of the received signal. Specifically, if the value of the first performance indicator of the first sensing receiving node in the original sensing link is less than the first preset threshold, it indicates that the first sensing receiving node needs to be switched, and / or if the value of the second performance indicator of the first sensing transmitting node is less than the second preset threshold, it indicates that the first sensing transmitting node needs to be switched. The first and second performance indicators can be the same, for example, both being reference signal receiving power (RSRP). Alternatively, the first and second performance indicators can be different, for example, the first performance indicator being RSRP and the second performance indicator being reference signal receiving quality (RSRQ). The first and second preset thresholds can be preset or dynamically adjusted according to the specific requirements of the sensing task. When the above conditions are met, the original sensing link is determined to be faulty, triggering the sensing link switching process. The first network device can receive a measurement report sent by the first terminal device, which may include performance index values ​​of the sending node and / or receiving node of the sensing link.

[0079] It should be noted that when the first performance indicator and the second performance indicator are the same, the first preset threshold and the second preset threshold can be the same or different. When the first performance indicator and the second performance indicator are different, the first preset threshold and the second preset threshold can be the same or different.

[0080] The first network device may be a service base station that provides communication services to the first terminal device.

[0081] S202: The first network device determines, based on the first information, to perform a sensing task and a second sensing link. The second sensing link includes a second sensing node.

[0082] In this embodiment, after obtaining the reason for the switching of the sensing link, the first network device will determine a new sensing strategy and a new sensing link for the sensing task based on the specific reason. The new sensing link includes a second sensing node, which may include a second sensing sending node and / or a second sensing receiving node.

[0083] It should be noted that the new perception strategy, i.e. the first perception strategy, can be the same as the original perception strategy, and the new perception link can be the same as the original perception link. The specific situation is determined according to the actual application scenario.

[0084] After determining the second sensing transmitting node and / or the second sensing receiving node, the first network device sends sensing context information to the second sensing transmitting node and / or the second sensing receiving node. This sensing context information includes the sensing sequence and / or sensing requirements corresponding to the sensing task. The sensing sequence refers to the signals transmitted for sensing, and the sensing requirements are requirements for sensing accuracy, latency / continuity, etc.

[0085] If the first information is that the communication link corresponding to the first terminal device has been switched and the sensing receiving node has changed (for example, due to the terminal moving, its serving base station has been switched), in addition to the sensing context information sent to the second sensing receiving node, such as basic sensing parameters, it also includes the device identifier of the second network device, so that the second sensing receiving node can feed back the sensing result to the second network device.

[0086] If the first information indicates that the quality of the sensing link cannot meet the sensing requirements of the sensing task and the sensing receiving node has changed, the sensing context information sent to the second sensing receiving node also includes the device identifier of the first network device, so that the second sensing receiving node can feed back the sensing results to the first network device to maintain the continuity of the sensing task.

[0087] If the first information indicates that the quality of the sensing link cannot meet the sensing requirements, then the first network device receives the sensing results sent by the second sensing receiving node.

[0088] As mentioned above, there are two reasons that trigger the switching of the perception link. The following will explain how to determine the new perception link for the perception task for each of the different reasons.

[0089] (i) If the first information is that the communication link corresponding to the first terminal device has been switched, the first network device determines the second sensing link to perform the sensing task based on the sensing capability of the second network device.

[0090] The first network device can be the source serving base station corresponding to the first terminal device, and the second network device can be the target serving base station corresponding to the second terminal device. The communication link handover refers to the handover of the serving base station corresponding to the first terminal device from the source serving base station (the first network device) to the target serving base station (the second network device).

[0091] In this embodiment, when the switching of the sensing link is caused by the switching of the communication link, the first network device will dynamically determine a new sensing strategy and a new sensing node for the sensing task based on the sensing capabilities of the second network device. The new sensing node is the second sensing node, which can be the second network device.

[0092] The first network device can be implemented in the following way:

[0093] The first network device determines a first sensing strategy based on the sensing capabilities of the second network device. This first sensing strategy refers to the sensing strategy used after a sensing link switch. Based on the first sensing strategy, the first network device determines a second sensing transmitting node and / or a second sensing receiving node to perform the sensing task. The first sensing strategy can be a self-transmitting and self-receiving sensing strategy of the second network device, a self-transmitting and self-receiving sensing strategy assisted by other network devices, or a self-transmitting and self-receiving sensing strategy assisted by other terminal devices. "Other network devices" refers to network devices other than the second network device, and "other terminal devices" refers to terminal devices other than the first terminal device.

[0094] Specifically, if the second network device has sensing capabilities, the first network device determines the first sensing strategy as a self-transmitting and self-receiving sensing strategy for the second network device. Here, the second network device having sensing capabilities means that it can receive echo signals and determine the sensing result based on the echo signals. When the second network device has sensing capabilities, the self-transmitting and self-receiving sensing strategy for the second network device is used to perform the sensing task. Under this sensing strategy, there is no need to transmit the sensing result, and the sensing overhead is minimized.

[0095] When the first sensing strategy is a self-transmitting and self-receiving sensing strategy for the second network device, the first network device determines the second network device as the second sensing transmitting node and the second sensing receiving node. That is, the second network device integrates transmitting and receiving functions.

[0096] If the second network device lacks sensing capabilities, the first network device determines a first sensing strategy based on a set of sensing nodes. This set of sensing nodes includes device identifiers of network devices adjacent to the first terminal device and capable of providing sensing services to the first terminal device.

[0097] In practical implementation, the first network device determines whether the set of sensing nodes is empty. If it is empty, the first network device determines that the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other terminal devices. Under this sensing strategy, the second network device acts as the second sensing transmitting node, and the other terminal devices act as the second sensing receiving nodes.

[0098] Among them, the other terminal devices are determined by the first network device from the neighbor list corresponding to the first terminal device. Specifically, the first network device obtains the first index value corresponding to the second terminal device based on the sensing capability, sensing requirements, and receiving power of the second terminal device; the first network device determines the second terminal corresponding to the maximum first index value as the second sensing receiving node.

[0099] For example, the second sensing receiver node can be selected using the following formula:

[0100] (1)

[0101] in, This represents the sensing capability of the sensing node u. This represents the sensing requirements of sensing node u. This indicates the received power of the sensing node u in receiving the signal sent by the first terminal device. Let k represent the set of neighbor lists corresponding to the first terminal device, and k represent the first terminal device.

[0102] As can be seen from the above formula (1), when determining the sensing receiving node, terminal devices with strong sensing capabilities and low sensing requirements should be selected as the sensing receiving node.

[0103] If the set of sensing nodes is not empty, the first network device determines the first sensing strategy to be a self-sending and receiving sensing strategy assisted by other network devices. That is, when the second network device does not have sensing capabilities and the set of sensing nodes is not empty, the sensing task is performed using a self-sending and receiving sensing strategy assisted by other network devices. Under this sensing strategy, the sensing results do not need to be transmitted over the air interface, resulting in low sensing overhead. Moreover, the sensing capabilities of network devices are stronger than those of terminal devices, and this sensing strategy can better meet the sensing requirements.

[0104] When the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other network devices, the first network device determines the second network device as the second sensing transmitting node and the other network devices as the second sensing receiving node.

[0105] The other network devices are determined by the first network device from the set of sensing nodes. Specifically, the first network device obtains the second index value of the third network device based on the load factor, received power, and distance corresponding to each sensing node (third network device) in the set of sensing nodes; the first network device then determines the third network device corresponding to the largest second index value as the second sensing receiving node. The third network device can be any network device in the set of sensing nodes.

[0106] For example, the second sensing receiver node can be selected using the following formula:

[0107]

[0108] (2)

[0109] in, represents the set of identified sensing nodes, represents the set of sensing transmitting nodes, and 'b' represents the source serving base station (first network device). This represents the distance between the sending node c and the candidate receiving node s. Let be the load factor of the candidate receiving node s. This represents the reference signal received power of candidate receiving node s.

[0110] As can be seen from the above formula (2), by taking the geometric average of the distances between all participating sensing nodes and candidate receiving nodes, the comprehensive spatial reachability of the candidate receiving nodes is reflected. At the same time, by combining the load factor and receiving power of the candidate receiving nodes for weighting, the first network device selects the sensing node r that maximizes the above indicators as the second sensing receiving node, so as to ensure a stable receiving path, excellent signal quality and effectively avoid high-load nodes, thereby achieving efficient and reliable sensing reception.

[0111] It should be noted that when the sensing requirement corresponding to the sensing task is small (i.e., low sensing requirement), only the second network device can be determined as the sensing transmission node, reducing overhead. When the sensing requirement corresponding to the sensing task is high, and the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other network devices, and the number of sensing nodes in the sensing node set is greater than 1, the first network device determines the second sensing transmission node from the sensing node set based on the reference signal received power of each sensing node (the fourth network device) in the sensing node set, the reference signal received power of the second network device, and the load factor of the fourth network device. The load factor indicates the amount of sensing task performed by the fourth network device.

[0112] Perception requirements can include perception accuracy, perception resolution, and perception range. For example, high perception accuracy (centimeter-level) is considered a high requirement, while low perception accuracy (sub-meter-level) is considered a low requirement. Low perception requirements: In the target scenario, the system only needs to meet low perception accuracy, resolution, or range requirements; even if there are significant perception errors, it will not affect core functions or safety decisions. High perception requirements: In the target scenario, the system must meet high perception accuracy, resolution, or range requirements; perception errors will directly affect decision-making, control, or safety boundaries.

[0113] For example, the second sensing transmission node can be determined using the following formula:

[0114]

[0115] (3)

[0116] in, The reference signal received power of the source serving base station is represented by , the reference signal received power of the candidate transmitting node s is represented by , and the load factor of the candidate transmitting node is .

[0117] The above formula (3) reflects the quality of the link between the serving base station and the candidate sending node and the node load. The first network device selects the node t that maximizes the above formula as the second sensing sending node to ensure sensing performance.

[0118] In some implementations, if the sensing strategy for performing the sensing task before the sensing link switchover is a self-transmitting and receiving strategy assisted by the fifth network device, before the first network device determines the first sensing strategy based on the sensing capability of the second network device, the method further includes: the first network device determining that the first sensing receiving node has changed.

[0119] If the first network device determines that the first sensing receiving node has not changed, the first network device determines that the first sensing strategy is a self-transmitting and receiving strategy assisted by the fifth network device. That is, only the sensing transmitting node needs to be switched, while the original sensing receiving node (the fifth network device) is retained, which is low-cost and has good continuity.

[0120] The first network device can determine whether the sensing receiving node corresponding to the sensing task has changed in the following ways: the first network device obtains the first performance index value corresponding to the first sensing receiving node; if the first performance index value of the first sensing receiving node is less than a first preset threshold, the first network device determines that the first sensing receiving node has changed; otherwise, the first network device determines that the first receiving node has not changed.

[0121] To facilitate understanding of the specific implementation of perception switching triggered by communication switching, the following will explain different perception strategies.

[0122] If the sensing strategy before the sensing link handover was a base station self-transmission and self-reception strategy, and the communication handover caused simultaneous changes in both the first sensing transmitting node and the first sensing receiving node, then the self-transmission and self-reception strategy takes precedence. That is, the target serving base station simultaneously acts as both the second sensing transmitting node and the second sensing receiving node. The source serving base station carries the sensing context information of the sensing user in the handover message sent to the target base station.

[0123] If, before the sensing link switch, the sensing strategy is a self-transmitting and receiving strategy assisted by the terminal device, the communication switch causes a change in the first sensing transmitting node. In this scenario, the self-transmitting and receiving strategy is still preferred, that is, the target serving base station simultaneously acts as the second sensing transmitting node and the second sensing receiving node. The source serving base station carries the sensing context information of the sensing user in the handover message sent to the target base station.

[0124] If the sensing strategy before the sensing link handover is a base station-assisted self-transmitting and receiving strategy, the communication handover causes a change in the first sensing transmitting node. In this scenario, the sensing strategy before the handover is the same as the sensing strategy after the handover. That is, the target serving base station acts as the second sensing transmitting node, while the original sensing receiving node is retained. The handover message sent by the source serving base station to the target serving base station carries sensing context information and notifies the receiving node that the new serving base station is the target serving base station.

[0125] It should be noted that, regardless of the sensing strategy used before the handover, if both the first sensing transmitting node and the first sensing receiving node need to be switched, and the sensing node set is not empty, the base station self-transmitting and self-receiving strategy is preferred, followed by the base station-assisted self-transmitting and self-receiving strategy; if the sensing node set is empty, the terminal-assisted self-transmitting and self-receiving strategy is selected, and the specific process is as follows: Figure 3a and Figure 3b As shown.

[0126] For a better understanding of the perceived link handover caused by communication handover, see [link to relevant documentation]. Figure 4 The diagram illustrates the interactive scenario. In this scenario, the serving base station refers to the base station that provides communication services, the sending base station refers to the sensing sending node, and the receiving base station refers to the sensing receiving node.

[0127] S1: The source service base station sends an integrated sensing signal to the sensing user.

[0128] S2: The sensing user performs signal strategy based on the integrated sensing signal, obtains measurement reports, and receives the sensing-reported measurement reports from the source serving base station.

[0129] S3: The source serving base station determines the set of sensing nodes based on the measurement report, and determines the sensing strategy based on the set of sensing nodes.

[0130] S4: If the sensing strategy is a self-transmitting and self-receiving strategy, the source serving base station performs sensing based on the echo signal of the integrated sensing signal to obtain the sensing result.

[0131] S5: If the sensing strategy is a self-sending and other-receiving strategy, the source serving base station sends sensing context information to the sending base station and the receiving base station. This sensing context information includes the sensing sequence and sensing requirements.

[0132] Among them, the self-sending and receiving sensing strategy is a base station-assisted self-sending and receiving strategy, and under this strategy, there are multiple sensing and sending nodes, namely the source serving base station and the sending base station.

[0133] S6: Both the transmitting base station and the serving base station send a synergistic signal to the synergistic user. This synergistic signal includes communication data and sensing sequences.

[0134] S7: Receive the echo signal from the base station based on the integrated sensing signal to obtain the sensing result.

[0135] S8: The receiving base station sends the sensing results to the source serving base station.

[0136] S9: Communication handover occurs. The source serving base station sends a handover signaling message to the sensing user and the transmitting base station. This handover signaling message includes sensing context information.

[0137] Communication handover refers to the switching of the serving base station corresponding to a sensing user from the source serving base station to the target serving base station. This communication handover causes a switching of the sensing link. In this scenario, we will take the change in the receiving base station as an example for explanation.

[0138] S10: The source serving base station sends a perception context update message to the new receiving base station, which includes the target serving base station.

[0139] S11: Both the transmitting base station and the target serving base station send integrated inductive signals to the inductive user.

[0140] S12: The new receiving base station uses the echo signal of the integrated sensing signal to obtain the sensing result.

[0141] S13: The new receiving base station feeds back the sensing results to the target serving base station.

[0142] The set of perception nodes can be obtained in the following ways:

[0143] The first network device receives a measurement report sent by the first terminal device. The measurement report includes the third performance index value corresponding to each measurement node in the measurement node set. The first network device adds measurement nodes whose third performance index values ​​are greater than a third preset threshold to the sensing node set. The third performance index can be an index such as RSRQ or RSRP that reflects the node's communication quality or sensing quality.

[0144] The set of measurement nodes is configured by the first network device according to the sensing switching requirements. For example, higher sensing quality requirements (accuracy, reliability, etc.) are considered. The larger the setting, the higher the requirement for continuous perception (perception result interval, perception service latency, etc.). The larger the setting, the better.

[0145] Specifically, the first network device receives a measurement report sent by the first terminal device, the measurement report including... Let b be a measurement node in the set of measurement nodes. The set of perception nodes is initially empty. In this embodiment, RSRP is greater than a third preset threshold RSRP. thr Neighboring network devices (such as base stations adjacent to the first terminal device) are added to the set of sensing nodes. That is... .

[0146] In this embodiment, the first network device can pre-configure measurement rules. Based on these rules, the first terminal device measures the RSRP (Real-Sensitive Point Response) of surrounding nodes that can be used for sensing, and reports this to the first network device. The first network device maintains a set of sensing nodes based on the reported results. Specifically, the first network device can obtain data from the set of sensing nodes... In the middle, select the set of sensing and sending nodes. and the set of sensing and receiving nodes ,like Figure 5 As shown.

[0147] (ii) If the first information indicates that the sensing link cannot meet the sensing requirements of the sensing task, the first network device determines the second sensing link corresponding to the sensing task based on the type of the target event. The target event indicates an event that causes the sensing link to fail to meet the sensing requirements.

[0148] The target events can be divided into three categories: the first event, the second event, and the third event. The first event triggers the switching of the sensing receiving node, the second event triggers the switching of the sensing sending node, and the third event triggers the switching of both the sensing sending node and the sensing receiving node simultaneously.

[0149] In this embodiment, the first network device can determine the specific type of the target event in the following way: the first network device obtains the first performance index value of the first sensing receiving node and the second performance index value of the first sensing sending node; the first network device determines the type of the target event based on the first performance index value, the second performance index value and the first preset condition.

[0150] Specifically, if the first performance index value is less than the first preset threshold and the second performance index value is not less than the second preset threshold, the target event is determined to be the first event;

[0151] If the first performance index value is not less than the first preset threshold and the second performance index value is less than the second preset threshold, the target event is determined to be the second event.

[0152] If the first performance index value is less than the first preset threshold and the second performance index value is less than the second preset threshold, the target event is determined to be the third event.

[0153] After determining the specific type of the target event, the first network device determines the second sensing transmitting node and / or the second sensing receiving node in the following manner:

[0154] Specifically, if the target event is the first event S1, the first network device determines a first sensing strategy for executing the sensing task based on the set of sensing nodes; the first network device then determines a second sensing node for executing the sensing task based on the first sensing strategy. Since the first event triggers a switch of the first sensing receiving node while the first sensing sending node remains unchanged, the second sensing node includes both the second sensing receiving node and the first sensing sending node. That is, the first sensing sending node is also the second sensing sending node. In this scenario, the first network device sends sensing context information to the second sensing receiving node, which includes the sensing sequence and sensing requirements. The second sensing receiving node receives the sensing signal, performs sensing, and sends the sensing result back to the first network device.

[0155] Specifically, if the set of sensing nodes is not empty, the first network device determines that the first sensing strategy for performing the sensing task is a self-spontaneous reception strategy assisted by other network devices; the first network device selects a network device from the set of sensing nodes as the second sensing receiving node; if the set of sensing nodes is empty, the first network device determines that the first sensing strategy for performing the sensing task is a self-spontaneous reception strategy assisted by other terminal devices; the first network device selects a terminal device from the neighbor list as the second sensing receiving node. Specifically, this can be divided into the following scenarios:

[0156] If the sensing strategy before the sensing link switchover is a self-transmitting and self-receiving strategy, and the S1 event triggers a change in the sensing receiving node while the sensing sending node remains unchanged, then the self-transmitting and self-receiving strategy is not applicable in this scenario. Instead, a self-transmitting and self-receiving strategy assisted by network devices is preferred as the sensing strategy after the switchover. In this case, the first network device determines whether the sensing node set is empty. If not, it determines the second sensing receiving node from the sensing node set. If the sensing node set is empty, the self-transmitting and self-receiving strategy assisted by the terminal device is adopted as the sensing strategy after the switchover, and the first network device determines the second sensing receiving node from the neighbor list.

[0157] If the sensing strategy before the sensing link switchover is a self-transmitting and other-receiving strategy, and the S1 event triggers a change in the sensing receiving node while the sensing sending node remains unchanged, then the self-transmitting and other-receiving strategy is still preferred in this scenario. Specifically, a self-transmitting and other-receiving strategy assisted by network devices is preferred as the sensing strategy after the switchover. In this case, the first network device determines whether the sensing node set is empty. If not, it determines the second sensing receiving node from the sensing node set. If the sensing node set is empty, the self-transmitting and other-receiving strategy assisted by the terminal device is adopted as the sensing strategy after the switchover, and the first network device determines the second sensing receiving node from the neighbor list.

[0158] If the target event is the second event S2, which triggers a change in the first sensing transmitting node but not in the first sensing receiving node, then the specific implementation process includes:

[0159] If the second sensing strategy is a self-sending and self-receiving strategy, the first network device determines that the first sensing strategy is a self-sending and self-receiving strategy; the first network device selects a network device from the set of sensing nodes as the second sensing sending node.

[0160] If the second sensing strategy is a self-sending and receiving strategy assisted by other network devices and the first sensing receiving node has the ability to independently complete the sensing task, the first network device determines that the first sensing strategy is a self-sending and receiving strategy; the first network device determines that the first sensing receiving node is the second sensing sending node and the second sensing receiving node.

[0161] If the second sensing strategy is a self-sending and receiving strategy assisted by other network devices and the first sensing receiving node does not have the ability to independently complete the sensing task, the first network device determines that the first sensing strategy is a self-sending and receiving strategy assisted by other network devices; the first network device selects a network device from the set of sensing nodes as the second sensing sending node.

[0162] If the second sensing strategy is a self-transmitting and receiving strategy assisted by other terminal devices, the first network device determines that the first sensing strategy is a self-transmitting and receiving strategy assisted by other terminals; the first network device selects a network device from the set of sensing nodes as the second sensing sending node.

[0163] The second perception strategy refers to the perception strategy used to perform perception tasks before the perception link is switched.

[0164] In this scenario, the first network device sends sensing context information to the second sensing sending node, which includes the sensing sequence and sensing requirements.

[0165] Specifically, if the second sensing strategy is a self-sending and self-receiving strategy before the sensing link switchover, the S2 event triggers a change in the sensing sending node while the sensing receiving node remains unchanged. In this scenario, the self-sending and self-receiving strategy is preferred, and the first network device determines the second sensing sending node from the set of sensing nodes.

[0166] If, before the sensing link switch, the second sensing strategy is a self-transmitting and receiving strategy, the S2 event triggers a change in the sensing sending node but not in the sensing receiving node. In this scenario, it is first determined whether the self-transmitting and receiving is assisted by the network device or the terminal device. If it is assisted by the network device, it is first determined whether the sensing receiving node can independently complete the sensing task. If it can, the self-transmitting and receiving strategy is preferred; if the receiving node cannot complete the sensing task independently, the self-transmitting and receiving strategy is preferred, and the first network device determines the second sensing sending node from the sensing node set. If it is assisted by the terminal device, the self-transmitting and receiving strategy is preferred, and the first network device determines the second sensing sending node from the sensing node set. Determining whether the sensing receiving node can independently complete the sensing task means determining whether the sensing receiving node can act as a sensing sending node. If the RSRP corresponding to the sensing node is greater than a first preset threshold, it indicates that the sensing receiving node can act as a sensing sending node.

[0167] If the target event is the third event S3, the first network device determines whether the set of sensing nodes is empty. If the set of sensing nodes is not empty, the first network device determines that the first sensing strategy is a self-sending and self-receiving strategy. The first network device selects a network device from the set of sensing nodes as the second sensing sending node and the second sensing receiving node.

[0168] If the set of sensing nodes is empty and the second sensing strategy is a self-transmitting and receiving strategy assisted by other network devices, the first network device copies the self-transmitting and receiving strategy from the first sensing strategy which is the other network device; if the second performance index value corresponding to the first sensing receiving node is not less than the second preset threshold and the first performance index value corresponding to the first sensing sending node is not less than the first preset threshold, the first network device determines the first sensing receiving node as the second sensing sending node and the first sensing sending node as the second sensing receiving node.

[0169] Specifically, when the target event is the third event, the first network device first determines the second sensing strategy, which is the strategy used after the sensing link is switched; the first network device determines the second sensing sending node from the sensing node set and / or determines the second sensing receiving node from the sensing node set or the neighbor list according to the second sensing strategy.

[0170] Before the sensing link switchover, regardless of whether the sensing strategy is a self-transmitting and self-receiving strategy or a self-transmitting and receiving strategy, the S3 event triggers changes in both the sensing transmitting node and the sensing receiving node. In this scenario, when the sensing node set is not empty, the self-transmitting and self-receiving strategy is preferred. The first network device determines a node from the sensing node set that simultaneously transmits sensing signals and receives echo signals. That is, this node is simultaneously the second sensing transmitting node and the second sensing receiving node. In this scenario, when the sensing node set is empty, it is determined whether the RSRP of the first sensing receiving node is less than a second preset threshold, and whether the RSRP of the first sensing transmitting node is less than a first preset threshold. If both are not less than the threshold, the first sensing transmitting node and the first sensing receiving node are swapped. That is, the first sensing receiving node becomes the second sensing transmitting node, and the first sensing transmitting node becomes the second sensing receiving node. If the RSRP of the first sensing receiving node is less than the second preset threshold or the RSRP of the first sensing transmitting node is less than the first preset threshold, then the terminal device-assisted self-transmitting and receiving strategy is selected, and a nearby base station can be selected as the second sensing transmitting node. If the RSRP of the first sensing receiving node is less than the second preset threshold and the RSRP of the first sensing sending node is less than the first preset threshold, the terminal device-assisted self-transmission and other-reception strategy is selected, and a nearby base station can be selected as the sending node.

[0171] It should be noted that when the set of sensing nodes includes multiple sensing nodes, the second sensing receiving node is selected first from the set of sensing nodes. Specifically, for how to select the sensing receiving node and the sensing sending node from the set of sensing nodes, and how to select the sensing receiving node from the neighbor list, please refer to the relevant descriptions above.

[0172] To better understand the sensory link switching process triggered by different events, see [link / reference]. Figure 6 The interactive diagram shown below:

[0173] (1) If it is an S3 event (causing changes in both the sensing sending node and the sensing receiving node),

[0174] The serving base station sends sensing context information to the second sensing transmitting node (transmitting base station) and the second sensing receiving node (receiving base station), the sensing context information including sensing sequence and sensing requirements;

[0175] (2) If it is an S2 event (causing a change in the sensing sending node), the serving base station sends sensing context information to the second sensing sending node (sending base station), the sensing context information including sensing sequence and sensing requirements;

[0176] (3) If it is an S1 event (causing a change in the sensing receiving node), the serving base station sends sensing context information to the second sensing receiving node (receiving base station). The sensing context information includes the sensing sequence and sensing requirements. The receiving base station performs sensing based on the echo signal (reflected wave) of the integrated sensing signal and feeds back the sensing results to the serving base station.

[0177] It should be noted that when the first network device receives a sensing task corresponding to the first terminal device, it can determine the sensing strategy and sensing nodes corresponding to the sensing task in the following ways. Specifically: the first network device determines the sensing strategy used to execute the sensing task based on its own sensing capabilities and / or the set of sensing nodes; the first network device determines the sensing nodes to execute the sensing task based on the sensing strategy. The sensing nodes include sensing sending nodes and sensing receiving nodes. The acquisition of the set of sensing nodes can be found in the relevant description in the above embodiments.

[0178] The first network device can determine the sensing strategy in the following ways:

[0179] If the first network device has sensing capabilities, the sensing strategy is determined to be the first network device's self-transmission and self-reception strategy.

[0180] If the first network device lacks sensing capabilities and the set of sensing nodes is not empty, the first network device determines its sensing strategy to be a self-sending and receiving strategy assisted by other network devices. Here, "other network devices" refers to network devices other than the first network device.

[0181] If the first network device lacks sensing capabilities and the set of sensing nodes is empty, the first network device determines the sensing strategy to be a self-transmitting and receiving strategy assisted by other terminal devices. Here, "other terminal devices" refers to terminal devices other than the first terminal device.

[0182] For example Figure 7As shown, the serving base station first determines whether it has self-sensing capability. If yes, it determines the sensing strategy as a self-transmitting and self-receiving strategy; if no, the serving base station determines whether the set of sensing nodes is empty. If no, it determines the sensing strategy as a base station-assisted self-transmitting and self-receiving strategy; if yes, it determines the sensing strategy as a terminal-assisted self-transmitting and self-receiving strategy. Here, "self-transmitting" refers to the serving base station acting as a sensing transmitting node. The serving base station corresponds to the first network device, which is the base station providing communication services to the first terminal device.

[0183] The first network device can determine the first sensing node in the following way:

[0184] If the sensing strategy is a self-transmitting and self-receiving strategy of the first network device, the first network device determines itself as both the sensing sending node and the sensing receiving node.

[0185] If the sensing strategy is a self-transmitting and receiving strategy assisted by other network devices, the first network device selects one network device from the set of sensing nodes as the sensing receiving node, and also determines the first network device as the sensing transmitting node. For the specific implementation of the first network device selecting the sensing receiving node from the set of sensing nodes, please refer to the relevant description in the above embodiments.

[0186] If the sensing strategy is a self-transmitting and receiving strategy assisted by other terminal devices, the first network device selects a terminal device from the neighbor list as the sensing receiving node, and determines the first network device as the sensing sending node. The specific implementation of the first network device selecting the sensing receiving node from the neighbor list can be found in the relevant description in the above embodiments.

[0187] It should be noted that when the sensing requirement corresponding to the sensing task is high sensing requirement, and the sensing strategy is self-transmission and reception assisted by other network devices, and the sensing node set includes multiple network devices, then the first network device can also select one network device from the sensing node set as the sensing transmission node. That is, the first network device and the network device selected from the sensing node set jointly serve as sensing transmission nodes to enhance the coverage and echo quality of the sensing signal and improve sensing performance.

[0188] For details regarding the specific implementation of the first network device selecting a sensing transmission node from the set of sensing nodes, please refer to the relevant descriptions in the above embodiments.

[0189] In some implementations, the first network device may also perform the switching of the sensing link in the following manner:

[0190] S801: The first terminal device initiates measurement and obtains a measurement report.

[0191] In this embodiment, the first terminal device is triggered to start measurement when a second preset condition is met. The second preset condition may be: the sensing accuracy is substandard, the signal strength of a neighboring cell reaches a threshold, or the difference between the signal strength of the current serving cell and the signal strength of a neighboring cell reaches another threshold, etc.

[0192] The measurements performed by the first terminal device include not only measurements of the communication link but also measurements of the sensing link. The measurement report may include measurement results for the first sensing link and may also include measurement results for the third sensing link. The third sensing link may be a sensing link randomly selected by the first terminal device or a sensing link pre-configured by the network side.

[0193] The measurement results may include at least one of the following: the signal quality (RSRP and / or RSRQ) of the current network device, the signal quality (RSRP and / or RSRQ) of the surrounding network devices (cells), the quality of the sensed signal (RSRP and / or RSRQ) of the surrounding network devices (cells), the sensing accuracy of the current sensing link, and the sensing accuracy of the sensing links of the surrounding network devices. These measurement results serve as the basis for the first network device to determine whether to perform a sensing handover.

[0194] The accuracy of the perception link can include at least one of the following: target detection probability, false alarm probability, etc.; estimation reliability indicators, including the mean square error of the estimate (or measured using Fisher information or Cramer-Rao bounds), fuzziness function, etc.; recognition reliability indicators, including resolution, recognition accuracy, horizontal accuracy, vertical accuracy, speed accuracy, and angular accuracy. For example, horizontal and vertical accuracy can be at the centimeter (cm) level and meter (m) level; angular accuracy can be at the 0.1 degree level, 1 degree level, and 10 degree level; speed accuracy can be centimeters / second, meters / second, and kilometers / hour.

[0195] S802: The first terminal device sends second information to the first network device, and the first network device receives the second information, which includes a measurement report.

[0196] In this embodiment, after obtaining the measurement report, the first terminal device can directly send the second information to the first network device, carrying the measurement report through the second information.

[0197] In some implementations, after obtaining the measurement results, the first terminal device can first determine whether the measurement results meet a third preset condition. If they do, it sends second information to the network device. The third preset condition indicates the conditions for reporting a measurement report to the network device. This third preset condition can be determined based on the actual application scenario. For example, the third preset condition could be that the signal strength of a neighboring cell reaches a preset threshold, or that the signal strength of a neighboring cell is greater than the signal strength of the current serving cell, or that the difference between the signal strength of a neighboring cell and the signal strength of the current serving cell is greater than a certain threshold.

[0198] S803: The first network device switches the first sensing link based on the second information.

[0199] That is, in this embodiment, the first network device can determine whether to perform a sensing switch based on the measurement report, so that the sensing link after the switch can meet the sensing requirements. Here, the first sensing link refers to the link currently executing the sensing task corresponding to the first terminal device, and the first sensing link includes a first sensing transmitting node and a first sensing receiving node.

[0200] In practical implementation, the first network device can determine whether the current communication link meets the communication requirements based on the measurement report. If it does not, it indicates that a communication link switch needs to be triggered, thereby triggering a switch of the sensing link. If the communication quality of the current communication link meets the communication requirements, it determines whether the current sensing link meets the sensing requirements. If it does not, it indicates that a sensing link switch needs to be triggered, and the first network device executes the switch of the first sensing link to perform the sensing task through the second sensing link. Alternatively, the first network device can first determine whether the current sensing link meets the sensing requirements based on the measurement report. If it does not, it directly triggers the sensing link switch; if it does, it then determines whether the communication link meets the communication requirements. If it does not, it triggers a switch of both the communication link and the sensing link. That is, the first network device can determine the reason for the switching of the sensing link through the measurement report.

[0201] As can be seen, the first network device can determine the service quality of the communication link and / or the sensing link based on the second information, so as to trigger sensing link switching when the service quality cannot meet the requirements. Therefore, whether the service quality of the communication link or the sensing link fails to meet the requirements, sensing link switching can be triggered to satisfy the sensing requirements. For details on the specific implementation of the first network device switching sensing links, please refer to the relevant descriptions in the foregoing embodiments; these will not be repeated here.

[0202] For example, if the first network device determines, based on the measurement results of the first sensing link, that the sensing accuracy of the first sensing link is less than that of the third sensing link, then the first network device performs a switching action, switching from the first sensing link to the third sensing link. The third sensing link includes a third sensing transmitting node and a third sensing receiving node corresponding to the sensing task.

[0203] When the signal quality of the first sensing link is lower than that of other network devices, the first network performs a handover action.

[0204] When the sensing signal quality of the first sensing link is lower than that of other network devices, the first network performs a handover action.

[0205] It should be noted that when the first network device performs a sensing handover, it not only determines the new sensing link but also redetermines the sensing strategy to adapt to the new sensing link. For details on the specific implementation of the first network device determining the new sensing strategy, please refer to the relevant descriptions in the preceding embodiments; these will not be repeated here.

[0206] In some implementations, after the first network device determines that a sensing handover needs to be performed, the first network device may also send third information to the first terminal device, which is used to notify the first terminal device to perform a sensing handover.

[0207] In some implementations, in scenarios where a communication link switch triggers a perceived link switch, before the first network device sends the third information to the first terminal device, the first network device receives the fourth information sent by the second network device, which is a response to the switch confirmation.

[0208] In some implementations, the first network device may also send a fourth piece of information to the second network device. This fourth piece of information includes the capability information of the first terminal device and the sensing requirements of the sensing task. The capability information of the first terminal device includes at least supported sensing capabilities and supported sensing modes, while the sensing requirements may include sensing accuracy, latency, and bandwidth.

[0209] In some implementations, after receiving the third information, the first terminal device interrupts its sensing task with the first network device, establishes a connection with the second network device, and sends a sensing task to the second network device. The second network device then performs the sensing task.

[0210] In some implementations, the terminal device can use a second network device as the sensing master device to perform sensing tasks.

[0211] In some implementations, the terminal device can use the first network device as a sensing device to assist the second network device in performing sensing tasks.

[0212] It should be noted that, Figure 8 The illustrated embodiments and Figure 2 In the specific implementation of perception switching shown in the embodiments, related content can be referenced from each other, and will not be repeated here.

[0213] It should be understood that Figures 1 to 8 The flowcharts or scene diagrams shown are for illustrative purposes only and are not intended to limit the embodiments of this application to the examples illustrated. In fact, those skilled in the art can interpret the embodiments based on... Figures 1 to 8 The examples in the document can be transformed into equivalent ways to obtain more implementations.

[0214] The above text combined Figures 1 to 8 This document describes in detail the communication method provided in the embodiments of this application. The following will combine... Figures 9 to 10 The device embodiments of this application are described in detail below. It should be understood that the communication device of this application embodiment can execute the various communication methods of the foregoing embodiments of this application, that is, the specific working processes of the various products below can be referred to the corresponding processes in the foregoing method embodiments.

[0215] In the embodiments described above, the terminal device may execute some or all of the steps in each embodiment; the network device may execute some or all of the steps in each embodiment. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be executed in different orders as presented in the embodiments, and it is not necessary to execute all the operations in the embodiments of this application. Moreover, the sequence number of each step does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0216] Figure 9 This is a schematic block diagram of a communication device provided in an embodiment of this application. Figure 9 As shown, the communication device 900 may include a communication module 920. The communication module 920 can implement corresponding communication functions, which can be internal communication functions of the communication device 900 or communication functions between the communication device 900 and other devices. Optionally, the communication module 920 may also be referred to as a communication interface or transceiver module. Optionally, the communication device 900 further includes a processing module 910. The processing module 910 can implement corresponding processing functions.

[0217] Optionally, the communication device 900 further includes a storage module, which can be used to store instructions and / or data; the processing module 910 can read the instructions and / or data in the storage module so that the communication device 900 can implement the aforementioned method embodiments.

[0218] In one possible design, the communication device 900 may correspond to the first network device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the first network device. The communication device 900 can be used to perform the steps or processes performed by the first network device in any of the above method embodiments.

[0219] For example, the processing module 910 is used to obtain first information, which is used to indicate the reason for triggering the switching of the first sensing link. The first sensing link includes a first sensing node required to perform the sensing task corresponding to the first terminal device. The first information is that the communication link corresponding to the first terminal device has been switched, or the sensing link cannot meet the sensing requirements of the sensing task. The switching of the communication link means that the network device providing communication services to the first terminal device is switched from the first network device to the second network device.

[0220] The processing module 910 is used to determine, based on the first information, a second sensing link for executing the sensing task, wherein the second sensing link includes a second sensing node required for executing the sensing task.

[0221] In some implementations, the processing module 910 is specifically used to determine the second sensing link for performing the sensing task based on the sensing capability of the second network device if the first information indicates that the communication link corresponding to the first terminal device has switched; and to determine the second sensing link for performing the sensing task based on the type of the target event if the first information indicates that the sensing link cannot meet the sensing requirements of the sensing task.

[0222] In some implementations, the processing module 910 is specifically configured to determine a first sensing strategy based on the sensing capability of the second network device, wherein the first sensing strategy is a sensing strategy of self-sending and self-receiving by the second network device, a sensing strategy of self-sending and self-receiving assisted by other network devices, or a sensing strategy of self-sending and self-receiving assisted by other terminal devices; and based on the first sensing strategy, determine the second sensing link corresponding to the execution of the sensing task.

[0223] In some implementations, the processing module 910 is specifically configured to determine the first sensing strategy as a self-sending and self-receiving sensing strategy of the second network device if the second network device has sensing capabilities; and to determine the first sensing strategy based on a set of sensing nodes if the second network device does not have sensing capabilities, wherein the set of sensing nodes includes device identifiers of network devices adjacent to the first terminal device and capable of providing sensing services to the first terminal device.

[0224] In some implementations, the processing module 910 is specifically used to determine the first sensing strategy as a self-transmitting and receiving sensing strategy assisted by other terminal devices if the set of sensing nodes is an empty set; and to determine the first sensing strategy as a self-transmitting and receiving sensing strategy assisted by other network devices if the set of sensing nodes is not an empty set.

[0225] In some implementations, the processing module 910 is specifically configured to: if the first sensing strategy is a sensing strategy where the second network device transmits and receives data independently, determine the second network device as a second sensing transmitting node and a second sensing receiving node; if the first sensing strategy is a sensing strategy where other terminal devices assist in transmitting and receiving data independently, or a sensing strategy where other third network devices assist in transmitting and receiving data independently, determine the second network device as a second sensing transmitting node; if the first sensing strategy is a sensing strategy where other terminal devices assist in transmitting and receiving data independently, select a terminal device from a neighbor list as a second sensing receiving node, wherein the neighbor list includes device identifiers of terminal devices adjacent to the first terminal device and having sensing capabilities; if the first sensing strategy is a sensing strategy where other network devices assist in transmitting and receiving data independently, select a network device from the set of sensing nodes as a second sensing receiving node.

[0226] In some implementations, the processing module 910 is specifically used to obtain a first index value corresponding to the second terminal device based on the sensing capability, sensing requirements, and receiving power of the second terminal device, wherein the second terminal device is any terminal device in the neighbor list, and the first index value reflects the ability of the second terminal device to process the sensing task; and to determine the second terminal device corresponding to the maximum first index value as the second sensing receiving node.

[0227] In some implementations, the processing module 910 is specifically used to obtain a second index value of the third network device based on the load factor, receiving power and distance of the third network device, wherein the third network device is any network device in the set of sensing nodes, and the second index value reflects the ability of the third network device to process the sensing task; and to determine the third network device corresponding to the maximum second index value as the second sensing receiving node.

[0228] In some implementations, the processing module 910 is further configured to, if the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by the other network devices, the sensing requirement of the sensing task is a high sensing requirement, and the number of sensing nodes in the sensing node set is greater than 1, determine a second sensing transmitting node from the sensing node set based on the reference signal receiving power of the fourth network device in the sensing node set, the reference signal receiving power of the second network device, and the load factor of the fourth network device, wherein the load factor is used to indicate the amount of sensing task performed by the fourth network device.

[0229] In some implementations, if the sensing strategy for performing the sensing task before the sensing link switchover is a self-transmitting and receiving strategy assisted by the fifth network device, before determining the first sensing strategy based on the sensing capability of the second network device, the processing module 910 is further configured to determine that the first sensing receiving node has changed, and the first sensing node includes the first sensing receiving node.

[0230] In some implementations, if the sensing receiving node remains unchanged, the processing module 910 is further configured to determine that the first sensing strategy is a self-transmitting and receiving strategy assisted by the fifth network device; and to determine the second network device and the fifth network device as the second sensing sending node and the second sensing receiving node, respectively.

[0231] In some implementations, the processing module 910 is specifically used to obtain a first performance index value corresponding to the first sensing receiving node, wherein the first sensing node includes the first sensing receiving node; if the first performance index value of the first sensing receiving node is less than a first preset threshold, it is determined that the sensing receiving node corresponding to the sensing task has changed.

[0232] In some implementations, the target event is a first event, which triggers the switching of the first sensing receiving node in the first sensing node. The processing module 910 is specifically used to determine a first sensing strategy for executing the sensing task based on the set of sensing nodes; and to determine a second sensing link for executing the sensing task based on the first sensing strategy.

[0233] In some implementations, the processing module 910 is specifically used to determine, if the set of sensing nodes is not an empty set, a first sensing strategy for executing the sensing task is a self-sending and receiving strategy assisted by other network devices; and if the set of sensing nodes is an empty set, to determine that the first sensing strategy for executing the sensing task is a self-sending and receiving strategy assisted by other terminal devices.

[0234] In some implementations, the processing module 910 is specifically used to select a network device from the set of sensing nodes as the second sensing receiving node if the first sensing strategy is a self-sending and receiving strategy assisted by the other network devices.

[0235] If the first sensing strategy is a self-transmitted and self-received measurement assisted by other terminal devices, select a terminal device from the neighbor list as the second sensing receiving node.

[0236] In some implementations, the target event is a second event that triggers a switch of the first sensing transmitting node in the first sensing node. The processing module 910 is specifically configured to: if the second sensing strategy is a self-sending and self-receiving strategy, determine that the first sensing strategy is a self-sending and self-receiving strategy; the second sensing strategy refers to the sensing strategy used to execute the sensing task before the sensing link switch occurs; select a network device from the set of sensing nodes as the second sensing transmitting node; if the second sensing strategy is a self-sending and self-receiving strategy assisted by other network devices and the first sensing receiving node has the ability to independently complete the sensing task, determine that the first sensing strategy is a self-sending and self-receiving strategy. The strategy involves: determining the first sensing receiving node as the second sensing transmitting node and the second sensing receiving node; if the second sensing strategy is a self-transmitting and receiving strategy assisted by other network devices and the first sensing receiving node does not have the ability to independently complete the sensing task, determining the first sensing strategy as the self-transmitting and receiving strategy assisted by the other network devices; selecting a network device from the sensing node set as the second sensing transmitting node; if the second sensing strategy is a self-transmitting and receiving strategy assisted by other terminal devices, determining the first sensing strategy as the self-transmitting and receiving strategy assisted by the other terminal devices; and selecting a network device from the sensing node set as the second sensing transmitting node.

[0237] In some implementations, the target event is a third event, which triggers a switch between the first sensing transmitting node and the first sensing receiving node in the first sensing node. Specifically, the processing module 910 is configured to: if the sensing node set is not empty, determine that the first sensing strategy is a self-transmitting and self-receiving strategy; select a network device from the sensing node set as the second sensing transmitting node and the second sensing receiving node; if the sensing node set is empty and the second sensing strategy is a self-transmitting and self-receiving strategy assisted by other network devices, determine that the first sensing strategy is the self-transmitting and self-receiving strategy assisted by the other network devices; if the second performance index value corresponding to the first sensing receiving node is not less than a second preset threshold and the first performance index value corresponding to the first sensing transmitting node is not less than a first preset threshold, determine that the first sensing receiving node is the second sensing transmitting node, and determine that the first sensing transmitting node is the second sensing receiving node.

[0238] In some implementations, the processing module 910 is further configured to obtain a first performance index value corresponding to the first sensing receiving node and a second performance index value corresponding to the first sensing sending node; and determine the type of the target event based on the first performance index value, the second performance index value and preset conditions.

[0239] In some implementations, the processing module 910 is further configured to: determine the target event as a first event if the first performance index value is less than a first preset threshold and the second performance index value is not less than a second preset threshold; determine the target event as a second event if the first performance index value is not less than the first preset threshold and the second performance index value is less than the second preset threshold; and determine the target event as a third event if the first performance index value is less than the first preset threshold and the second performance index value is less than the second preset threshold.

[0240] In some implementations, the communication module 920 is specifically used to receive a measurement report sent by the first terminal device. The measurement report includes the third-party function index value corresponding to each measurement node in the measurement node set. Each measurement node refers to a network device that is adjacent to the first terminal device and can provide sensing services to the first terminal device.

[0241] The processing module 910 is also used to add measurement nodes whose third performance index value is greater than a third preset threshold to the set of sensing nodes.

[0242] In some embodiments, the communication module 920 is further configured to send sensing context information to the second sensing sending node and / or the second sensing receiving node, the sensing context information including the sensing sequence and / or sensing requirements corresponding to the sensing task, and the second sensing node including the second sensing sending node and the second sensing receiving node.

[0243] In some implementations, when the first information is that the communication link corresponding to the first terminal device has switched and the first sensing receiving node has changed, the sensing context information sent to the second sensing receiving node also includes the device identifier of the second network device.

[0244] If the first information indicates that the sensing link cannot meet the sensing requirements of the sensing task and the first sensing receiving node has changed, the sensing context information sent to the second sensing receiving node also includes the device identifier of the first network device.

[0245] In some implementations, if the first information indicates that the sensing link cannot meet the sensing requirements of the sensing task, the communication module 920 is further configured to receive the sensing results sent by the second sensing receiving node.

[0246] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0247] It should be noted that the communication device 900 can also perform... Figure 8The embodiments shown correspond to the following solutions. Specifically, when the communication device performs the function of the first terminal device, the processing module 910 can be used to acquire measurement results; the communication module 920 is used to send second information to the first terminal device. When the communication device 900 performs the function of the first network device, the communication module 920 is used to receive the second information sent by the first terminal device; the processing module 910 is used to perform operations such as sensing switching based on the second information.

[0248] Figure 10 This is another schematic block diagram of the communication device 1000 provided in the embodiments of this application. The communication device 1000 may be a chip, chip system, or processor, etc., used by a terminal device or network device to implement the above-described methods. The communication device 1000 can be used to implement the methods described in the above-described method embodiments; for details, please refer to the descriptions in the above-described method embodiments.

[0249] like Figure 10 As shown, the communication device 1000 may include one or more processors 1010, which may also be referred to as processing units or processing modules, and can implement certain control functions. The processor 1010 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device 1000 (e.g., a base station, baseband chip, user, user chip), execute software programs, and process data from the software programs.

[0250] In an alternative design, the processor 1010 may also store instructions and / or data that can be executed by the processor 1010 to cause the communication device 1000 to perform the methods described in the above method embodiments.

[0251] In another alternative design, the communication device 1000 may include a communication interface 1020 for implementing receiving and transmitting functions. For example, the communication interface 1020 may be a transceiver circuit, interface, interface circuit, or transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0252] Optionally, the communication device 1000 may include one or more memories 1030, which may store instructions that can be executed on the processor 1010, causing the communication device 1000 to perform the methods described in the above method embodiments. Optionally, the memories 1030 may also store data. Optionally, the processor 1010 may also store instructions and / or data. The processor 1010 and the memories 1030 may be provided separately or integrated together.

[0253] It should be understood that, in one possible design, the steps in the method embodiments provided in this application can be implemented by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0254] In one implementation, the communication device 1000 may correspond to the first terminal device in the above method embodiments, and may be used to execute the various steps and / or processes executed by the terminal device in the above method embodiments. The processor 1010 may be used to execute instructions stored in the memory 1030, and when the processor 1010 executes the instructions stored in the memory, the processor 1010 is used to execute the various steps and / or processes of the above method embodiments corresponding to the terminal device.

[0255] In another implementation, the communication device 1000 may correspond to the first network device in the above method embodiments, and may be used to execute the various steps and / or processes executed by the first network device in the above method embodiments. The processor 1010 may be used to execute instructions stored in the memory 1030, and when the processor 1010 executes the instructions stored in the memory, the processor 1010 is used to execute the various steps and / or processes of the above method embodiments corresponding to the first network device.

[0256] It should be understood that the aforementioned processing device can be one or more chips. For example, the processing device can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0257] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0258] According to the method provided in the embodiments of this application, this application also provides a chip system, which includes one or more processors for calling and executing instructions stored in memory, thereby causing the method described in the embodiments of this application to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0259] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0260] According to the method provided in the embodiments of this application, this application also provides a communication system, which includes the aforementioned network device and terminal device.

[0261] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0262] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0263] The computer-readable storage medium may be the aforementioned volatile memory or non-volatile memory, or it may include both volatile memory and non-volatile memory.

[0264] In the embodiments of this application, the terms and English abbreviations are exemplary examples given for ease of description and should not be construed as limiting the application in any way. This application does not preclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0265] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0266] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0267] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0268] In summary, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for processing perception tasks, characterized in that, include: The first network device obtains first information, which is used to indicate the reason for triggering the switching of the first sensing link. The first sensing link includes a first sensing node required to perform the sensing task corresponding to the first terminal device. The first information indicates that the communication link corresponding to the first terminal device has been switched, or the first sensing link cannot meet the sensing requirements of the sensing task. The switching of the communication link means that the network device providing communication services to the first terminal device switches from the first network device to the second network device. The first network device determines a second sensing link to perform the sensing task based on the first information, and the second sensing link includes a second sensing node to perform the sensing task; Wherein, the first network device determines the second sensing link to perform the sensing task based on the first information, including: If the first information indicates that the communication link corresponding to the first terminal device has been switched, the first network device determines the second sensing link to perform the sensing task based on whether the second network device has sensing capabilities. If the first information indicates that the sensing link cannot meet the sensing requirements of the sensing task, the first network device determines the second sensing link to execute the sensing task based on the type of the target event. The target event refers to the event that causes the sensing link to fail to meet the sensing requirements of the sensing task. The type of the target event includes a first sensing transmitting node failure and / or a first sensing receiving node failure. The first sensing node includes the first sensing transmitting node and the first sensing receiving node.

2. The method according to claim 1, characterized in that, The first network device determines the second sensing link to perform the sensing task based on whether the second network device has sensing capabilities, including: The first network device determines a first sensing strategy based on whether the second network device has sensing capabilities. The first sensing strategy is a sensing strategy in which the second network device initiates and receives data spontaneously, a sensing strategy in which other network devices assist in initiating and receiving data spontaneously, or a sensing strategy in which other terminal devices assist in initiating and receiving data spontaneously. The first network device determines the second sensing link corresponding to the execution of the sensing task based on the first sensing strategy.

3. The method according to claim 2, characterized in that, The first network device determines a first sensing strategy based on whether the second network device has sensing capabilities, including: If the second network device has sensing capabilities, the first network device determines the first sensing strategy as the sensing strategy initiated and received by the second network device. If the second network device does not have sensing capabilities, the first network device determines a first sensing strategy based on a set of sensing nodes. The set of sensing nodes includes device identifiers of network devices that are adjacent to the first terminal device and can provide sensing services to the first terminal device.

4. The method according to claim 3, characterized in that, The first network device determines a first sensing strategy based on the set of sensing nodes, including: If the set of sensing nodes is an empty set, the first network device determines that the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other terminal devices. If the set of sensing nodes is not empty, the first network device determines that the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other network devices.

5. The method according to claim 4, characterized in that, The first network device determines the second sensing link corresponding to the execution of the sensing task based on the first sensing strategy, including: If the first sensing strategy is a sensing strategy of self-sending and self-receiving by the second network device, the first network device determines the second network device as the second sensing sending node and the second sensing receiving node. If the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other terminal devices or a self-transmitting and receiving sensing strategy assisted by other network devices, the first network device determines the second network device as the second sensing sending node. If the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other terminal devices, the first network device selects a terminal device from the neighbor list as the second sensing receiving node. The neighbor list includes device identifiers of terminal devices that are adjacent to the first terminal device and have sensing capabilities. If the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other network devices, the first network device selects one network device from the set of sensing nodes as the second sensing receiving node.

6. The method according to claim 5, characterized in that, The first network device selects a terminal device from the neighbor list as the second sensing receiving node, including: The first network device obtains a first index value corresponding to the second terminal device based on the sensing capability, sensing requirements and receiving power of the second terminal device. The second terminal device is any terminal device in the neighbor list. The first index value reflects the ability of the second terminal device to process the sensing task. The first network device identifies the second terminal device corresponding to the maximum first indicator value as the second sensing and receiving node.

7. The method according to claim 6, characterized in that, The first network device selects one network device from the set of sensing nodes as the second sensing receiving node, including: The first network device obtains the second index value of the third network device based on the load factor, receiving power and distance of the third network device. The third network device is any network device in the set of sensing nodes. The second index value reflects the ability of the third network device to process the sensing task. The first network device identifies the third network device corresponding to the maximum second index value as the second sensing receiving node.

8. The method according to any one of claims 5-7, characterized in that, The method further includes: If the first sensing strategy is a self-transmitting and receiving sensing strategy assisted by other network devices, the sensing requirement of the sensing task is a high sensing requirement, and the number of sensing nodes in the sensing node set is greater than 1, the first network device determines the second sensing transmitting node from the sensing node set based on the reference signal receiving power of the fourth network device in the sensing node set, the reference signal receiving power of the second network device, and the load factor of the fourth network device. The load factor is used to indicate the amount of sensing task performed by the fourth network device, and the fourth network device is any network device in the sensing node set.

9. The method according to claim 1, characterized in that, If the sensing strategy for performing the sensing task before the sensing link switchover is a self-transmitting and receiving strategy assisted by the fifth network device, the method further includes the following before the first network device determines the second sensing link based on the sensing capability of the second network device: The first network device determines that the first sensing receiving node has changed.

10. The method according to claim 9, characterized in that, If the first sensing receiving node remains unchanged, the method further includes: The first network device determines that the first sensing strategy is a self-transmitting and receiving strategy assisted by the fifth network device; The first network device identifies the second network device and the fifth network device as the second sensing transmission node and the second sensing reception node, respectively.

11. The method according to claim 9 or 10, characterized in that, The first network device determines that the first sensing receiving node has changed, including: The first network device acquires the first performance index value corresponding to the first sensing receiving node; If the first performance index value of the first sensing and receiving node is less than the first preset threshold, the first network device determines that the first sensing and receiving node has changed.

12. The method according to claim 1, characterized in that, The target event is a first event, which triggers a switch of the first sensing receiving node in the first sensing node. Based on the type of the target event, the first network device determines the second sensing link to perform the sensing task, including: The first network device determines a first sensing strategy for executing the sensing task based on the set of sensing nodes. The first network device determines the second sensing link to perform the sensing task based on the first sensing strategy.

13. The method according to claim 12, characterized in that, The first network device determines a first sensing strategy for executing the sensing task based on the set of sensing nodes, including: If the set of sensing nodes is not empty, the first network device determines that the first sensing strategy for performing the sensing task is a self-sending and receiving strategy assisted by other network devices. If the set of sensing nodes is empty, the first network device determines that the first sensing strategy for performing the sensing task is a self-sending and receiving strategy assisted by other terminal devices.

14. The method according to claim 13, characterized in that, The first network device determines the second sensing link to perform the sensing task according to the first sensing strategy, including: If the first sensing strategy is a self-transmitting and receiving strategy assisted by the other network devices, the first network device selects one network device from the set of sensing nodes as the second sensing receiving node. If the first sensing strategy is a self-transmitted and self-received measurement assisted by other terminal devices, the first network device selects a terminal device from the neighbor list as the second sensing receiving node.

15. The method according to claim 1, characterized in that, The target event is a second event, which triggers a switch of the first sensing transmission node in the first sensing node. Based on the type of the target event, the first network device determines the second sensing link to perform the sensing task, including: If the second sensing strategy is a self-initiated and self-received strategy, the first network device determines that the first sensing strategy is a self-initiated and self-received strategy, and the second sensing strategy refers to the sensing strategy used to perform the sensing task before the first sensing link is switched. The first network device selects one network device from the set of sensing nodes as the second sensing transmitting node; or... If the second sensing strategy is a self-sending and receiving strategy assisted by other network devices and the first sensing receiving node has the ability to independently complete the sensing task, the first network device determines that the first sensing strategy is a self-sending and receiving strategy. The first network device determines that the first sensing receiving node is the second sensing sending node and the second sensing receiving node; or... If the second sensing strategy is a self-sending and receiving strategy assisted by other network devices and the first sensing receiving node does not have the ability to independently complete the sensing task, the first network device determines that the first sensing strategy is the self-sending and receiving strategy assisted by the other network devices. The first network device selects one network device from the set of sensing nodes as the second sensing transmitting node; or... If the second sensing strategy is a self-transmitting and receiving strategy assisted by other terminal devices, the first network device determines that the first sensing strategy is a self-transmitting and receiving strategy assisted by the other terminal devices. The first network device selects one network device from the set of sensing nodes as the second sensing transmission node.

16. The method according to claim 1, characterized in that, The target event is a third event, which triggers a switch in both the first sensing transmitting node and the first sensing receiving node in the first sensing node. Based on the type of the target event, the first network device determines the second sensing link to perform the sensing task, including: If the set of sensing nodes is not empty, the first network device determines that the first sensing strategy is a self-sending and self-receiving strategy. The first network device selects one network device from the set of sensing nodes as the second sensing transmitting node and the second sensing receiving node; or... If the set of sensing nodes is empty and the second sensing strategy is a self-sending and receiving strategy assisted by other network devices, the first network device determines that the first sensing strategy is the self-sending and receiving strategy assisted by the other network devices. If the second performance index value corresponding to the first sensing receiving node is not less than the second preset threshold and the first performance index value corresponding to the first sensing sending node is not less than the first preset threshold, the first network device determines the first sensing receiving node as the second sensing sending node and the first sensing sending node as the second sensing receiving node.

17. The method according to claim 1, characterized in that, The method further includes: The first network device acquires a first performance index value corresponding to the first sensing receiving node and a second performance index value corresponding to the first sensing transmitting node. The first sensing node includes the first sensing receiving node and the first sensing transmitting node. The first network device determines the type of the target event based on the first performance index value, the second performance index value, and the first preset condition.

18. The method according to claim 17, characterized in that, The first network device determines the type of the target event based on the first performance indicator, the second performance indicator, and the first preset condition, including: If the first performance index value is less than the first preset threshold and the second performance index value is not less than the second preset threshold, the first network device determines the target event as the first event. If the first performance index value is not less than the first preset threshold and the second performance index value is less than the second preset threshold, the first network device determines the target event as the second event. If the first performance index value is less than the first preset threshold and the second performance index value is less than the second preset threshold, the first network device determines the target event as a third event.

19. The method according to claim 3 or 10, characterized in that, The method further includes: The first network device receives a measurement report sent by the first terminal device. The measurement report includes a third performance index value corresponding to each measurement node in the measurement node set. Each measurement node refers to a network device that is adjacent to the first terminal device and can provide sensing services to the first terminal device. The first network device adds the measurement nodes whose third performance index value is greater than the third preset threshold to the sensing node set.

20. The method according to claim 1, characterized in that, The method further includes: The first network device sends sensing context information to the second sensing sending node and / or the second sensing receiving node. The sensing context information includes the sensing sequence and / or sensing requirements corresponding to the sensing task. The second sensing node includes the second sensing sending node and the second sensing receiving node.

21. The method according to claim 20, characterized in that, When the communication link corresponding to the first terminal device is switched and the first sensing receiving node changes, the sensing context information sent to the second sensing receiving node also includes the device identifier of the second network device. If the first information indicates that the sensing link cannot meet the sensing requirements of the sensing task and the first sensing receiving node has changed, the sensing context information sent to the second sensing receiving node also includes the device identifier of the first network device.

22. The method according to claim 1, characterized in that, If the first information indicates that the sensing link cannot meet the sensing requirements of the sensing task, the method further includes: The first network device receives the sensing results sent by the second sensing receiving node, the second sensing node including the second sensing receiving node.

23. A communication device, characterized in that, The device includes at least one processor coupled to a memory storing a program or instructions, the processor executing the program or instructions to cause the device to perform the method as described in any one of claims 1 to 22.

24. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1 to 22.

25. A communication system, characterized in that, Includes the communication device as described in claim 23.

26. A chip system, characterized in that, The chip system includes one or more processors, which are configured to retrieve and execute instructions stored in memory, such that the method as described in any one of claims 1 to 22 is performed.

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