Apparatus, methods and computer programs relating to sensing of objects

Abstract

An apparatus (e.g. sensing management function SeMF 404) determines one or more conditions for triggering handing over sensing of a moving object 400 from a first access node 402a to a second access node 402b. The SeMF provides the first access node 402a with information about the object which is to be sensed and information indicating one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node. The information may be provided in a request for a sensing session or an update to a request for a sensing session. Conditions for triggering include a threshold for Doppler shifts associated with the object, a sensing mis-detection rate, false alarm threshold, tracking latency threshold, location of the object, speed and direction of movement.

Description

Field This disclosure generally relates to communication systems and in particular but not exclusively to apparatus, methods and computer programs relating to sensing of objects. Background A communication system can be seen as a facility that enables communications between two or more communication devices, or provides communication devices access to a data network. A mobile or wireless network is one example of a communication system. Such communication systems operate in according with standards such as those provided by 3GPP (Third Generation Partnership Project) or ETSI (European Telecommunications Standards Institute). Examples of standards are the so-called 5G (5th Generation) standards provided by 3GPP. Summary Some example embodiments of this disclosure will be described with respect to certain aspects. These aspects are not intended to indicate key or essential features of the embodiments of this disclosure, nor are they intended to be used to limit the scope of thereof. Other features, aspects, and elements will be readily apparent to a person skilled in the art in view of this disclosure. According to one aspect, there is provided an apparatus comprising at least one processor and at least one memory storing instructions of a network function for a communications system, wherein the instructions, when executed by the at least one processor, cause the apparatus to at least perform: determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node; and providing the first access node with information about the object which is to be sensed, said information indicating one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node. As alternative to determining the one or more conditions for triggering handing over of the sensing to the second access node, the determining may be for determining one or more conditions for selecting and / or adding one or more second access nodes for the sensing of the object. In some embodiments, the first access node and the one or more second access node both sense the object. This may continue until the first access node receives a notification, for example from the apparatus, or until an event occurs to cause the first node to stop sensing the object. The apparatus may be caused to receive from a sensing service client, a request for a sensing the object, and to determine a configuration for the first access node for sensing the object. The configuration for the first access node may be provided to the first access node. The providing may comprise transmitting to the first access node. The determining of one or more conditions for triggering handing over sensing of an object from a first access node, may be for one or more second access nodes and the information provided to the first access node may comprise the one or more conditions for triggering handing over the sensing of the object from the first access node for the one or more second access nodes. The information may be provided to the first access node in a request for a session to sense the object or in an update to a request for a session to sense the object. The apparatus may be caused to receive information indicating that the sensing of the object has been handed over to the second access node. The information indicating that the sensing of the object has been handed over to the second access node may be received from at least one of the first access node and the second access node. The apparatus may be caused to send a request for sensing of the object to the second access node, when one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied. The apparatus may be caused to send to the second access node information indicating one or more of the one or more conditions for triggering handing over the sensing of the object to a third access node. The information indicating one or more of the one or more conditions for triggering handing over the sensing of the obj ect to a third access node may be sent as part of the request for sensing of the object which is sent to the second access node. The apparatus may be caused to receive from the first access node information indicating that the one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied. The apparatus may be caused to select a second node using the information indicating that the one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied. The object may not be in communication with the first access node or the second access node when said object is being sensed. The one or more conditions for triggering handing over the sensing of the object from the first access node to the second access node may comprise one or more of: one or more thresholds for a received power of a received sensing signal associated with the object; one or more thresholds for Doppler shifts associated with the object; one or more conditions relating to a sensing mis-detection rate of the object; one or more false alarm thresholds; one or more tracking latency thresholds; location information of the object; location information with respect to a boundary of a cell associated with a respective access node; one or more features of the object based on processing of sensing data associated with object; one or more speed and direction of movement conditions associated with the object; and / or one or more velocity conditions associated with the object. The apparatus may be caused to provide to the first access node or to the second access node one or more of: a description of the object; an identity of the object; a mobility profile of the object; current location information of the object; a time period associated with a sensing of the object; a sensing configuration; and a sensing quality of service. The apparatus may be caused to determine one or more of: a mobility profile of the object; a sensing area associated with the sensing of the object; and sensing configuration to be provided to one or more access nodes for the sensing of the object. The network function may provide a sensing management function. According to another aspect, there is provide a method comprising: determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node; and providing the first access node with information about the object which is to be sensed, said information indicating one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node. As alternative to determining the one or more conditions for triggering handing over of the sensing to the second access node, the determining may comprise determining one or more conditions for selecting and / or adding one or more second access nodes for the sensing of the object. In some embodiments, the first access node and the one or more second access node both sense the object. This may continue until the first access node receives a notification, for example from the apparatus, or until an event occurs to cause the first node to stop sensing the object. The method may comprise receiving from a sensing service client, a request for a sensing the object, and determining a configuration for the first access node for sensing the object. The method may comprise providing the configuration for the first access node to the first access node. The providing may comprise transmitting to the first access node. The determining of one or more conditions for triggering handing over sensing of an object from a first access node, may be for one or more second access nodes and the information provided to the first access node may comprise the one or more conditions for triggering handing over the sensing of the object from the first access node for the one or more second access nodes. The information may be provided to the first access node in a request for a session to sense the object or in an update to a request for a session to sense the object. The method may comprise receiving information indicating that the sensing of the object has been handed over to the second access node. The information indicating that the sensing of the object has been handed over to the second access node may be received from at least one of the first access node and the second access node. The method may comprise sending a request for sensing of the object to the second access node, when one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied. The method may comprise sending to the second access node information indicating one or more of the one or more conditions for triggering handing over the sensing of the object to a third access node. The information indicating one or more of the one or more conditions for triggering handing over the sensing of the obj ect to a third access node may be sent as part of the request for sensing of the object which is sent to the second access node. The method may comprise receiving from the first access node information indicating that the one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied. The method may comprise selecting a second node using the information indicating that the one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied. The object may not be in communication with the first access node or the second access node when said object is being sensed. The one or more conditions for triggering handing over the sensing of the object from the first access node to the second access node may comprise one or more of: one or more thresholds for a received power of a received sensing signal associated with the object; one or more thresholds for Doppler shifts associated with the object; one or more conditions relating to a sensing mis-detection rate of the object; one or more false alarm thresholds; one or more tracking latency thresholds; location information of the object; location information with respect to a boundary of a cell associated with a respective access node; one or more features of the object based on processing of sensing data associated with object; one or more speed and direction of movement conditions associated with the object; and / or one or more velocity conditions associated with the object. The method may comprise providing to the first access node or to the second access node one or more of: a description of the object; an identity of the object; a mobility profile of the object; current location information of the object; a time period associated with a sensing of the object; a sensing configuration; and a sensing quality of service. The method may comprise determine one or more of: a mobility profile of the object; a sensing area associated with the sensing of the object; and sensing configuration to be provided to one or more access nodes for the sensing of the object. The method may be performed by apparatus providing a network function. The network function may be a sensing management function. According to another aspect, there is provided an apparatus comprising: means for determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node; and means for providing the first access node with information about the object which is to be sensed, said information indicating one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node. As alternative to determining the one or more conditions for triggering handing over of the sensing to the second access node, the means for determining may be for determining one or more conditions for selecting and / or adding one or more second access nodes for the sensing of the object. The apparatus may comprise means for receiving from a sensing service client, a request for a sensing the object, and means for determining a configuration for the first access node for sensing the object. The configuration for the first access node may be provided to the first access node. The determining of one or more conditions for triggering handing over sensing of an object from a first access node, may be for one or more second access nodes and the information provided to the first access node may comprise the one or more conditions for triggering handing over the sensing of the object from the first access node for the one or more second access nodes. In some embodiments, the first access node and the one or more second access nodes both sense the object. This may continue until the first access node receives a notification, for example from the apparatus, or until an event occurs to cause the first node to stop sensing the object. The apparatus may comprise means for providing a network function. According to another aspect, there is provided an apparatus comprising at least one processor and at least one memory storing instructions, wherein the instructions, when executed by the at least one processor, cause the apparatus to at least perform: receiving information about an object which is to be sensed, said information indicating one or more conditions for triggering handing over the sensing of the object from a first access node to a second access node; and determining if or when one or more of the one or more conditions have been satisfied. The information may be received in a request for a session to sense the object or in an update to a request for a session to sense the object. The apparatus may be caused to send a request for a session to sense the object to the second access node when one or more of the one or more conditions have been satisfied. The request for the session comprises one or more of: a description of the object; mobility information about the object; a location of the object; sensing configuration information of the first access node; processing configuration information of the first access node; and / or one or more conditions for triggering handing over sensing of the object to another access node. The apparatus may be caused to provide sensing data associated with the object to the second access node; and / or means for receiving sensing data associated with the object from the second access node. The apparatus may be caused to receive a response to the request for the session to sense the object sent to the second access node when the second access node is able to sense the object. The apparatus may be caused to send information to a network entity indicating that the sensing of the object has been handed over to the second access node. The apparatus may be caused to send information to a network entity that one or more conditions have been satisfied for triggering handing over sensing of the obj ect to the second access node. The object may not be in communication with the first access node without active communication capabilities. The one or more conditions for handing over the sensing of the object from the first access node to the second access node may comprise one or more of: one or more thresholds for a received power of a received sensing signal associated with the object; one or more thresholds for Doppler shifts associated with the object; one or more conditions relating to a sensing mis-detection rate of the object; one or more false alarm thresholds; one or more tracking latency thresholds; location information of the object; location information with respect to a boundary of a cell associated with a respective access node; one or more features of the object based on processing of sensing data associated with object; one or more speed and direction of movement conditions associated with the object; and / or one or more velocity conditions associated with the object. The apparatus may be caused to receive one or more of: a description of the object; an identity of the object; a mobility profile of the object; current location information of the object; a time period associated with tracking of the object; a sensing configuration; and a sensing quality of service. The apparatus may be provided in or be the first access node. According to another aspect, there is provided a method comprising: receiving information about an object which is to be sensed, said information indicating one or more conditions for triggering handing over the sensing of the object from a first access node to a second access node; and determining if or when one or more of the one or more conditions have been satisfied. The information may be received in a request for a session to sense the object or in an update to a request for a session to sense the object. The method may comprise sending a request for a session to sense the object to the second access node when one or more of the one or more conditions have been satisfied. The request for the session comprises one or more of: a description of the object; mobility information about the object; a location of the object; sensing configuration information of the first access node; processing configuration information of the first access node; and / or one or more conditions for triggering handing over sensing of the object to another access node. The method may comprise providing sensing data associated with the object to the second access node; and / or means for receiving sensing data associated with the object from the second access node. The method may comprise receiving a response to the request for the session to sense the object sent to the second access node when the second access node is able to sense the object. The method may comprise sending information to a network entity indicating that the sensing of the object has been handed over to the second access node. The method may comprise sending information to a network entity that one or more conditions have been satisfied for triggering handing over sensing of the obj ect to the second access node. The object may not be in communication with the first access node without active communication capabilities. The one or more conditions for handing over the sensing of the object from the first access node to the second access node may comprise one or more of: one or more thresholds for a received power of a received sensing signal associated with the object; one or more thresholds for Doppler shifts associated with the object; one or more conditions relating to a sensing mis-detection rate of the object; one or more false alarm thresholds; one or more tracking latency thresholds; location information of the object; location information with respect to a boundary of a cell associated with a respective access node; one or more features of the object based on processing of sensing data associated with object; one or more speed and direction of movement conditions associated with the object; and / or one or more velocity conditions associated with the object. The method may comprise receiving one or more of: a description of the object; an identity of the object; a mobility profile of the object; current location information of the object; a time period associated with tracking of the object; a sensing configuration; and a sensing quality of service. The method may be performed by an apparatus. The apparatus may be provided in or be the first access node. According to another aspect, there is provided a first access node apparatus comprising: means for receiving information about an object which is to be sensed, said information indicating one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node; and means for determining if or when one or more of the one or more conditions have been satisfied. According to one aspect, there is provided an apparatus comprising at least one processor and at least one memory storing instructions, wherein the instructions, when executed by the at least one processor, cause the apparatus to at least perform: sensing an object; sending a request to handover the sensing of the object to the second access node; exchanging sensing data associated with the object with the second access node; and receiving a response to the request when the second access node is able to sense the object. The apparatus may be provided in or be the first access node. It should be appreciated that one or more features associated with one or more other aspects may be used be used with this aspect. According to one aspect, there is provided method comprising: sensing an object; sending a request to handover the sensing of the object to the second access node; exchanging sensing data associated with the object with the second access node; and receiving a response to the request when the second access node is able to sense the object. The method may be performed by an apparatus. The apparatus may be provided in or be the first access node. It should be appreciated that one or more features associated with one or more other aspects may be used be used with this aspect. According to one aspect, there is provided an apparatus comprising: means for sensing an object; means for sending a request to handover the sensing of the object to the second access node; means for exchanging sensing data associated with the object with the second access node; and means for receiving a response to the request when the second access node is able to sense the object. The apparatus may be provided in or be the first access node. It should be appreciated that one or more features associated with one or more other aspects may be used be used with this aspect. According to one aspect, there is provided an apparatus comprising at least one processor and at least one memory storing instructions of a network function for a communications system, wherein the instructions, when executed by the at least one processor, cause the apparatus to at least perform: determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node; receiving information from the first access node about one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node; determining that the sensing of the object is to be handed over from the first access node to the second access node; and sending handover information indicating that the sensing of the object to be handed over to the second access node. It should be appreciated that one or more features associated with one or more other aspects may be used be used with this aspect. According to another aspect, there is provided a method comprising: determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node; receiving information from the first access node about one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node; determining that the sensing of the object is to be handed over from the first access node to the second access node; and sending handover information indicating that the sensing of the object to be handed over to the second access node. The method may be performed by a network function. It should be appreciated that one or more features associated with one or more other aspects may be used be used with this aspect. According to another aspect, there is provided an apparatus comprising: means for determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node; means for receiving information from the first access node about one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node; means for determining that the sensing of the object is to be handed over from the first access node to the second access node; and means for sending handover information indicating that the sensing of the object to be handed over to the second access node. The apparatus may comprise means to provide a network function. It should be appreciated that one or more features associated with one or more other aspects may be used be used with this aspect. According to a further aspect, there is provided a computer program comprising instructions, which when executed by an apparatus, cause the apparatus to perform any of the methods set out previously. According to a further aspect, there is provided a computer program comprising instructions, which when executed cause any of the methods set out previously to be performed. According to an aspect there is provided a computer program comprising computer executable code which when run cause any of the methods set out previously to be performed. According to an aspect, there is provided a computer readable medium comprising program instructions stored thereon for performing at least one of the above methods. According to an aspect, there is provided a non-transitory computer readable medium comprising program instructions which when executed by an apparatus, cause the apparatus to perform any of the methods set out previously. According to an aspect, there is provided a non-transitory computer readable medium comprising program instructions which when executed cause any of the methods set out previously to be performed. According to an aspect, there is provided a non-volatile tangible memory medium comprising program instructions stored thereon for performing at least one of the above methods. In the above, many different aspects have been described. It should be appreciated that further aspects may be provided by the combination of any two or more of the aspects described above. Various other aspects are also described in the following detailed description and in the attached claims. Description of Figures Embodiments will now be described, by way of example only, with reference to the accompanying Figures in which: Figure 1 shows a schematic representation of a 5G system in which some embodiments may be provided; Figure 2 shows a schematic representation of an apparatus which may implement a respective network function or an access node; Figure 3 schematically shows tracking of an object using a first method; Figure 4 schematically shows tracking of an object using a second method; Figure 5 shows a first example procedure of some embodiments; Figure 6 shows a second example procedure of some embodiments; Figure 7 shows a third example procedure of some embodiments; Figure 8 shows a fourth example procedure of some embodiments; Figure 9 shows a first method of some embodiments; Figure 10 shows a second method of some embodiments; Figure 11 shows a third method of some embodiments; and Figure 12 shows a fourth method of some embodiments. Detailed description Some embodiments relate to the provision of sensing services by a communication system. A sensing device can sense objects in the surroundings of the sensing device. A sensing device may detect events or changes in the surroundings of the sensing device, and generate sensing data. A sensing device may include the capability to detect, localize and track objects, to form images and / or to extract features for recognition / classification purposes. A sensing device may use electromagnetic waves to detect, localize and / or track objects in the surroundings of the sensing device. The sensing data or measurements may be processed by the sensing device and / or by one or more different entities. The process may use machine learning algorithms or AI / ML models for detecting, localizing and / or tracking objects in the surroundings of the sensing device. The integration of sensing and communication (ISAC) into communication systems, (in contrast to dedicated sensing systems) may provide relatively high-data rate communications and relatively high-resolution obstacle detection using the same hardware and spectrum resource. The sensing device may be provided by an access node of the communication system. This integration may help to increase sensing capabilities and / or to improve sensing accuracy as compared to separate (that is separate from a communication system) sensing systems. This may be an improvement in scenarios or situations where there separate sensing systems may not perform well (e.g., NLOS (non-line of sight) conditions, requirement for high velocity resolution etc). This integration may enhance spectrum efficiency by sharing communication and sensing spectrum band. This integration may reduce hardware cost by combining sensing and communi cati on equipm ent / hardware. Some examples of sensing services are as follows: intrusion detection (e.g., intruder detection in a smart home, pedestrian / animal intrusion detection on a highway); support autonomous driving (e.g., sensing assisted automotive maneuvering and navigation, sensing for parking space determination etc.); support unmanned aerial vehicle (UAV) Flight (e.g., UAV flight trajectory tracing, network assisted sensing to avoid UAV collision); support automated guided vehicle (AGV) / autonomous mobile robots (AMR) in factories (e.g., AGV detection and tracking in factories, AMR collision avoidance in smart factories); environmental / weather monitoring (e.g., rain levels, pollution, flooding, air quality, water); health monitoring (e.g., fall detection, contactless sleep monitoring service, health monitoring at home); and XR (extended reality) applications. Some embodiments use a communication system to provide sensing services. In the following, various examples are described in the context of a 5G communication system. Other embodiments may be used in the context of other communication systems such 6G (and beyond) communication systems. Some embodiments provide a sensing management function (SeMF). Where embodiments are provided in a 5G system, the SeMF may be a 5GC (5G core) function. This sensing management function may be provided in some embodiments as a separate network function. In some embodiments, a sensing management function may be integrated with an existing 5GC network function, such as a location management function (LMF). In some embodiments, the SeMF functionalities may be distributed / allocated across a plurality of different entities. For example, the SeMF functionalities could be provided by the one or more core entities and / or one or more RAN entities. For example, the SeMF may be provided by a dedicated SeMF function and / or a SeMF function provided by a LMF on the core side. Figure 1 shows a schematic representation of a communication system operating based on a 5th generation radio access technology (generally referred to as a 5G system (5GS)) and in which some embodiments may be implemented. The 5GS may comprise a (radio) access network ((R)AN), a 5G core network (5GC), one or more application functions (AF) and one or more data networks (DN). A user equipment (UE) may access or connect to the one or more DNs via the 5GS. The 5G (R)AN may comprise one or more access nodes. The access nodes may comprise base stations or radio access network (RAN) nodes, such as a gNodeB (gNB). A base station or RAN node may comprise one or more distributed units connected to a central unit. The 5GC may comprise various network functions, such as an access and mobility management function (AMF), a session management function (SMF), an authentication server function (AUSF), a location management function (LMF), a user data management (UDM), a user plane function (UPF), a network data repository (NRF), a network exposure function (NEF), a service communication proxy (SCP), edge application server discovery function (EASDF), policy control function (PCF), network slice access control function (NSACF), network slice specific authentication and authorization function (NSSAAF), and / or network slicing selection function (NSSF). Figure 1 shows an example where the SeMF is provided as a network function and is part of the 5GC. Figure 2 illustrates an example of an apparatus 200. The apparatus 200 may comprise or implement one or more of the network functions shown in Figure 1. The apparatus 200 may have at least one processor and at least one memory storing instructions of one or more the network functions shown in Figure 1 that, when executed by at least one of the at least one processor cause operations or actions of the one or more network functions to be performed. Alternatively, the apparatus 200 may be provided in or be an access node. The apparatus 200 may have at least one processor and at least one memory storing instructions of an access node that, when executed by at least one of the at least one processor cause operations or actions of the access node to be performed. In this example, the apparatus 200 may comprise at least one random access memory (RAM) 211a, and / or at least one read only memory (ROM) 211b. The apparatus 200 may comprise at least one processor 212, 213 and / or a network interface 214. The at least one processor 212, 213 may be coupled to the at least one memory which in this example is the RAM 211a and the ROM 211b. The at least one processor 212, 213 may be configured to execute an appropriate software code 215. The software code 215 may, for example, include software code of one or more of the network functions shown in Figure 1, including software code of the SeMF, which allows the apparatus to perform one or more operations of one or more of the present aspects. Alternatively, the software code may, for example, include software code of an access node, which allows the apparatus to perform one or more operations of one or more of the present aspects. Some embodiments may provide a network function (or a distributed across a plurality of network functions) for a communication system, such as a 5GS, which is configured to provide sensing services and exposing the sensing services so that the sensing services can be used by a client (generally referred to herein as a sensing service client). The sensing service client may be a UE, an application function, a third-party application or another network function of the communications system, such as a NF of a core network of the communication system. The SeMF may be configured to configure and / or coordinate sensing functions. The SeMF may be configured to collect sensing measurements (sensing data). The SeMF may be configured to provide sensing data and / or sensing outputs to the sensing service client. This may be directly or via the NEF e.g., if the requesting client is third party external application or AF. The SeMF may be configured to receive sensing service requests. The sensing service request may comprise information about one or more of the type of sensing service, the sensing area, the sensing QoS (quality of service), and / or the object that should be sensed. Any suitable sensing method may be use. By way of example, a sensing method may be one or more of the following methods: mono-static RAN-based (e.g., a base station BS acts as transmitter / sounder (transmit sensing signal) and the same BS acts as a receiver / sensor (receive sensing signal). The BS may employ a system in which the transmit and receive arrays are placed together); multi-static RAN-based (e.g., a base station as a transmitter / sounder (transmit sensing signal) and one or more other BSs acts as a receiver / sensor (receive sensing signal); multi-static RAN and UE sensing: (e.g., a BS transmits a sensing signal and one or more UE(s) receives that sensing signal to obtain a sensing data; or a UE transmits a sensing signal and one or more BSs receives that sensing signal to obtain sensing data. The sensing data (or sensing measurement information) may comprise data derived from electromagnetic signals impacted (e.g., reflected, refracted, and / or diffracted) by an object for sensing purposes. The electromagnetic signals may be radio signals provided by the access nodes. The sensing output may be processed. The sensing output may be processed by one or more of a system such as a 5G or 6G system, an external server, an application server, an edge server, and / or the like. A sensing output may comprise processed sensing data e.g., as requested by a sensing service client. A sensing service may be used to detect, identify and / or track one or more objects and the environment around the object. Some embodiments may track a non-connected object. The non-connected object will not be in communication with the access node which is being used to sense that object. A non-connected object may be an entity / target that has no communication capabilities, or it may have communication capabilities that are de-activated. In some cases, the nonconnected object may have communication capabilities but these are not available for use in the sensing service. The unconnected object may be a sensing target. The sensing service does not rely on the transmitting and / or receiving of signals by the object itself. Signals from the base station may reflect off the object. Some embodiments relate to continuity of a sensing service when an object is moving. It may be desirable to continue tracking while the object is moving, maintain an expected sensing QoS, and without interrupting the sensing procedure. Reference is made to Figure 3 which shows tracking of an object 400 as it moves using a so-called mono-static method. In this method, an access node 402 will transmit a sensing or sounding signal. The same access node 402 will receive the sensing signal. The access node 402 will provide sensing data to, for example, the SeMF 404 and / or a sensing data processing unit. As can be seen, as the object moves, the tracking of the object 400 will need to be handed over from one access node to the next. In the example shown in Figure 3, there are three access nodes 402a, 402b, and 402c. Reference is made to Figure 4 which shows tracking of an object 400 as it moves using a so-called multi-static or bi-static method. In this method, a transmitter 406 will transmit a sensing or sounding signal. A receiver 408 will receive the sensing signal. The receiver 408 will provide sensing data to, for example, the SeMF 404 and / or a sensing data processing unit. In the example shown in Figure 4, there are two transmitters 406a and 406b and two receivers 408a and 408b. The transmitter and receiver may be provided by different access nodes (bistatic RAN based sensing). The transmitter may be provided by an access node and a UE may provide the receiver (bistatic RAN and UE-assisted sensing). The transmitter may be provided by a UE and an access node may provide the receiver (bistatic RAN based and UE-assisted sensing). Again as the object moves, the tracking of the object 400 will need to be handed over from one access node to the next. Some embodiments relate to handing over a sensing or tracking procedure from one access node to another. Some embodiments may be provided in a 5G and / or in a 6G environment or any other suitable network environment. In the 6G architecture, some embodiments consider that the RAN-Core interface may use service-based interface(s) (SBI)). Some embodiments relate to the triggering of the change of one or more access nodes that are sensing or tracking one or more object(s). The one or more objects may be moving. Some example embodiments are described which use monostatic sensing methods but other embodiments may use multi-static or bi-static methods. Some embodiments aim to ensure the continuity of the tracking / sensing service even if an object is moving. In some embodiments, the SeMF may determine or define the one or more triggering conditions. A triggering condition may be a provided by satisfying one or more criteria and / or the occurrence of one or more events. The one or more triggering conditions may be used to cause the handover of a sensing session for an object from one access node to another access node. The sensing session may be to track an object as the object moves. In some embodiments, at least one triggering condition may be for (triggering) selecting / determining one or more access nods for the sensing / tracking of the object. In some embodiments, at least one triggering condition may be for (triggering) adding one or more access nods for the sensing / tracking of the object. That is multiple access node may be configured to sense / track the object simultaneously. In some embodiments, the access node may stop sensing / tracking the object if / when / after / until receiving a notification (e.g., from SeMF or a network function) and / or certain event(s) occurs. In some embodiments, at least one triggering condition may be for (triggering) at least one of the following: the handover of a sensing session for an object from one access node to another access node; selecting / determining one or more access nods for the sensing / tracking of the object; or - adding one or more access nods for the sensing / tracking of the object. The one or more triggering conditions may be dependent on the object. For example, different types of objects may be associated with different thresholds. A set of one or more triggering conditions may be determined or defined for the object. In some embodiments, only one of the set of one or more triggering conditions needs to be satisfied to trigger handover to a different access node. In some embodiments, all of the set of one or more triggering conditions need to be satisfied to trigger handover to a different access node. In other embodiments, certain combinations of the set of triggering conditions needs to be satisfied before handover to a different access node can be triggered. The one or more conditions comprise one or more of the following conditions: One or more thresholds for a received power of a signal for the object. This may be the power of the received sensing signal. For example, if the received power of the signal reaches or falls below the threshold, this may be a condition which is used to trigger handover to a different access node; One or more thresholds for a received sensing signal strength for the object. This may be the signal strength or power of the received sensing signal. For example, if the received signal strength of the signal reaches or falls below the threshold, this may be a condition which is used to trigger handover to a different access node; One or more thresholds for Doppler Frequency shifts associated with the object. This may be the result of the change in frequency or wavelength of the waves reflected by the object with respect to the access node; One or more thresholds for a tracking mis-detection rate of the object; One or more false alarm thresholds. A false alarm may be a false alarm associated with intruder detection or any other suitable false alarm. The threshold may relate to the number of false alarms; One or more tracking latency thresholds (e.g., a time in milliseconds to sense or track an object); Location information of the sensed object. Location information of the object may comprise one or more of the following: elevation, cartesian coordinates; and / or location accuracy; Location information of the object with respect to a cell boundary of the access node for sensing of the object. The cell boundary for sensing (or a sensing coverage area or a sensing service area) may be static, or may be updated. Where the cell boundary for sensing can be updated this may be based on one or more internal factors and / or one or more external factors. An internal factor may be an access node configuration or resource configuration. An external factor may be channel conditions or geographical information. The cell boundary for sensing may be estimated or determined at the access node and / or the SeMF; One or more features of the object (e.g., accuracy of size of object, accuracy of estimate of the shape, accuracy of estimate of the type of object), This may be based on processing of sensing data associated with the object; One or more velocity conditions of the object - this may be determined as part of the location determination. For certain tracking objects (e.g., UAS (unmanned aircraft systems), UAM (urban air mobility)), pre-approved flight path information (3D way points) may be available for determining the speed and direction of the object. The RAN may provide flight path information in terms of 3D way points; and / or One or more speed and direction of movement conditions of the object- this may be determined as part of the location determination. This may be for ground objects or airborne objects. For certain tracking objects (e.g., UAS, UAM), pre-approved path information (3D way points) may be available for determining the speed and direction of the object. The access node may provide path information in terms of 3D way points. For example, the path information may be ground path information or flight path information. The SeMF may provide the one or more triggering conditions to the access node and / or the sensing data processing unit. The one or more triggering conditions are used to determine the triggering of the change of the access node and the handover of the sensing procedure. The one or more triggering conditions may be provided by the SeMF for each sensing session / procedure. Alternatively or in addition, the one or more triggering conditions may be pre-configured. Alternatively or in addition, the one or more triggering conditions may be provided once by the SeMF and updated if needed. The SeMF may determine whether one or more of the triggering conditions for the handover of the sensing session is satisfied. If so the SeMF may initiate the access node reselection or handover preparation. The SeMF or the source access node may determine, which one or more neighbouring target access nodes should be selected to continue the tracking procedure. The tracking procedure may be handed over to one or more target access nodes. Once the one or more target access nodes have been selected to sense the object, the SeMF may receive one or more reports from the one or more target access nodes on the one or more conditions to trigger the handover. The SeMF may decide based on a comparison of the reports when to finalize the handover from the source access node. The SeMF may notify the source access node to release the tracking procedure when / if, for example, the SeMF identifies that target access node detects and / or sense the object with a higher quality than the source access node. The access node may determine whether the object is successfully detected using the object description received from the SeMF and collected sensing data. The access node may determine whether to trigger the preparation of access node reselection based on the received trigger conditions. In some embodiments, the determination may use collected and / or processed sensing data when determining whether to trigger the preparation of access node re-selection. The access node may transmit to the SeMF one or more notifications about one or more trigger conditions that have been determined to be satisfied by the access node. The one or more notifications may comprise an indication that the tracking session is to be handed over to another access node. The access node may determine which neighbouring access node should be selected to continue or handover the sensing procedure according to the one or more triggering conditions. The current (source) access node may transmit to the selected one or more neighbouring access nodes (target access node) a sensing session request. The sensing session request may comprise one or more of: a description of the object; a mobility profile; the sensing configuration of the source access node; and the triggering conditions for access node reselection. The target access node may send a notification or other signalling to the source access node to release its sensing procedure for the object, once the object is successfully sensed by the target access node. In some embodiments, alternatively or additionally this signalling may be sent to the SeMF. The access node may transmit to another access node one or more of: measured sensing data; sensing configuration (e.g., selected resources in term of time, frequency, and / or the like, and / or selected beams, and / or angle of departure of transmitted signal, angle of arrival of received signals); access node configuration (e.g., position information, sensing capabilities); and / or description information about the object. A sensing data processing unit may transmit to the SeMF determined information about the object, for example its location information. Optionally, sensing related data can be provided. In some embodiments, SBA (service based architecture) interactions between the SeMF and RAN nodes may be used. The SBA-based interactions between the RAN nodes and the SeMF avoid the signalling going via entities such as an AMF. The exchanges between the RAN node and the SeMF may be via the SBI (service based interface) and / or over the interface N2 via AMF. The exchanges between RAN nodes may takes place over the Xn interface and / or via the AMF and / or any or via any other direct interface among the RAN nodes. However, it should be appreciated that the type of signalling between the SeMF and the RAN node and / or the routing of that signalling may depend on the network in which a respective embodiment is being implemented. The object description may determine the one or more conditions for triggering handover of the sensing procedure. The object description may determine the entity which determines that the tracking procedure is to be handed over. An object description of the object can be provided by the sensing service client, retrieved from internal (e.g., UDM / UDR (unified data repositories)) repositories or external repositories (that may not be managed by the PLMN (public land mobile network)). The object can be described as follows: - in terms of features such as object type, object size, object shape (e.g., geometric shape that may be a square, a triangle, a circle, a rectangle, or any other suitable shape, outline of the object, the outer boundary of the object, and / or the outer surface of the object), object material, object speed / velocity, object dimension, and / or the like; and / or - using sensing data information, such as channel state information of the object and / or radar cross section (RCS) of the object. Reference is made to Figures 5a and 5b which shows an example where triggering and management of the handover of the tracking or sensing of an object from one access node to another is controlled by an access node. As referenced 1, a sensing service client (e.g., an AF) sends a sensing service request to the 5GC. The sensing service request may be a one-time request or for a subscription to a sensing service for event based periodic notification, or event based notification. Examples of the sensing service request are discussed later. As referenced 2, the SeMF based on the sensing service request can determine the mobility profile of the object to be tracked. This may be used for determining the configuration of the sensing / tracking procedure, and / or the allocation of the sensing resources. As referenced 3, the SeMF determines or defines the tracking zone. The SeMF may optionally determine or define the current location of the object. The tracking or sensing zone may be determined or defined based on one or more of current location of the object to be tracked and / or the determined mobility profile of the object and / or the predicted mobility profile of the object. The tracking zone may be used for the identifying the access nodes to be involved in the sensing and / or tracking of the object. The tracking zone determination may be an ongoing and / or periodic procedure unless for example the mobility direction, speed and / or paths are known in advance to the SeMF. As referenced 4, the SeMF using the inputs from the sensing client, the mobility profile of the object to be tracked and / or the tracking zone, selects one or more access nodes that should be involved in the tracking of the object. The selected access nodes in the example are base stations BS, BS1 and BS2. As referenced 5, the SeMF determines the tracking or sensing configuration (e.g., used frequency, duration and / or the like) according to the type of the object. The SeMF identifies or determines the triggering conditions that should be checked for a decision to trigger the change of the access node that is involved in the sensing procedure and the handover of the sensing session to one or more other access nodes. The triggering conditions may comprise one or more of the triggering conditions discussed previously. Alternatively, the SeMF identifies or determines the conditions that should be checked for a decision to select one or more different access nodes or add one or more different access nodes. These conditions may be the triggering conditions discussed previously. The tiggering conditions can be provided for each access node that the SeMF has selected in the part of the procedure referenced 4. Different triggering conditions may, if required, be associated with different access nodes. In some embodiments, optionally the SeMF can provide to one of the access nodes (e.g., BS1) the triggering conditions for one or more other nodes (e.g., BS2) that may be required to sense the object, according to the mobility profile of the object. As referenced 6, the SeMF transmits or provides to BS1 a tracking session request. The tracking session request comprises one or more of: information about the description of the object; information about the mobility profile of the object; the current location (if known) of the object; the determined tracking or sensing configuration for the tracking; and / or the triggering conditions for access node reselection. As referenced 7, BS1 allocates resources according to the received tracking configuration and transmits the sensing signals used for the sensing of the object. As referenced 8, BS1 senses and collects the sensing data. As referenced 9, optionally, BS1 determines whether the object is detected and / or tracked using the received description of the object and any collected sensing data. If the object cannot be sensed or discovered or detected then BS1 may notify the SeMF. BS1 may provide an indication of the object that cannot be tracked or sensed, and optionally any sensing data that has been collected. As referenced 10, if the object cannot be sensed or discovered the SeMF can update the tracking configuration and repeat one or more of the parts of the procedure refenced 2 to 5. Alternatively, the SeMF can terminate the tracking procedure and providing a notification response to the sensing service client indicating the termination of the tracking procedure. As referenced 11, after the sensing and collecting of sensing data in the part of the procedure referenced 8, (assuming the object is being sensed), BS1 transmits the collected sensing data to a sensing data processing unit. BS1 may periodically or once transmit the collected sensing data to the sensing data processing unit. The sensing data may be based on measured or received sensing signals. The sensing data processing unit may be a separate network function, part of BS1, part of the sensing client, part of an external entity (e.g., AF) and / or part of the SeMF. As referenced 12, the sensing data processing unit may use the received sensing data from the access nodes to determine if the target object is detected and / or tracked according to the description of the object and the received sensing data. The sensing data processing unit may use additional sensing data from other sources (e.g., other access nodes). This may allow the sensing data processing unit to achieve a higher sensing QoS service e.g., accuracy or reliability of the object. As referenced 13, BS1 may monitor or collect the conditions which cause triggering of the access node reselection. These conditions are the trigger conditions received from the SeMF. The BS1 may determine whether to trigger access node re-selection preparation. This determining may be based on the monitored or collected conditions which cause triggering of the access node reselection, and optionally the collected and / or processed sensing data whether to trigger access node re-selection preparation. If BS1 does not determine that access node re-selection preparation is to be triggered, then the procedure may revert to the part of the procedure referenced 7. As referenced 14, if the trigger condition(s) is(are) satisfied, then BS1 determines which neighbouring access node is to continue the ongoing tracking session. BS1 thus determines the access node to which the tracking session is to be handed over. In this example, the determined access node is BS2. The so-called source access node (BS1) may select the neighbouring target access node by for example a) identifying neighbour access nodes (e.g., with an Xn connection with BS1 or using 0AM (operation and administration management) knowledge, and / or b) identifying one or more access nodes, covering the area to which the object is about to move. As referenced 15, B S1 transmits to the selected neighbouring access node(s) a tracking session handover request, The tracking session handover request comprises one or more of: information about the description of the object; information about the mobility profile of the object; the current location (if known) of the object; the determined sensing configuration of BS1 (source access node); the determined processing configuration of BS1 and / or the triggering conditions for access node reselection. As referenced 16, the target access node, BS2, validates and configures its own tracking procedure based on the received configuration from the source access node BS1. Optionally, the target access node BS2 can send a response to the source access node BS1 indicating its acceptance or rejection (e.g., with the reason or cause of the rejection) of the tracking session request. As referenced 17, BS2 allocates resources according to the configuration determined in the part of the procedure referenced 16 and transmits the sensing signals used for the sensing of the object. As referenced 18, BS2 senses and collects the sensing data. This data may be provided to the sensing data processing unit for processing (not shown). The part of the procedure referenced 8 to 14 performed by the source access node BS1 may be performed at the target access node BS2. Updates to the tracking session configuration may be provided by the SeMF. As referenced 19, BS1 may notify the SeMF about its decision to initiate the handover of the tracking session to another access node or to select another access node. The BS1 may provide in the notification, the tracking session ID, the source access node BS 1 and the target access node BS2. The procedure may revert to the part of the procedure referenced 7, as far as BS1 is concerned. Alternatively or additionally, the target access node BS2 may provide the notification of the handover of the tracking session to the SeMF. As referenced 20, the SeMF may determine and provide an updated tracking configuration to BS2. This may be provided with updated triggering conditions for the triggering of access node re-selection. As referenced 21, the management of the tracking session is released at the source access node BS1 when the tracking session has been handed over to the target access node BS2. Optionally, the SeMF can transmit to the sensing data processing unit (for example where the sensing data processing unit is a dedicated entity) the request to process data for the tracking of the object. The request may comprise description of the object that can be used together with the collected and processed sensing data for the successful tracking of the object. The sensing data processing unit may transmit to the SeMF information on the object, including its location information. Optionally, sensing related data may be provided. The SeMF may provide a sensing service response to the sensing service client including information on the object e.g., location information. Reference is made to Figure 6 shows the preparation for the sensing session at the target RAN node (target BS) and release of the sensing session from the source RAN node (source BS). To provide continuity of the sensing, during the handover from one RAN node (e.g., BS) to another RAN node, the process shown in Figure 6 may ensure that the target RAN node (i.e., BS (Target) shown in Figure 6) has successfully detected the object. The target RAN may use information from the source RAN node (i.e., BS (Source) shown in Figure 6). As referenced 1, the source RAN node sends a sensing session handover request to the target RAN node. The sensing session handover request comprises one or more of: sensing session ID; description of the object; the position of the object; the trajectory and / or path of the object; the sensing configuration that the source RAN node has used to successfully sense the object; and the processing configuration that the source RAN node has used to successfully sense the object. In an alternative embodiment, the sensing session handover request may be received from the SeMF. As referenced 2, during the handover execution of the tracking session, both of the source and the target RAN nodes may be sensing. The source and the target RAN node may exchange one or more of the following: sensing data; sensing configuration, and description about the object. The sensing data may comprise measured sensing data. The sensing configuration may comprise for example selected resources in term of time, frequency and / or the like, and / or selected beams. The RAN nodes may exchange information about their respective positions. The description of the object may include location information and any other feature of the object. As referenced 3, the target RAN node may send a tracking session handover response. This tracking session handover response may comprise one or more of: sensing session ID; description of the object; and an indication that the source RAN node can release it sensing procedure for the object. The source RAN node will then release its sensing procedure for the object. This tracking session handover response may be triggered once the object is successfully tracked by the target RAN node. Alternatively, the release of the sensing procedure for the object by the source RAN node may be triggered based on a notification from the SeMF. This notification may be triggered once the object is successfully sensed by the target RAN node. The notification may be triggered either by processing at the sensing data processing unit of sensing data received at least by the target RAN node or by a notification sent by the Target RAN node that the object is successfully tracked. In some embodiments, the SeMF may send the notification to release the sensing by the source RAN node if it is determined that target RAN node sensing of the object is better than the sensing by the source RAN node. The SeMF (or sensing data processing unit) may receive sensing data from both the source and the target RAN nodes, so as to determine the quality of each sensing procedure. Alternatively, the release of the sensing procedure for the object by the source RAN node may be triggered based on the expiration of a release timer that is set with the initiation of the handover / transfer of the tracking procedure from the source RAN node. The timer may be pre-configured at the RAN node or provided by the PCF or the SeMF. It should be appreciated that the procedure described in relation to Figure 6 may be applied to the procedure of Figures 5a and 5b. Reference is made to Figures 7a and b which shows an example where triggering and management of the handover of the tracking or sensing of an object from one access node to another is coordinated by an access node and the SeMF. The part of the procedure referenced 1 to 12 is as described in relation to the parts of the procedure referenced 1 to 12 in Figures 5a and b. As referenced 13, BS1 may monitor or collect the conditions which cause triggering of the access node reselection. These conditions are the trigger conditions received from the SeMF. The BS1 may determine based on the monitored or collected conditions which cause triggering of the access node reselection, and optionally the collected and / or processed sensing data whether to trigger access node re-selection preparation. The procedure may revert to the part of the procedure referenced 7, as far as BS1 is concerned. In this embodiment, one or more of the trigger conditions are satisfied and BS1 notifies the SeMF. The notification may comprise one or more of the tracking session identity, the description of the object, and / or the at least one triggering condition that has been satisfied, and / or the sensing configuration of BS1 and / or the processing configuration of BS1. As referenced 14, based on / in response to the notification from BS1, the SeMF determines the neighbouring access node to which the tracking session is to be handed over. In this example, the determined access node is BS2. As referenced 15, the SeMF may optionally determine an updated tracking configuration for the target access node BS2. The SeMF may determine updated triggering conditions for the triggering of access node re-selection. As referenced 16, the SeMF node transmits to the selected neighbouring access nodes (BS2) a tracking session handover request. The tracking session handover request comprises one or more of: information about the description of the object; information about the mobility profile of the object (e.g., the trajectory and / or path of the object); the current location (if known) of the object; the determined sensing configuration of BS1 (source access node); the determined processing configuration of BS1; and / or the triggering conditions for access node reselection. As referenced 17, the target access node BS2 validates and configures its own tracking procedure based on the received configuration from the SeMF. The target access node BS2 may send a response to the SeMF indicating its acceptance or rejection (e.g., with the reason or cause of the rejection) of the tracking session request. The part of the procedure referenced 18, 19 and 20 is as described in relation to the parts of the procedure referenced 17, 18 and 21 in Figures 5a and b. It should be appreciated that the procedure described in relation to Figure 6 may be applied to the procedure of Figures 7a and 7b. Reference is made to Figures 8a and 8b which shows an example where triggering and management of the handover of the tracking or sensing of an object from one access node to another is coordinated by the SeMF. The part of the procedure referenced 1 to 5 is as described in relation to the parts of the procedure referenced 1 to 5 in Figures 5a and b. As referenced 6, the SeMF transmits to BS1 a tracking session request. The tracking session request comprises one or more of: information about the description of the object; information about the mobility profile of the object; the current location (if known) of the object; and the determined sensing configuration for the sensing; and / or the triggering conditions for access node reselection. As referenced 7, the SeMF transmits to the sensing data processing unit a request to process data for the tracking of the object. The request may a description of the object that can be used with the collected and / or processed sensing data for the successful tracking of the object. (This request may be provided in the procedures of Figures 5a and 5b or Figures 7a and 7b. As referenced 8, BS1 transmits the sensing signals used for the tracking of the object. BS1 allocates resources according to the received tracking configuration. As referenced 9, BS1 senses and collects the sensing data. As referenced 10, BS1 transmits the collected sensing data to a sensing data processing unit. BS1 can periodically or once transmit the collected sensing data to the sensing data processing unit. The sensing data may be based on measured or received sensing signals. As referenced 11, the sensing data processing unit determines whether the object is detected and / or tracked using the received description of the object and any collected sensing data. The sensing data processing unit may use additional sensing data from other sources (e.g., other access nodes). This may allow the sensing data processing unit to achieve a higher sensing QoS service e.g., accuracy or reliability of the object. As referenced 12, the sensing data processing unit transmits to the SeMF the information of the object, for example its location information. Optionally, sensing related data can be provided. As referenced 13, the SeMF may provide, once or periodically, a sensing service response to the sensing client. The sensing service response may include information on the object e.g., location information. As referenced 14, the SeMF according to the determined triggering conditions decides whether to trigger the access node re-selection preparation. For example, the SeMF checks whether the location of the object (provided by the sensing data processing unit) is close to the sensing range of the current BS, BS1, and the SeMF initiates the process to handover the tracking procedure to another access node BS2. Alternatively or additionally, other information and / or triggering conditions may be used by the SeMF. The triggering conditions may be as previously discussed. As referenced 15, the SeMF determines which neighbouring access node is to continue the ongoing tracking session. The SeMF thus determines the access node to which the tracking session is to be handed over. In this example, the determined access node is BS2. As referenced 16, the SeMF may optionally update the mobility profde of the object, according to updated location information of the object. Alternatively or additionally, the SeMF may determine an updated tracking configuration for the target access node BS2, Alternatively or additionally, the SeMF may determine updated conditions for the triggering of BS re-selection. As referenced 17, the SeMF node transmits to the selected neighbouring access nodes (BS2) a tracking session request. The tracking session request comprises one or more of: information about the description of the object; information about the mobility profile of the object; the current location (if known) of the object; the determined sensing configuration for the sensing for BS2; and / or the triggering conditions for access node reselection. The part of the procedure referenced 18, 19, 20 and 22 is as described in relation to the parts of the procedure referenced 16, 17, 18 and 21 in Figures 5a and 5b. As referenced 21, the target access node BS2 transmits the collected sensing data to a sensing data processing unit. BS2 can periodically or once transmit the collected sensing data to the sensing data processing unit. The sensing data may be based on measured or received sensing signals. The SeMF may keep both the source and the target access nodes configured to perform the sensing operation simultaneously for some duration. During this time both the source and the target access nodes (e.g., BS1 and BS2) transmit the measured / received sensing signals and report them to the sensing data processing unit. The SeMF may release the sensing service at the source access node (e.g., BS1) when the quality of the sensing measurements from the target access node (e.g., BS2) becomes better than those of the source access node. The SeMF may provide to the sensing data processing unit the triggering conditions, which may be applied to the received sensing data. Based on the outcomes of the processing of the sensing data processing unit, the sensing data processing unit transmits to the SeMF a notification about the occurrence of one or more triggering conditions that may trigger access node re-selection preparation. Based on this notification, the SeMF can finally decide whether to trigger access node re-selection preparation and which access node is selected to continue the sensing procedure. It should be appreciated that the procedure described in relation to Figure 6 may be applied to the procedure of Figures 8a and 8b. In alternative embodiments, the SeMF may receive a sensing request message from an AMF or a GMLC (gateway mobile location centre) or another NF. As mentioned previously, the SeMF may be a dedicated network function, be incorporated in another network function or may be distributed across a plurality of different entities. The SeMF may comprise a service based interface. The SeMF may communicate with a sensing service client via the service based interface and may receive different types of sensing service requests from a sensing service client. Examples of measurement information comprise one or more of received or arrived signals. A received signal may be characterized by one or more received power, delay, angle of departure, angle of arrival, doppler shift, and / or the like. The sensing service request of some embodiments will now be described. The sensing service request may comprise one or more information elements. The information elements provided in a given sensing service request depend on the requested sensing scenario and / or the application. An information element may indicate one or more attributes of the sensing service. A sensing service request may comprise an attribute indicating the sensing service type. By way of example only, the sensing service type may comprise one or more of the following: object(s) detection; tracking of objects(s); motion monitoring; intruder detection at home; intruder detection on a road; intruder detection on a railway; intruder detection in outdoor surroundings; unmanned aerial vehicle trajectory tracing; unmanned aerial vehicle collision avoidance; unmanned aerial vehicle intruder detection; human trajectory tracking; collision avoidance on a road (e.g., at a crossroad or road junction); collision avoidance on a smart grid; parking space determination; blind spot detection of a vehicle; detection of objects around a vehicle; automated guided vehicle detection and / or tracking, for example in a factory; autonomous mobile robot collision avoidance, for example in a factory; environmental monitoring (e.g., pollution levels, humidity levels of soil); weather monitoring (e.g., rainfall levels, flooding levels); health monitoring (e.g., fall detection, sleep monitoring); and gesture recognition. In some embodiments, the attribute defining the sensing service may on its own provide enough information for the SeMF to cause the requested sensing service to be provided. For example, the SeMF stores one or more attributes for a given service type. In some embodiments one or more other attributes may be additionally provided to control the sensing service provided. In some embodiments, one or more attributes relating to the location of the sensing may be provided in the sensing service request. The one or more attributes may define a path of the sensing and / or a geolocation. In some embodiments, the sensing service request may comprise one or more attributes relating to the time period for sensing. The one or more attributes may indicate one or more of how long the sensing is to be performed and when the sensing is to be performed. Alternatively or additionally, the one or more of the attributes may indicate the time when sensing information is needed. In some embodiments, the sensing service request may comprise one or more attributes indicating where the sensing output that it to be provided to, the type of sensing information required, and / or if processing is required. Where processing is required, the one or more attributes may indicate the processing that is to be applied to the data and / or the one or more entities which are to apply the processing. The sensing request may define or indicate an object to be sensed. The sensing request provide an identity of the object to be sensed. The sensing request may provide a description of the object to be sensed. The sensing request may provide a location of the object to be sensed. The sensing request may define an object type, for example. The sensing request may define an object size. The object size may be defined in bands. The sensing request may define an object shape. In other words, this may define the shape of the object to be sensed. The shape of an object may be defined as a geometric shape. For example the geometric shape may be a square, a triangle, a circle, a rectangle, or any other suitable shape. The shape of the object may be defined by one or more of the form of the object, the outline of the object, the outer boundary of the object, and / or the outer surface of the object. The sensing request may define an object material. The sensing request may define the mobility of one or more objects. For example, the one or more attributes may define a required mobility profile of an object to be detected and / or a speed threshold. Reference is made to Figure 9 which shows a method of some embodiments. This method may be performed by an apparatus. The apparatus may be a network function (apparatus). The apparatus may be or comprise a sensing management function. For example, the apparatus may be configured to provide / perform or comprise means for performing at least part of functionalities of the sensing management function. The apparatus may comprise suitable means, such as circuitry for providing the method. Alternatively or additionally, the apparatus may comprise at least one processor and at least one memory storing instructions that, when executed by the at least one processor cause the apparatus at least to provide the method below. Alternatively or additionally, the apparatus may be such as discussed in relation to Figure 2. The method may be provided by computer program code or computer executable instructions. The method may comprise as referenced Al, determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node. The method may comprise as referenced A2, providing to the first access node information about the object which is to be sensed, said information indicating one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node. It should be appreciated that the method outlined in Figure 9 may be modified to include any of the previously described features. Reference is made to Figure 10 which shows a method of some embodiments. This method may be performed by an apparatus. The apparatus may an access node. The apparatus may comprise suitable means, such as circuitry for providing the method. Alternatively or additionally, the apparatus may comprise at least one processor and at least one memory storing instructions that, when executed by the at least one processor cause the apparatus at least to provide the method below. Alternatively or additionally, the apparatus may be such as discussed in relation to Figure 2. The method may be provided by computer program code or computer executable instructions. The method may comprise as referenced Bl, receiving information about an object which is to be sensed, said information indicating one or more conditions for triggering handing over the sensing of the object from a first access node to a second access node. The method may comprise as referenced B2, determining when one or more of the one or more conditions have been satisfied. It should be appreciated that the method outlined in Figure 10 may be modified to include any of the previously described features. Reference is made to Figure 11 which shows a method of some embodiments. This method may be performed by an apparatus. The apparatus may an access node. The apparatus may comprise suitable means, such as circuitry for providing the method. Alternatively or additionally, the apparatus may comprise at least one processor and at least one memory storing instructions that, when executed by the at least one processor cause the apparatus at least to provide the method below. Alternatively or additionally, the apparatus may be such as discussed in relation to Figure 2. The method may be provided by computer program code or computer executable instructions. The method may comprise as referenced Cl, sensing an object. The method may comprise as referenced C2, sending a request to handover the sensing of the object to the second access node. The method may comprise as referenced C3, exchanging sensing data associated with the object with the second access node. The method may comprise as referenced C4, receiving a response to the request when the second access node is able to sense the object. It should be appreciated that the method outlined in Figure 11 may be modified to include any of the previously described features. Reference is made to Figure 12 which shows a method of some embodiments. This method may be performed by an apparatus. The apparatus may a network function apparatus. The apparatus may be a sensing management function. The apparatus may comprise suitable means, such as circuitry for providing the method. Alternatively or additionally, the apparatus may comprise at least one processor and at least one memory storing instructions that, when executed by the at least one processor cause the apparatus at least to provide the method below. Alternatively or additionally, the apparatus may be such as discussed in relation to Figure 2. The method may be provided by computer program code or computer executable instructions. The method may comprise as referenced DI, determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node. The method may comprise as referenced D2, receiving information from the first access node about one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node. The method may comprise as referenced D3, determining that the sensing of the object is to be handed over from the first access node to the second access node. The method may comprise as referenced D4, sending handover information indicating that the sensing of the object to be handed over to the second access node. It should be appreciated that the method outlined in Figure 12 may be modified to include any of the previously described features. Computer program code may be downloaded and stored in one or more memories of the apparatus described herein. Therefore, although certain embodiments were described above by way of example with reference to certain example architectures for communication systems operated by mobile network operators, technologies and standards, embodiments may be applied to any other suitable forms of communication systems than those illustrated and described herein. As used herein, “at least one of the following: ” and “at least one of ” and similar wording, where the list of two or more elements are joined by “and” or “or”, mean at least any one of the elements, or at least any two or more of the elements, or at least all the elements. In general, the various embodiments may be implemented in hardware or special purpose circuitry, software, logic or any combination thereof. Some aspects of the disclosure may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device, although the disclosure is not limited thereto. While various aspects of the disclosure may be illustrated and described as block diagrams, flow charts, or using some other pictorial representation, it is well understood that these blocks, apparatus, systems, techniques or methods described herein may be implemented in, as non-limiting examples, hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controller or other computing devices, or some combination thereof. As used in this application, the term “circuitry” may refer to one or more or all of the following: (a) hardware-only circuit implementations (such as implementations in only analog and / or digital circuitry) and (b) combinations of hardware circuits and software, such as (as applicable): (i) a combination of analog and / or digital hardware circuit(s) with software / firmware and (ii) any portions of hardware processor(s) with software (including digital signal processor(s)), software, and memory(ies) that work together to cause an apparatus, such as a mobile phone or server, to perform various functions) and (c) hardware circuit(s) and or processor(s), such as a microprocessor(s) or a portion of a microprocessor(s), that requires software (e.g., firmware) for operation, but the software may not be present when it is not needed for operation.” This definition of circuitry applies to all uses of this term in this application, including in any claims. As a further example, as used in this application, the term circuitry also covers an implementation of merely a hardware circuit or processor (or multiple processors) or portion of a hardware circuit or processor and its (or their) accompanying software and / or firmware. The term circuitry also covers, for example and if applicable to the particular claim element, an integrated circuit such as a baseband integrated circuit or processor integrated circuit for a mobile device or a similar integrated circuit in server, a cellular network device, or other computing or network device. The embodiments of this disclosure may be implemented by computer software executable by a data processor of the mobile device, such as in the processor entity, or by hardware, or by a combination of software and hardware. Computer software or program, also called program product, including software routines, applets and / or macros, may be stored in any apparatus-readable data storage medium and they comprise program instructions to perform particular tasks. A computer program product may comprise one or more computer-executable components which, when the program is run, are configured to carry out embodiments. The one or more computer-executable components may be at least one software code or portions of it. Further in this regard it should be noted that any blocks of the logic flow as in the Figures may represent program steps, or interconnected logic circuits, blocks and functions, or a combination of program steps and logic circuits, blocks and functions. The software may be stored on such physical media as memory chips, or memory blocks implemented within the processor, magnetic media such as hard disk or floppy disks, and optical media such as for example DVD and the data variants thereof, CD. The physical media is a non-transitory media. The term “non-transitory,” as used herein, is a limitation of the medium itself (i.e., tangible, not a signal) as opposed to a limitation on data storage persistency (e.g., RAM vs. ROM). The memory may be of any type suitable to the local technical environment and may be implemented using any suitable data storage technology, such as semiconductor-based memory devices, magnetic memory devices and systems, optical memory devices and systems, fixed memory and removable memory. The data processors may be of any type suitable to the local technical environment, and may comprise one or more of general-purpose computers, special purpose computers, microprocessors, digital signal processors (DSPs), application specific integrated circuits (ASIC), FPGA, gate level circuits and processors based on multi core processor architecture, as non-limiting examples. Embodiments of the disclosure may be practiced in various components such as integrated circuit modules. The design of integrated circuits is by and large a highly automated process. Complex and powerful software tools are available for converting a logic level design into a semiconductor circuit design ready to be etched and formed on a semiconductor substrate. The foregoing description has provided by way of non-limiting examples a full and informative description of the exemplary embodiments of this disclosure. However, various modifications and adaptations may become apparent to those skilled in the relevant arts in view of the foregoing description, when read in conjunction with the accompanying drawings and the appended claims. Indeed, there are further embodiments comprising a combination of one or more embodiments with any of the other embodiments previously discussed. The scope of protection sought for some embodiments of the disclosure is set out by the claims. The embodiments and features, if any, described in this specification that do not fall under the scope of the claims are to be interpreted as examples useful for understanding various embodiments of the disclosure. It should be noted that different claims with differing claim scope may be pursued in related applications such as divisional or continuation applications.

Claims

1. An apparatus comprising:means for determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node; andmeans for providing the first access node with information about the object which is to be sensed, said information indicating one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node.

2. The apparatus as claimed in claim 1, wherein the information is provided to the first access node in a request for a session to sense the object or in an update to a request for a session to sense the object.

3. The apparatus as claimed in any preceding claim, comprising means for receiving information indicating that the sensing of the object has been handed over to the second access node.

4. The apparatus as claimed in any preceding claim, wherein the information indicating that the sensing of the object has been handed over to the second access node is received from at least one of the first access node and the second access node.

5. The apparatus as claimed in any preceding claim, comprising means for sending a request for sensing of the object to the second access node, when one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied.

6. The apparatus as claimed in claim 5, comprising means for sending to the second access node information indicating one or more of the one or more conditions for triggering handing over the sensing of the object to a third access node.

7. The apparatus as claimed in any preceding claim, comprising means for receiving from the first access node information indicating that the one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied.

8. The apparatus as claimed in claim 7, comprising means for selecting a second node using the information indicating that the one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second node have been satisfied.

9. The apparatus as claimed in any preceding claim, wherein the object is not in communication with the first access node or the second access node when said object is being sensed.

10. The apparatus as claimed in any preceding claim, wherein the one or more conditions for triggering handing over the sensing of the object from the first access node to the second access node comprise one or more of:one or more thresholds for a received power of a received sensing signal associated with the object;one or more thresholds for Doppler shifts associated with the object;one or more conditions relating to a sensing mis-detection rate of the object;one or more false alarm thresholds;one or more tracking latency thresholds;location information of the object;location information with respect to a boundary of a cell associated with a respective access node;one or more features of the object based on processing of sensing data associated with object;one or more speed and direction of movement conditions associated with the object; and / orone or more velocity conditions associated with the object.

11. The apparatus as claimed in any of the preceding claims, comprising means for providing to the first access node or to the second access node one or more of: a description of the object; an identity of the object; a mobility profile of the object; current location information of the object; a time period associated with a sensing of the object; a sensing configuration; and a sensing quality of service.

12. The apparatus as claimed in any of the preceding claims, comprising means for determining one or more of:a mobility profile of the object; a sensing area associated with the sensing of the object; and sensing configuration to be provided to one or more access nodes for the sensing of the object.

13. A first access node apparatus comprising:means for receiving information about an object which is to be sensed, said information indicating one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node; andmeans for determining when one or more of the one or more conditions have been satisfied.

14. The first access node as claimed in claim 13, wherein the information is received in a request for a session or in an update to the request for a session to sense the object.

15. The first access node as claimed in claim 13 or 14, comprising means for sending a request for a session to sense the object to the second access node when one or more of the one or more conditions have been satisfied.

16. The first access node as claimed in claim 15, wherein the request for the session comprises one or more of: a description of the object; mobility information about the object; a location of the object; sensing configuration information of the first access node; processing configuration information of the first access node; and / or one or more conditions for triggering handing over sensing of the object to another access node.

17. The first access node as claimed in any of claims 13 to 16, comprising means for providing sensing data associated with the object to the second access node; and / or means for receiving sensing data associated with the object from the second access node.

18. The first access node as claimed in claim 17 when appended to claim 15 or 16, comprising receiving a response to the request for the session to sense the object sent to the second access node when the second access node is able to sense the object.

19. The first access node as claimed in any of claims 13 to 18, comprising means for sending information to a network entity indicating that the sensing of the object has been handed over to the second access node.

20. The first access node as claimed in any of claims 13 to 19, comprising means for sending information to a network entity that one or more conditions have been satisfied for triggering handing over sensing of the object to the second access node.

21. The first access node as claimed in any of claims 13 to 20, wherein the object is not in communication with the first access node without active communication capabilities.

22. The first access node as claimed in any of claims 13 to 21, wherein the one or more conditions for handing over the sensing of the object from the first access node to the second access node comprise one or more of:one or more thresholds for a received power of a received sensing signal associated with the object;one or more thresholds for Doppler shifts associated with the object;one or more conditions relating to a sensing mis-detection rate of the object;one or more false alarm thresholds;one or more tracking latency thresholds;location information of the object;location information with respect to a boundary of a cell associated with a respective access node;one or more features of the object based on processing of sensing data associated with object;one or more speed and direction of movement conditions associated with the object; and / orone or more velocity conditions associated with the object.

23. The first access node as claimed in any of claims 13 to 22, comprising means for receiving one or more of: a description of the object; an identity of the object; a mobility profile of the object; current location information of the object; a time period associated with tracking of the object; a sensing configuration; and a sensing quality of service.

24. A method comprising:determining one or more conditions for triggering handing over sensing of an object from a first access node to a second access node; andproviding to the first access node information about the object which is to be sensed, said information indicating one or more of the one or more conditions for triggering handing over the sensing of the object from the first access node to a second access node.

25. A method comprising:receiving information about an object which is to be sensed, said information indicating one or more conditions for triggering handing over the sensing of the object from a first access node to a second access node; anddetermining when one or more of the one or more conditions have been satisfied.

26. A computer program comprising computer executable code which when run cause any of the methods set out in claims 24 or 25 to be performed.44

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