Sensing mode switching method and apparatus, and communication device

Abstract

The present application belongs to the technical field of communications. Disclosed are a sensing mode switching method and apparatus, and a communication device. The method in the embodiments of the present application comprises: a first sensing node acquiring a first target indicator value; and the first sensing node executing a first operation, the first operation comprising at least one of the following: the first sensing node sending the first target indicator value to a first device; and on the basis of the first target indicator value, the first sensing node determining whether to switch a sensing mode for a sensing target from a first sensing mode to a second sensing mode, wherein the first target indicator value is a sensing-related indicator value obtained by means of measurement by the first sensing node.

Description

Perception mode switching method, device and communication equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on December 11, 2023, with application number 202311694032.1 and invention name “Perception mode switching method, device and communication equipment”. The entire contents of the Chinese patent application are incorporated herein by reference. Technical Field

[0003] The present application belongs to the field of communication technology, and specifically relates to a perception mode switching method, device and communication equipment. Background Art

[0004] In related technologies, perception nodes in mobile communication networks typically use a predetermined or preconfigured perception method to perform perception measurements on perception targets (e.g., a specific physical target or a specific area). In certain circumstances (e.g., when the state of the perception object changes, the environment of the perception area changes, or the state of the perception node changes), the perception node may not be able to accurately perform perception measurements on the perception target, which results in poor reliability of the perception measurements. Summary of the Invention

[0005] The embodiments of the present application provide a sensing mode switching method, apparatus, and communication device, which can solve the problem of poor reliability of sensing measurements.

[0006] In a first aspect, a perception mode switching method is provided, comprising:

[0007] The first sensing node obtains a first target indicator value;

[0008] The first sensing node performs a first operation;

[0009] The first operation includes at least one of the following:

[0010] The first sensing node sends the first target indicator value to the first device;

[0011] The first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

[0012] The first target index value is a perception-related index value measured by the first sensing node, and the first target index value is used to determine whether to switch the perception mode of the perception target from the first perception mode to the second perception mode;

[0013] In the first sensing mode, a signal sending node of the first signal and a signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is both a signal sending node and a signal receiving node of the first signal;

[0014] In the second perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are different nodes.

[0015] In a second aspect, a perception mode switching method is provided, including:

[0016] The first device obtains a first target indicator value;

[0017] The first device determines whether to switch a sensing mode for a sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

[0018] Wherein, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes;

[0019] The first target indicator value is a perception-related indicator value measured by a first perception node. In the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal.

[0020] In a third aspect, a perception mode switching method is provided, including:

[0021] The second perception node performs a second operation;

[0022] The second operation includes at least one of the following:

[0023] Upon receiving the first request information, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measurement value of the sensing measurement quantity, a sensing result, and a third target indicator value, and sends a first response information corresponding to the first request information, where the first request information is used to request the second sensing node to perform the sensing operation on the sensing target according to the second sensing method, and the first response information carries at least one of the measurement value of the sensing measurement quantity, the sensing result, and the third target indicator value, or the first response information indicates whether the second sensing node agrees to perform the sensing operation on the sensing target according to the second sensing method, and the third target indicator value is a sensing-related indicator value measured by the second sensing node;

[0024] Upon receiving the switching command, the second sensing node obtains a fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value, wherein the switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode, and the switching success message is used to indicate that the sensing mode of the sensing target is successfully switched from the first sensing mode to the second sensing mode, and the fourth target indicator value is a sensing-related indicator value measured by the second sensing node;

[0025] Among them, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes.

[0026] In a fourth aspect, a sensing mode switching device is provided. The first sensing node includes the sensing mode switching device, including:

[0027] An acquisition module, configured to acquire a first target indicator value;

[0028] an execution module, configured to execute a first operation;

[0029] The first operation includes at least one of the following:

[0030] The first sensing node sends the first target indicator value to the first device;

[0031] The first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

[0032] The first target index value is a perception-related index value measured by the first sensing node, and the first target index value is used to determine whether to switch the perception mode of the perception target from the first perception mode to the second perception mode;

[0033] In the first sensing mode, a signal sending node of the first signal and a signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is both a signal sending node and a signal receiving node of the first signal;

[0034] In the second perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are different nodes.

[0035] In a fifth aspect, a perception mode switching apparatus is provided. A first device includes the perception mode switching apparatus, including:

[0036] An acquisition module, configured to acquire a first target indicator value;

[0037] a switching module, configured to determine whether to switch a sensing mode for a sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

[0038] Wherein, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes;

[0039] The first target indicator value is a perception-related indicator value measured by a first perception node. In the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal.

[0040] In a sixth aspect, a sensing mode switching device is provided, wherein the second sensing node includes the sensing mode switching device, including:

[0041] an execution module, configured to execute a second operation;

[0042] The second operation includes at least one of the following:

[0043] Upon receiving the first request information, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measurement value of the sensing measurement quantity, a sensing result, and a third target indicator value, and sends a first response information corresponding to the first request information, where the first request information is used to request the second sensing node to perform the sensing operation on the sensing target according to the second sensing method, and the first response information carries at least one of the measurement value of the sensing measurement quantity, the sensing result, and the third target indicator value, or the first response information indicates whether the second sensing node agrees to perform the sensing operation on the sensing target according to the second sensing method, and the third target indicator value is a sensing-related indicator value measured by the second sensing node;

[0044] Upon receiving the switching command, the second sensing node obtains a fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value, wherein the switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode, and the switching success message is used to indicate that the sensing mode of the sensing target is successfully switched from the first sensing mode to the second sensing mode, and the fourth target indicator value is a sensing-related indicator value measured by the second sensing node;

[0045] Among them, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes.

[0046] In the seventh aspect, a communication device is provided, which includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect, the second aspect, or the third aspect are implemented.

[0047] In an eighth aspect, a communication device is provided, including a processor and a communication interface, wherein the processor or the communication interface is configured to:

[0048] Obtaining a first target indicator value;

[0049] Execute a first operation;

[0050] The first operation includes at least one of the following:

[0051] The first sensing node sends the first target indicator value to the first device;

[0052] The first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

[0053] The first target index value is a perception-related index value measured by the first sensing node, and the first target index value is used to determine whether to switch the perception mode of the perception target from the first perception mode to the second perception mode;

[0054] In the first sensing mode, a signal sending node of the first signal and a signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is both a signal sending node and a signal receiving node of the first signal;

[0055] In the second perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are different nodes.

[0056] In a ninth aspect, a communication device is provided, comprising a processor and a communication interface, wherein the processor or the communication interface is configured to:

[0057] Obtaining a first target indicator value;

[0058] determining, based on the first target indicator value, whether to switch a sensing mode for the sensing target from a first sensing mode to a second sensing mode;

[0059] Wherein, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes;

[0060] The first target indicator value is a perception-related indicator value measured by a first perception node. In the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal.

[0061] In a tenth aspect, a communication device is provided, comprising a processor and a communication interface, wherein the processor or the communication interface is configured to:

[0062] performing a second operation;

[0063] The second operation includes at least one of the following:

[0064] Upon receiving the first request information, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measurement value of the sensing measurement quantity, a sensing result, and a third target indicator value, and sends a first response information corresponding to the first request information, where the first request information is used to request the second sensing node to perform the sensing operation on the sensing target according to the second sensing method, and the first response information carries at least one of the measurement value of the sensing measurement quantity, the sensing result, and the third target indicator value, or the first response information indicates whether the second sensing node agrees to perform the sensing operation on the sensing target according to the second sensing method, and the third target indicator value is a sensing-related indicator value measured by the second sensing node;

[0065] Upon receiving the switching command, the second sensing node obtains a fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value, wherein the switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode, and the switching success message is used to indicate that the sensing mode of the sensing target is successfully switched from the first sensing mode to the second sensing mode, and the fourth target indicator value is a sensing-related indicator value measured by the second sensing node;

[0066] Among them, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes.

[0067] In the eleventh aspect, a perception mode switching system is provided, including: a first device, a first perception node and a second perception node, the first perception node can be used to execute the steps of the method described in the first aspect, the first device can be used to execute the steps of the method described in the second aspect, and the second perception node can be used to execute the steps of the method described in the third aspect.

[0068] In the twelfth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented, or the steps of the method described in the third aspect are implemented.

[0069] In the thirteenth aspect, a chip is provided, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method as described in the first aspect, or the method as described in the second aspect, or the method as described in the third aspect.

[0070] In the fourteenth aspect, a computer program / program product is provided, which is stored in a storage medium and executed by at least one processor to implement the steps of the method described in the first aspect, the second aspect, or the third aspect.

[0071] In an embodiment of the present application, a first sensing node obtains a first target indicator value; the first sensing node performs a first operation; the first operation includes at least one of the following: the first sensing node sends the first target indicator value to a first device; the first sensing node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target indicator value; wherein the first target indicator value is a sensing-related indicator value measured by the first sensing node, and the first target indicator value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; in the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal; in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes. In this way, when sensing the sensing target using the first sensing mode, whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode is determined based on the sensing-related indicator value measured by the first sensing node, so that the sensing mode of the sensing target can better match the state or sensing environment of the sensing target, thereby improving the reliability of the sensing measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] FIG1 is a block diagram of a wireless communication system to which embodiments of the present application may be applied;

[0073] FIG2 is a flow chart of a method for switching a sensing mode according to an embodiment of the present application;

[0074] FIG3 is a schematic diagram of multipath of a channel response in a first dimension;

[0075] FIG4 is a second flowchart of a sensing mode switching method provided in an embodiment of the present application;

[0076] FIG5 is a third flowchart of a sensing mode switching method provided in an embodiment of the present application;

[0077] FIG6 is a schematic diagram showing a first mode of sensing being switched to a second mode of sensing;

[0078] FIG7 is a second schematic diagram of switching from the first sensing mode to the second sensing mode;

[0079] FIG8 is a schematic diagram of a structure of a sensing mode switching device according to an embodiment of the present application;

[0080] FIG9 is a second structural diagram of a sensing mode switching device provided in an embodiment of the present application;

[0081] FIG10 is a third structural diagram of a sensing mode switching device provided in an embodiment of the present application;

[0082] FIG11 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0083] FIG12 is a schematic structural diagram of a terminal provided in an embodiment of the present application;

[0084] FIG13 is a schematic diagram of a structure of a network side device according to an embodiment of the present application;

[0085] FIG14 is a second structural diagram of a network-side device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0086] The following will be combined with the accompanying drawings in the embodiments of this application to clearly describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0087] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and do not limit the number of objects, for example, the first object can be one or more. In addition, "or" in this application represents at least one of the connected objects. For example, "A or B" covers three options, namely, Option 1: including A but not including B; Option 2: including B but not including A; Option 3: including both A and B. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0088] The term "indication" in this application can be either a direct indication (or explicit indication) or an indirect indication (or implicit indication). A direct indication can be understood as the sender explicitly informing the receiver of specific information, the operation to be performed, or the requested result, etc. in the instruction sent; an indirect indication can be understood as the receiver determining the corresponding information based on the instruction sent by the sender, or making a judgment and determining the operation to be performed or the requested result, etc. based on the judgment result.

[0089] It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA) or other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the technology described can be used for the systems and radio technologies mentioned above, as well as for other systems and radio technologies. The following description describes a New Radio (NR) system for illustrative purposes, and NR terminology is used in most of the following description, but these technologies can also be applied to systems other than NR systems, such as 6th generation (6G) systems. thGeneration, 6G) communication system.

[0090] FIG1 is a block diagram of a wireless communication system applicable to an embodiment of the present application. The wireless communication system includes a terminal 11 and a network-side device 12. The terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), a notebook computer, a personal digital assistant (PDA), a handheld computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR), a virtual reality (VR) device, a robot, a wearable device (Wearable Device), an aircraft (Flight Vehicle), a vehicle-mounted device (VUE), a ship-mounted device, a pedestrian user equipment (PUE), a smart home (home appliances with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), a game console, a personal computer (PC), an ATM, or a self-service machine, or other terminal-side devices. Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among them, the vehicle-mounted device can also be called a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit, etc. It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application. The network side device 12 may include an access network device or a core network device, wherein the access network device may also be called a radio access network (Radio Access Network, RAN) device, a radio access network function or a radio access network unit. The access network device may include a base station, a wireless local area network (WLAN) access point (AP) or a wireless fidelity (WiFi) node, etc.Among them, the base station can be referred to as Node B (NB), Evolved Node B (eNB), the next generation Node B (gNB), New Radio Node B (NR Node B), access point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B (HNB), Home evolved Node B (home evolved Node B), Transmission Reception Point (TRP) or other appropriate terms in the relevant field. As long as the same technical effect is achieved, the base station is not limited to specific technical vocabulary. It should be noted that in the embodiment of the present application, only the base station in the NR system is used as an example for introduction, and the specific type of the base station is not limited.

[0091] The core network equipment may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (MME), access mobility management function (AMF), session management function (SMF), user plane function (UPF), policy control function (PCF), policy and charging rules function unit (PCRF), edge application service discovery function (EASDF), unified data management (UDM), unified data repository (UDR), home user server (HSS), centralized network configuration (CNC), network storage function (NRF), network exposure function (NEF), local NEF (L-NEF), binding support function (BSF), application function ( Function, AF), Location Management Function (LMF), Gateway Mobile Location Centre (GMLC), Network Data Analytics Function (NWDAF), etc. It should be noted that in the embodiment of the present application, only the core network equipment in the NR system is taken as an example to introduce, and the specific type of the core network equipment is not limited.

[0092] For ease of understanding, some terms involved in the embodiments of this application are explained below:

[0093] 1. Communication and perception integration / synaesthesia integration:

[0094] For decades, wireless communications and radar sensing (C&S) have developed in parallel, though with limited overlap. They share many commonalities in signal processing algorithms, equipment, and, to a lesser extent, system architecture. In recent years, the coexistence, collaboration, and joint design of these two systems have attracted increasing research attention.

[0095] Early research on the coexistence of communication and radar systems has focused on developing effective interference management techniques to enable the two separately deployed systems to operate smoothly without interfering with each other. While radar and communication systems may be co-located or even physically integrated, they transmit distinct signals in the time / frequency domain. They collaborate to share the same resources to minimize interference caused by their simultaneous operation. Appropriate measures include beamforming, cooperative spectrum sharing, primary / secondary spectrum sharing, and dynamic coexistence. However, effective interference mitigation typically places strict demands on node mobility and information exchange between nodes, resulting in limited improvements in spectrum efficiency. Since interference in coexisting systems arises from transmitting two independent signals, it's natural to ask whether a single transmitted signal can be used for both communication and radar sensing. Radar systems typically use specially designed waveforms, such as short pulses and chirps, to achieve high power radiation and simplify receiver processing. However, these waveforms are not essential for radar detection. Passive radar or passive sensing, which uses different radio signals as sensing signals, is a good example.

[0096] Machine learning, particularly deep learning, has further advanced the potential of non-dedicated radio signals for radar sensing. With these technologies, traditional radar is evolving towards more general wireless sensing. Wireless sensing here broadly refers to retrieving information from received radio signals, rather than the communication data modulated into the signal at the transmitter. For wireless sensing related to target location, common signal processing methods can be used to estimate dynamic parameters such as target signal reflection delay, angle of arrival (AOA), angle of departure (AOA), and Doppler. For sensing target physical characteristics, this can be achieved by measuring the inherent pattern signals of devices, objects, and living things. These two sensing methods can be referred to as perception parameter estimation and pattern recognition, respectively. In this sense, wireless sensing refers to more general sensing technologies and applications using radio signals.

[0097] Integrated Sensing and Communication (ISAC) has the potential to integrate wireless sensing into large-scale mobile networks, referred to here as Perceptive Mobile Networks (PMNs). PMNs can evolve from current 5G mobile networks and are expected to become ubiquitous wireless sensor networks while also providing stable, high-quality mobile communication services. They can be built on top of existing mobile network infrastructure without requiring major changes to network structure and equipment. This will unleash the full potential of mobile networks and avoid the high infrastructure costs of building new, separate wide-area wireless sensor networks. With expanded coverage, the combined communication and sensing capabilities are expected to enable numerous new applications. Perceptive Mobile Networks can simultaneously provide both communication and wireless sensing services, and due to their wide broadband coverage and robust infrastructure, they have the potential to become a ubiquitous wireless sensing solution. Their combined coordinated communication and sensing capabilities will enhance productivity and enable a host of new applications that cannot be effectively implemented with existing sensor networks. Early work on passive sensing using mobile signals has demonstrated its potential. Examples include traffic monitoring, weather forecasting, and rainfall remote sensing based on Global System for Mobile Communications (GSM) radio signals. Perception mobile networks can be widely used for communication and sensing in transportation, communications, energy, precision agriculture, and security, where existing solutions are either infeasible or inefficient. They can also provide complementary sensing capabilities to existing sensor networks, with unique day / night operation capabilities and the ability to penetrate fog, foliage, and even solid objects. Table 1 shows some common perception services.

[0098] Table 1 Common perception service classification

[0099] In a mobile communication network, a base station (including one or more transmission reception points (TRPs) on the base station) and a user equipment (UE) (including one or more subarrays / panels on the UE) can serve as sensing nodes participating in the integrated sensing / synesthesia service. By sending and receiving sensing signals between nodes, it is possible to sense a certain area or a certain physical target. The sensing signal can be a signal that does not contain transmission information, such as the existing LTE / NR synchronization and reference signals, including synchronization signals and physical broadcast channel (Synchronization Signal and PBCH block, SSB) signals, channel state information reference signal (CSI-RS), demodulation reference signal (DMRS), channel sounding reference signal (SRS), positioning reference signal (PRS), phase tracking reference signal (PTRS), etc. It can also be a single frequency continuous wave (CW) or frequency modulated continuous wave (FMCW) commonly used in radar. The first signal may be a CW, FMCW, or ultra-wideband Gaussian pulse. Alternatively, the first signal may be a newly designed dedicated perception signal with good correlation characteristics and a low peak-to-average power ratio (PAPR), or a newly designed synaesthesia-integrated signal that carries certain information while also providing good perception performance. The above perception signals are collectively referred to as the first signal.

[0100] Depending on whether the sensing nodes are the same device, there are two sensing modes: A transmits, B receives, and A transmits and receives independently. A transmits, B receives means that sensing nodes A and B are separate devices and physically separated. A transmits and receives independently means that the sensing signal is transmitted and received by the same device, and sensing node A performs sensing by receiving the echo of its own transmitted signal. Hereinafter, A transmits and receives independently is referred to as first sensing, and the corresponding sensing mode is referred to as first sensing mode. A transmits, B receives is referred to as second sensing, and the corresponding sensing mode is referred to as second sensing mode.

[0101] A node that sends and / or receives a perception signal is called a node participating in perception (or a perception node). A perception node can be a base station or a UE. The device that determines the perception node after switching, and determines the perception mode of the perception node after switching, can be a base station, a UE, or a device in the core network, such as a sensing function network element (Sensing Function, SF), an access and mobility management function (Access and Mobility Management Function, AMF), a perception application server in the core network, etc. The devices in the core network are collectively referred to as the first device below.

[0102] 2. Perception Measurement

[0103] Perceptual measurements can be divided into the following four categories:

[0104] (1) First-level measurement quantities (received signal / original channel information), including: received signal / channel response complex results, amplitude / phase, I-channel / Q-channel and their operation results (operations include addition, subtraction, multiplication and division, matrix addition, subtraction, multiplication and division, matrix transposition, trigonometric operations, square root operations and power operations, as well as threshold detection results and maximum / minimum value extraction results of the above operation results; operations also include Fast Fourier Transform (FFT) / Inverse Fast Fourier Transform (IFFT), Discrete Fourier Transform (DFT) / Inverse Discrete Fourier Transform (IDFT), 2D-FFT, 3D-FFT, matched filtering, autocorrelation operation, wavelet transform and digital filtering, as well as threshold detection results and maximum / minimum value extraction results of the above operation results);

[0105] (2) Second-level measurement quantities (basic measurement quantities), including: time delay, Doppler, angle, intensity, and their multi-dimensional combination representation;

[0106] (3) Level 3 measurement quantities (basic attributes / states), including: distance, speed, orientation, spatial position, and acceleration;

[0107] (4) Level 4 measurement (advanced attributes / states), including: target presence, trajectory, movement, expression, vital signs, quantity, imaging results, weather, air quality, shape, material, and composition.

[0108] Optionally, the above-mentioned perception measurement also includes corresponding label information, including at least one of the following:

[0109] Perception signal identification information; perception measurement configuration identification information; perception service information (e.g., perception service ID); data subscription ID; measurement quantity purpose (communication, perception, synaesthesia); time information; perception node information (e.g., UE ID, node location, device orientation); perception link information (e.g., perception link sequence number, transceiver node identification); measurement quantity description information (form, such as amplitude value, phase value, complex value combining amplitude and phase; resource type, such as time domain measurement results, frequency domain resource measurement results); measurement quantity indicator information (e.g., SNR, perception SNR).

[0110] 3. Perception parameter configuration information

[0111] Perception-related parameter configuration information includes at least one of the following:

[0112] Waveform type, such as OFDM, SC-FDMA, OTFS, frequency modulated continuous wave (FMCW), pulse signal, etc.;

[0113] Subcarrier spacing: For example, the subcarrier spacing of the OFDM system is 30KHz;

[0114] Guard interval: The time interval between the moment a signal ends and the moment its latest echo signal is received. This parameter is proportional to the maximum sensing distance. For example, it can be calculated as 2dmax / c, where dmax is the maximum sensing distance (a sensing requirement). For example, for a self-transmitted and self-received sensing signal, dmax represents the maximum distance between the sensing signal receiving point and the signal transmitting point. In some cases, the OFDM signal cyclic prefix (CP) can serve as the minimum guard interval.

[0115] Bandwidth: This parameter is inversely proportional to the range resolution and can be obtained by c / 2 / delta_d, where delta_d is the range resolution (perception requirement) and c is the speed of light.

[0116] Burst duration: This parameter is inversely proportional to the rate resolution (a sensing requirement). It is the time span of the sensing signal and is used to calculate the Doppler frequency offset. This parameter can be calculated as c / 2 / delta_v / fc, where delta_v is the rate resolution and fc is the carrier frequency of the sensing signal.

[0117] Time interval: This parameter can be calculated by c / 2 / fc / v_range; where v_range is the maximum rate minus the minimum rate (which belongs to the perception requirement); this parameter is the time interval between two adjacent perception signals;

[0118] Transmit signal power, for example, from -20dBm to 23dBm, with a value of 2dBm;

[0119] Signal format, such as SRS, DMRS, PRS, or other predefined signals, and related sequence format information;

[0120] Signal direction; for example, sensing the direction of the signal or beam information;

[0121] Time resources, such as the time slot index or symbol index of the time slot where the perception signal is located. There are two types of time resources: one is a one-time time resource, for example, one symbol sends an omnidirectional perception signal; the other is a non-one-time time resource, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time). Each group of periodic time resources sends a perception signal in the same direction, and different groups of periodic time resources have different beam directions.

[0122] Frequency resources, including the center frequency of the sensing signal, bandwidth, RB or subcarrier, Point A, starting bandwidth position, etc.

[0123] QCL relationship, for example, the sensing signal includes multiple resources, each resource is associated with an SSB QCL, and the QCL includes Type A, B, C, or D;

[0124] Antenna configuration information.

[0125] The antenna configuration information includes:

[0126] Antenna element ID or antenna port ID used to send and / or receive sensing signals;

[0127] Panel ID + array element ID used to send and / or receive sensing signals;

[0128] The position information of the antenna element used to send and / or receive the sensing signal relative to a local reference point on the antenna array (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) express);

[0129] The position information of the panel used to send and / or receive sensing signals relative to a local reference point on the antenna array (can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) ), and the position information of the antenna array elements used to send sensing signals within these selected panels relative to a unified reference point of the panel (such as the center point of the panel) (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) express);

[0130] Antenna array element bitmap information. For example, the bitmap uses "1" to indicate that the element is selected for sending and / or receiving sensing signals, and "0" to indicate that the element is not selected; or uses "0" to indicate that the element is selected, and "1" to indicate that the element is not selected;

[0131] The bitmap information of the array panel and the bitmap information of the array element in the selected panel. For example, the bitmap uses "1" to indicate that the array element is selected for sending and / or receiving sensing signals, and uses "0" to indicate that the array element is not selected; or uses "0" to indicate that the array element is selected and uses "1" to indicate that the array element is not selected.

[0132] The following, in combination with the accompanying drawings, describes in detail the perception mode switching method, apparatus, and communication equipment provided in the embodiments of the present application through some embodiments and their application scenarios.

[0133] Referring to FIG. 2 , FIG. 2 is a flow chart of a method for switching a sensing mode provided in an embodiment of the present application. As shown in FIG. 2 , the method for switching a sensing mode includes the following steps:

[0134] Step 101: The first sensing node obtains a first target indicator value;

[0135] Step 102: The first sensing node performs a first operation;

[0136] The first operation includes at least one of the following:

[0137] The first sensing node sends the first target indicator value to the first device;

[0138] The first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

[0139] The first target index value is a perception-related index value measured by the first sensing node, and the first target index value is used to determine whether to switch the perception mode of the perception target from the first perception mode to the second perception mode;

[0140] In the first sensing mode, a signal sending node of the first signal and a signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is both a signal sending node and a signal receiving node of the first signal;

[0141] In the second perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are different nodes.

[0142] In one embodiment, when the first target indicator value meets the target condition, it can be determined that the perception mode of the perception target will be switched from the first perception mode to the second perception mode; or the first target indicator value can be compared with a preset threshold value, and when the first target indicator value is greater than the preset threshold value, it can be determined that the perception mode of the perception target will be switched from the first perception mode to the second perception mode; or the first target indicator value can be compared with a preset threshold value, and when the first target indicator value is less than or equal to the preset threshold value, it can be determined that the perception mode of the perception target will be switched from the first perception mode to the second perception mode; and so on. This embodiment does not limit this.

[0143] Optionally, the first target indicator value includes at least one of the following:

[0144] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

[0145] Optionally, the indicator value related to the received power includes: a first indicator value; or

[0146] The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or

[0147] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0148] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

[0149] The second indicator value is determined based on the difference between the total received power and the first indicator value;

[0150] The third indicator value is determined based on the difference between the total received power and the received power of the first signal;

[0151] The fourth indicator value is determined based on the difference between the received power of the first signal and the first indicator value;

[0152] The fifth index value is determined based on a quotient of the first index value and the second index value;

[0153] The sixth index value is determined based on a quotient of the first index value and the third index value;

[0154] The seventh index value is determined based on a quotient of the first index value and the fourth index value;

[0155] The eighth indicator value is determined based on a quotient of the first indicator value and the total received power;

[0156] The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

[0157] In one implementation, the first target indicator value may be a target indicator value. The target indicator may refer to a perception-related indicator measured by a receiving device such as a base station / UE, and may include at least one of the following three categories:

[0158] Indicators related to received power; indicators related to interference or noise power; indicators related to both received power and interference or noise power. Indicators related to both received power and interference or noise power may include: indicators related to perceived signal to interference plus noise ratio (SINR), signal-to-noise ratio (SNR), signal to interference ratio (SIR), and reference signal received quality (RSRQ).

[0159] It should be noted that the index value is the value of a certain indicator, for example, the index value related to the received power is the value of the indicator related to the received power; the index value related to the interference or noise power is the value of the indicator related to the interference or noise power; the index value related to both the received power and the interference or noise power is the value of the indicator related to both the received power and the interference or noise power; the first index value is the value of the first indicator; the second index value is the value of the second indicator; the third index value is the value of the third indicator; the fourth index value is the value of the fourth indicator; the fifth index value is the value of the fifth indicator; the sixth index value is the value of the sixth indicator; the seventh index value is the value of the seventh indicator; and the eighth index value is the value of the eighth indicator.

[0160] Among them, indicators related to received power may include:

[0161] First indicator (received power of the path associated with the sensing target): The linear average (in W) of the received power of the path associated with the sensing target in the channel response measured for the first signal, measured over the resource units carrying the first signal. Resource units are time domain and / or frequency domain resource units. The first signal can be a sensing signal, such as a dedicated signal for the sensing service, or a communication signal, such as a reference signal or synchronization signal. The linear average refers to the arithmetic mean of the linear values.

[0162] The interference or noise power-related indicators may include at least one of the following:

[0163] The second indicator, the third indicator, the fourth indicator.

[0164] The second indicator may be a linear average of the power of paths other than the perception target associated path in the channel response of the first signal on the target resource, and a sum of the linear averages of the interference and noise power of signals other than the first signal on the target resource or other resources (e.g., resources configured by high-layer signaling) (in W); wherein the target resource may be a time-frequency domain resource unit carrying the first signal;

[0165] The second indicator = total received power - the first indicator. The total received power can be expressed as the linear average (in W) of the total received power on the target resource (including the received power of signals from the serving cell and non-serving cells, adjacent channel interference, and thermal noise). Alternatively, the total received power = RSSI * K1, where K1 is a coefficient. The RSSI measurement resource is the target resource or other resource (e.g., a resource configured by higher-layer signaling). The definition of RSSI is the same as in 3GPP TS 38.215.

[0166] The third indicator may be a linear average value (in W) of interference and noise power from signals other than the first signal on the target resource or other resources (such as resources configured by high-layer signaling); wherein the target resource may be a time-frequency domain resource unit carrying the first signal;

[0167] The third indicator = total received power - first signal received power; wherein the first signal received power is the RSRP of the first signal, and the definition of RSRP is the same as TS38.215.

[0168] The fourth indicator may be a linear average value (in W) of the power of paths other than the perception target associated path in the channel response of the first signal on the target resource;

[0169] Fourth indicator = RSRP of the first signal - first indicator;

[0170] Among them, the indicators related to the perception of SINR / SNR / SIR / RSRQ may include at least one of the following:

[0171] The fifth indicator, the sixth indicator, the seventh indicator, and the eighth indicator. Among them,

[0172] The fifth indicator (the first perception SINR / SNR / SIR) = the first indicator / the second indicator;

[0173] The sixth indicator (the second perception SINR / SNR / SIR) = the first indicator / the third indicator;

[0174] The seventh indicator (the third perception SINR / SNR / SIR) = the first indicator / the fourth indicator;

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

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

[0177] In one implementation, the first indicator is calculated as follows:

[0178] The terminal performs channel estimation based on the transmitted first signal X(k) and the received signal Y(k) corresponding to the first signal to obtain a channel response (Channel Response) H(k) = Y(k) / X(k), where k = 0, 1, 2, ..., K-1 represents the resource unit index. After obtaining the channel response H(k), the terminal transforms it into a first dimension and determines the perception target association path in the first dimension. The power of the perception target association path is then calculated as a first indicator. If the perception target association path includes multiple paths, the sum of the powers of the multiple paths is calculated as the first indicator.

[0179] The first dimension includes one of the following:

[0180] Delay dimension; Doppler dimension; azimuth dimension; elevation dimension.

[0181] At least two of the delay, Doppler, azimuth, and elevation dimensions are combined. For example, the delay-Doppler dimension, the delay-Doppler-angle dimension, etc.

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

[0183] Method for determining a path associated with a perception target (referred to as a perception path for short) in a channel response obtained by measuring the first signal:

[0184] (1) Determine a first path set. The path(s) in the first path set include the path(s) whose amplitude / power / intensity / energy exceeds a certain threshold among all the path(s) after the channel response is transformed into the first dimension. For example, in FIG3 , paths 0, 1, 2, and 3 are path(s) in the first path set. The certain threshold can be set to be higher than a noise threshold or higher than a noise interference threshold. It should be noted that determining the first path set is optional, and the path(s) associated with the perceived target can be determined solely according to step (2).

[0185] (2) Selecting a path that meets the first condition from the first path set or from all the paths as the path associated with the perception target.

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

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

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

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

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

[0191] The difference between the amplitude / power / intensity / energy of the signal path and the first-reach path (e.g., LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., Reconfigurable Intelligent Surface (RIS) / Backscatter device / other known passive target)) exceeds a preset threshold or is within a preset range;

[0192] The Doppler difference between the signal path and the first arrival path (e.g., LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target)) exceeds a preset threshold or is within a preset range;

[0193] The delay difference between the signal path and the first arrival path (e.g., LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target)) exceeds a preset threshold or is within a preset range;

[0194] The angle difference between the signal path and the first arrival path (e.g., LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target)) exceeds a preset threshold or is within a preset range;

[0195] The amplitude / power / intensity / energy or phase of the path satisfies a specific modulation rule, where the specific modulation rule is the modulation rule of the tag / backscatter device / RIS, that is, the path associated with the perceived target may be a path modulated and reflected by the tag / backscatter device / RIS.

[0196] Each of the above first conditions may also be based on statistical results over a period of time; for example, the ratio of the above indicators (such as the Doppler of the path, the time delay of the path, etc.) exceeding a preset threshold or being within a preset range in a preset time window reaches a preset ratio, or the number of times the above indicators (such as the Doppler of the path, the time delay of the path, etc.) exceed a preset threshold or are within a preset range in a preset time window reaches a preset number of times;

[0197] The preset threshold or set interval range is sent by another device to the receiving device and is determined by the other device based on prior perception information or perception requirements. Alternatively, the preset threshold or set interval range is determined by the receiving device based on prior perception information or perception requirements.

[0198] The priori perception information or perception requirements include the following information:

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

[0200] Perception service or perception service type: the perception service may be, for example, detecting the presence of a target, positioning, speed detection, distance detection, angle detection, acceleration detection, material analysis, component analysis, shape detection, classification, radar cross section area, etc. Section, RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, population statistics, indoor positioning, gesture recognition, lip reading recognition, gait recognition, expression recognition, facial recognition, respiration monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / atmospheric pressure monitoring, air quality monitoring, weather condition monitoring, environmental reconstruction, topography, building / vegetation distribution detection, pedestrian or vehicle flow detection, crowd density, vehicle density detection, etc.; the perception service type can be to classify multiple different perception services according to certain characteristics, for example, according to function, it can be divided into detection-type perception services (for example, including intrusion detection, fall detection), parameter estimation-type perception services (distance, angle, speed calculation), recognition-type perception services (motion recognition, identity recognition), etc., and can also be divided according to the range of perception (close-range perception, medium-range perception, long-range perception), according to the degree of perception fineness (coarse-grained perception, fine force perception, etc.), according to power consumption / energy consumption, according to resource occupancy, etc. If the sensing service is respiratory monitoring, the corresponding normal respiratory rate can be determined based on the person's gender and age (for example, male: 13 to 21 times / minute, female 15 to 20 times / minute; adult: 12 to 20 times / minute, child: about 30 to 40 times / minute), which can be used as perception prior information.

[0201] Perception target area: refers to the location area of ​​the perception object, or the location area where imaging or environmental reconstruction is required; for example, the preset interval range of the delay of the perception target association path is determined based on the approximate location / distance of the perception object.

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

[0203] The number of perceived targets; for example, the camera perception result is used as a perception prior information to obtain the number of perceived targets.

[0204] For example, in Figure 3, paths 0, 1, 2, and 3 are paths in the first path set. Paths 2 and 3 are perceived paths that meet the first condition (e.g., their delays meet a preset threshold), and paths 0 and 1 are paths associated with other scatterers. Figure 3 illustrates multipath in the first dimension of the channel response (delay, Doppler, azimuth, or elevation). The horizontal axis represents the first dimension, and the vertical axis represents the normalized amplitude / power / intensity / energy.

[0205] For frequency range 1, the reference point for the first metric can be the antenna connector of a receiving device, such as a terminal. For frequency range 1, if the receiving device has multiple receiving channels, the first metric measured and reported by the receiving device cannot be lower than the metric of any single receiving channel. For frequency range 2, the first metric measured for a particular receiving channel must be measured using the combined signals from the multiple antenna elements corresponding to that receiving channel.

[0206] In one implementation, the first indicator is calculated as follows:

[0207] Optionally, when calculating the received power of the perception target correlation path, the power of the perception target correlation path in the first dimension can be calculated. The difference between is taken as the first indicator, where N1 represents the number of paths associated with the perceived target. is the average power of multiple paths outside the first path set in the first dimension.

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

[0209] The received power of the first signal may be obtained by the receiving device, transforming the channel response (Channel Response) H(k) into a first dimension, determining a first path set in the first dimension, and then calculating the power sum of all paths in the first path set.

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

[0211] The received power of the first signal can also be the sum of the powers of all paths in the first path set in the first dimension and , where N2 represents the number of paths in the first path set.

[0212] In one implementation, the total received power is calculated as follows:

[0213] Total received power

[0214] In one implementation, the second indicator is calculated as follows:

[0215] The channel response H(k) is processed by the first filter to obtain H filter1 (k), then according to H filter1 (k) and the first signal X(k) to obtain the received signal Y after the first filtering process filter1(k), that is, Y filter1 (k)=H filter1 (k)X(k). Then the received signal Y(k) is subtracted from the received signal Y after the first filtering process. filter1 (k) Thus we get the interference and noise signal Y σ1 (k), that is, Y σ1 (k) = Y(k) - Y filter1 (k), and then calculate the second index

[0216] The first filtering process is used to eliminate noise and interference in the first dimension and paths not associated with the perceived target. For example, the first filtering process sets the amplitude / power / intensity / energy of paths other than the path associated with the perceived target in FIG3 to zero. The channel response H after the first filtering process filter1 (k) does not include noise, interference, or paths associated with non-perceived targets, but only includes paths associated with perceived targets.

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

[0218] The channel response H(k) is processed by the second filter to obtain H filter2 (k), then according to H filter2 (k) and the first signal X(k) to obtain the second filtered received signal Y filter2 (k), that is, Y filter2 (k)=H filter2 (k)X(k). Then the received signal Y(k) is subtracted from the received signal Y after the second filtering process. filter2 (k) Thus we get the interference and noise signal Y σ2 (k), that is, Y σ2 (k) = Y(k) - Y filter2 (k), and then calculate the third index

[0219] The second filtering process may be a noise interference suppression process on the first dimension (for example, setting the amplitude / power / intensity / energy of the paths other than the first path set in FIG3 to zero), or MMSE filtering. The channel response H after the second filtering process filter2 (k) does not contain noise and interference, and only contains the paths in the first path set.

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

[0221] According to the average power of multiple paths outside the first path set in the first dimension Calculate the third index P σ2 ,Right now Where N represents the number of sampling points in the first dimension.

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

[0223] Method 1: Calculate the target indicator for each sensing target separately. For example, in Figure 3, the path associated with each sensing target is determined separately, and then the target indicators corresponding to each sensing target are calculated separately. There are two methods for calculating the second indicator corresponding to a sensing target (such as sensing target A): assuming there are two sensing targets: A and B, the second indicator of sensing target A = total received power - the first indicator of sensing target A; or, the second indicator of sensing target A = total received power - the first indicator of sensing target A - the first indicator of sensing target B. Similarly, there are two ways to calculate the fourth indicator: assuming there are two sensing targets: A and B, the fourth indicator of sensing target A = the RSRP of the first signal - the first indicator of sensing target A; or, the fourth indicator of sensing target A = the RSRP of the first signal - the first indicator of sensing target A - the first indicator of sensing target B.

[0224] Method 2: Calculate a target metric for multiple perception targets. For example, in Figure 3, determine the paths associated with any perception target, and then use these paths as the paths associated with the perception target. This is equivalent to treating multiple perception targets as a virtual perception target and calculating the target metric corresponding to the virtual perception target.

[0225] In an embodiment of the present application, a first sensing node obtains a first target indicator value; the first sensing node performs a first operation; the first operation includes at least one of the following: the first sensing node sends the first target indicator value to a first device; the first sensing node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target indicator value; wherein the first target indicator value is a sensing-related indicator value measured by the first sensing node, and the first target indicator value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; in the first sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the first sensing mode, the first sensing node is the signal sending node and the signal receiving node of the first signal; in the second sensing mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes. In this way, when sensing the sensing target using the first sensing mode, whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode is determined based on the sensing-related indicator value measured by the first sensing node, so that the sensing mode of the sensing target can better match the state or sensing environment of the sensing target, thereby improving the reliability of the sensing measurement.

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

[0227] The first perception node sends a handover measurement report to the first device, where content of the handover measurement report includes the first target indicator value.

[0228] In this embodiment, by switching the first target indicator value in the measurement report, it is determined whether to switch the perception mode of the perception target from the first perception mode to the second perception mode, so that the perception mode of the perception target can be more matched with the state of the perception target or the perception environment, thereby improving the reliability of the perception measurement.

[0229] Optionally, the first sensing node obtains the first target indicator value, including:

[0230] When a preset event occurs, the first sensing node performs switching measurement to obtain a first target indicator value;

[0231] The preset events include:

[0232] The second target indicator value obtained by the first sensing node meets the target condition;

[0233] The second target index value is a perception-related index value measured by the first perception node.

[0234] In addition, the second target indicator value may be the value of the target indicator. The target indicator has been described previously and will not be repeated here.

[0235] In this embodiment, when the perception-related index value (second target index value) measured by the first perception node meets the target condition, the first perception node performs switching measurement to obtain the first target index value, thereby supporting the triggering of a switching measurement request when the perception performance of the first perception node is reduced, and then determining whether to switch the perception mode, so that the perception mode of the perception target can be more matched with the state of the perception target or the perception environment, thereby improving the reliability of the perception measurement.

[0236] Optionally, when it is determined that the perception mode of the perception target is switched from the first perception mode to the second perception mode, the method further includes:

[0237] The first sensing node sends a first request message to the candidate target node, where the first request message is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode;

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

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

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

[0241] A target perception node is selected from candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, and the third target indicator value is a perception-related indicator value measured by the candidate target node.

[0242] In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

[0243] Among them, the third target indicator value can be the value of the target indicator. The target indicator has been described before and will not be repeated here.

[0244] Among them, the target perception node can be a perception node that performs a perception operation after switching the perception mode of the perception target from the first perception mode to the second perception mode.

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

[0246] 1) Location information of candidate target nodes;

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

[0248] 3) Status information of candidate target nodes, including moving speed, moving direction, and time period of stationary / moving;

[0249] 4) Sensing capability information of candidate target nodes, including UE sensing coverage, maximum bandwidth available for sensing, maximum duration of sensing services, supported sensing signal types and frame formats, and UE antenna array information (array type, number of antennas, array aperture, antenna polarization characteristics, array element gain and directivity characteristics, etc.);

[0250] 5) Resource information currently available for sensing by the candidate target node, including time resources (number of symbols, number of time slots, number of frames, etc.), frequency resources (number of resource blocks (RBs), number of resource elements (REs), total bandwidth, available frequency band location, etc.), antenna resources (number of antennas / antenna subarrays), phase modulation resources (number of hardware phase shifters), orthogonal code resources (length and number of orthogonal codes), etc.

[0251] 6) Channel state information of the candidate target node, including at least one of the channel transfer function / channel impulse response, channel quality indicator (CQI), precoding matrix indicator (PMI), CSI-RS resource indicator, SSB resource indicator, layer indicator (LI), rank indicator (RI), and L1-RSRP of at least one communication link.

[0252] In this embodiment, a target sensing node is selected from candidate target nodes whose first response information meets the target condition, where the first response information includes at least one of a measured value of a sensing measurement quantity, a sensing result, and a third target indicator value; or a target sensing node is selected from candidate target nodes based on node-related information of the candidate target nodes. This supports the selection of candidate target nodes with better sensing performance as target sensing nodes, enabling the target sensing node's sensing method of the sensing target to better match the sensing target's state or sensing environment, thereby improving the reliability of the sensing measurement.

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

[0254] (1) The measurement value of at least one sensing measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period;

[0255] (2) The number of measurement values ​​of at least one sensing measurement quantity obtained by the target measurement node within a first preset interval within a first preset time period reaches a first preset number;

[0256] (3) a difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of the corresponding sensing measurement quantity obtained by the first sensing node remains within a second preset interval within a second preset time period;

[0257] (4) the number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node falls within the second preset interval within the second preset time period reaches the second preset number;

[0258] (5) at least one target indicator value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0259] (6) the number of times that the at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number;

[0260] (7) a difference between at least one target indicator value obtained by the target measurement node and a corresponding target indicator value obtained by the first sensing node remains within a fourth preset interval within a fourth preset time period;

[0261] (8) the number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node falls within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0262] (9) The measurement value of at least one perception measurement quantity obtained by the target measurement node remains within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained by the target measurement node remains within a fifth preset interval within a fifth preset time period;

[0263] (10) The target measurement node obtains at least one perception measurement value within a first preset interval a number of times that reaches a first preset number of times within a first preset time period, and obtains at least one communication measurement value within a fifth preset interval a number of times that reaches a fifth preset number of times within a fifth preset time period;

[0264] (11) The at least one target indicator value obtained by the target measurement node remains within a third preset interval within a third preset time period, and the measurement value of at least one communication measurement quantity obtained by the target measurement node remains within a fifth preset interval within a fifth preset time period;

[0265] (12) The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

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

[0267] (14) the difference between at least one perception result obtained by the target measurement node and the corresponding perception result obtained by the first perception node is within a sixth preset interval a sixth preset number of times within a sixth preset time period;

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

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

[0270] (17) The position of the nodes involved in perception changes;

[0271] The target indicator value includes a first target indicator value, a second target indicator value or a third target indicator value.

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

[0273] At least one sensed measurement value of the target measurement node remains within a preset interval within a preset time period, or falls within the preset interval a preset number of times within the preset time period;

[0274] The difference between at least one sensed measurement value of the target measurement node and the corresponding sensed measurement value obtained by the source node remains within a preset interval within a preset time period, or falls within the preset interval a preset number of times within the preset time period;

[0275] The measurement value of at least one target indicator of the target measurement node remains within a preset interval within a preset time period, or falls within the preset interval a preset number of times within the preset time period;

[0276] The difference between at least one target indicator measurement value of the target measurement node and the corresponding target indicator measurement value obtained by the source node remains within a preset interval within a preset time period, or falls within the preset interval a preset number of times within the preset time period;

[0277] At least one perception measurement value and at least one communication measurement value of the target measurement node are both maintained within a preset interval within a preset time period, or both fall within the preset interval a preset number of times within the preset time period;

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

[0279] The difference between at least one perception result of the target measurement node and the perception result corresponding to the source node remains within a preset interval within a preset time period, or falls within the preset interval a preset number of times within the preset time period;

[0280] At least one item of sensing parameter configuration information used by the target measurement node (see the explanation of sensing parameter configuration information above) that meets the minimum configuration requirements of sensing QoS;

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

[0282] The positions of nodes involved in sensing change.

[0283] The source node includes a signal sending node of the first signal or a signal receiving node of the first signal under the first sensing mode.

[0284] It should be noted that the preset interval may be greater than (or greater than or equal to) the first threshold, or less than (or less than or equal to) the first threshold, or between the first threshold and the second threshold.

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

[0286] It should be noted that the target measurement node can be a node that performs sensing services and switching measurements before the sensing mode is switched (for example, a first sensing node), or a candidate target node in the switching process. When the target condition is applied to the determination of the second target indicator value, the target measurement node is the first sensing node and can be applied to (1)-(14) and (16)-(17) in the target condition content items, wherein the difference with the corresponding value obtained by the source node can refer to the comparison between the first sensing node and its own historical measurement value or historical sensing result. When the target condition is applied to the judgment of the triggering of the switching measurement (for example, deciding whether to switch based on the target indicator and the target condition), the target measurement node can be the first sensing node and can be applied to the target condition content items (1)-(14), that is, the target indicator and the target condition can be used in the switching measurement as the basis for whether to switch. The target condition can also be used for target sensing node selection. In this case, the target measurement node can be a candidate target node and can be applied to the target condition content items (1)-(15), wherein the difference with the corresponding value obtained by the source node can refer to the comparison between the candidate target node and the first sensing node measurement value or sensing result.

[0287] 4 is a flowchart of a method for switching a sensing mode provided in an embodiment of the present application. As shown in FIG4 , the method for switching a sensing mode includes the following steps:

[0288] Step 201: The first device obtains a first target indicator value;

[0289] Step 202: The first device determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target indicator value;

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

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

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

[0293] The first device receives a handover measurement report sent by a first perception node, where content of the handover measurement report includes the first target indicator value.

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

[0295] When a preset event occurs, the first device sends a handover measurement request to the first sensing node, where the handover measurement request is used to obtain the first target indicator value;

[0296] The preset events include:

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

[0298] The second target index value is a perception-related index value measured by the first perception node.

[0299] Optionally, when it is determined that the perception mode of the perception target is switched from the first perception mode to the second perception mode, the method further includes:

[0300] The first device sends first request information to the candidate target node, where the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing method;

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

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

[0303] A target perception node is selected from candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, and the third target indicator value is a perception-related indicator value measured by the candidate target node.

[0304] In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

[0305] Optionally, the first target indicator value, the second target indicator value, or the third target indicator value includes at least one of the following:

[0306] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

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

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

[0309] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0310] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

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

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

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

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

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

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

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

[0318] The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

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

[0320] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period;

[0321] The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number;

[0322] A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period;

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

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

[0325] The number of times that the at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number;

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

[0327] The number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

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

[0329] The target measurement node obtains at least one perception measurement value a number of times within a first preset interval within a first preset time period, and obtains at least one communication measurement value a number of times within a fifth preset interval within a fifth preset time period, and reaches a fifth preset number of times;

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

[0331] The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

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

[0333] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

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

[0335] The state of the perceived target changes;

[0336] The positions of the nodes involved in sensing change;

[0337] The target indicator value includes a first target indicator value, a second target indicator value or a third target indicator value.

[0338] It should be noted that this embodiment is an implementation of the first device corresponding to the embodiment shown in Figure 2. Its identical or corresponding implementation can refer to the relevant description of the embodiment shown in Figure 2. To avoid repetition, this embodiment will not be repeated.

[0339] 5 , which is a flow chart of a method for switching a sensing mode according to an embodiment of the present application. As shown in FIG5 , the method for switching a sensing mode includes the following steps:

[0340] Step 301: The second sensing node performs a second operation;

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

[0342] Upon receiving the first request information, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measurement value of the sensing measurement quantity, a sensing result, and a third target indicator value, and sends a first response information corresponding to the first request information, where the first request information is used to request the second sensing node to perform the sensing operation on the sensing target according to the second sensing method, and the first response information carries at least one of the measurement value of the sensing measurement quantity, the sensing result, and the third target indicator value, or the first response information indicates whether the second sensing node agrees to perform the sensing operation on the sensing target according to the second sensing method, and the third target indicator value is a sensing-related indicator value measured by the second sensing node;

[0343] Upon receiving the switching command, the second sensing node obtains a fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value, wherein the switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode, and the switching success message is used to indicate that the sensing mode of the sensing target is successfully switched from the first sensing mode to the second sensing mode, and the fourth target indicator value is a sensing-related indicator value measured by the second sensing node;

[0344] Among them, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes.

[0345] Among them, the second perception node can be a candidate target node or a target perception node.

[0346] It should be noted that the first perception node or the first device can determine the target perception node through the third target indicator value. The target perception node includes the signal sending node of the first signal after switching. The signal sending node of the first signal does not need to measure to obtain the third target indicator value, but only needs to send the first signal, and the signal receiving node of the first signal measures to obtain the third target indicator value.

[0347] In this embodiment, when a switching command is received, the second perception node obtains the fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value. A soft switching process is adopted for switching the perception mode, thereby supporting the source node to end the first perception mode only after ensuring that the target perception node starts to perform perception according to the second perception mode and has good perception performance, so that the perception of the perception target is not interrupted.

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

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

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

[0351] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

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

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

[0354] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0355] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

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

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

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

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

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

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

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

[0363] The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

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

[0365] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period;

[0366] The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number;

[0367] A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period;

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

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

[0370] The number of times that the at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number;

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

[0372] The number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0373] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0374] The target measurement node obtains at least one perception measurement value a number of times within a first preset interval within a first preset time period, and obtains at least one communication measurement value a number of times within a fifth preset interval within a fifth preset time period, and reaches a fifth preset number of times;

[0375] The at least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0376] The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

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

[0378] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

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

[0380] The state of the perceived target changes;

[0381] The positions of the nodes involved in sensing change;

[0382] The target indicator value includes a third target indicator value or a fourth target indicator value.

[0383] It should be noted that, when determining whether the fourth target indicator value measured by the second perception node meets the target condition, the target measurement node may refer to the second perception node.

[0384] It should be noted that this embodiment is an implementation method of the candidate target node or target perception node corresponding to the embodiment shown in Figure 2 or Figure 4. Its specific implementation method can refer to the relevant description of the embodiment shown in Figure 2 or Figure 4. To avoid repetition, this embodiment will not be repeated.

[0385] The following describes the sensing mode switching method provided by the embodiment of the present application through several specific embodiments:

[0386] Nodes participating in integrated perception / synaesthesia services in mobile communication networks can perform these services by sending / receiving signals between nodes or by autonomously transmitting and receiving signals. Because the state of the perceived target or the perceived environment may change, the network may need to switch between different perception methods and different perception nodes to ensure the performance of integrated perception / synaesthesia services. Currently, the relevant processes for these perception switching are not yet complete.

[0387] The embodiment of the present application defines a target indicator for assisting in switching the sensing mode. In the embodiment of the present application, the first device or the sensing source node (base station / UE) obtains the target indicator and decides whether to switch and selects a target sensing node based on the target indicator.

[0388] Switching the sensing mode in a mobile communication network can be switching from a first sensing mode to a second sensing mode. Figure 6 shows a schematic diagram of the switching. Considering that the sensing nodes in the network may change before and after the switching, and that the sensing node after the switching may be a base station or a UE, the above switching has six combinations. Specifically:

[0389] 1) Base station first perception, switching to base station-UE second perception (Case 1);

[0390] 2) Base station first perception, switching to base station-base station second perception (Case 2);

[0391] 3) UE first perception, switching to base station-UE second perception (Case 3);

[0392] 4) UE-first perception, switching to UE-UE-second perception (Case 4);

[0393] 5) Base station first perception, switching to UE-UE second perception (Case 5);

[0394] 6) UE first perception, switching to base station-base station second perception (Case 6).

[0395] Figure 7 shows a schematic diagram of different combinations in the above handover scenario, where base stations A, B, and C and UEs A, B, and C are used to distinguish each other in order to indicate that the sensing nodes may be different devices.

[0396] The following describes the switching steps, processes, and necessary information interactions for Case 1 to Case 6 through embodiments.

[0397] It should be noted that the first device in the embodiment of Figure 2 or Figure 4 or Figure 5 may include the first device in the following embodiment, the first perception node in the embodiment of Figure 2 or Figure 4 or Figure 5 may include the source node in the following embodiment, and the second perception node in the embodiment of Figure 2 or Figure 4 or Figure 5 may include the target node (i.e., target perception node) or candidate target node in the following embodiment.

[0398] Example 1:

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

[0400] Description of this embodiment: This embodiment describes the process and interactive content of a first node performing first perception and switching to a first node and a second node, or a second node and a third node performing second perception. The first node, the second node, and the third node can be a base station or a UE. In this embodiment, the node performing the first perception before switching is referred to as the source node (i.e., the first node), and the node performing the second perception after switching is referred to as the target node (including at least two of the first node, the second node, and the third node).

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

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

[0403] or,

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

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

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

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

[0408] 2) Handover measurement report configuration: including reporting principles, such as periodic reporting or event-triggered reporting; also including measurement report format, such as the maximum number of cells and beams reported;

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

[0410] 4) Measurement ID: measurement identification. Each measurement ID corresponds to a measurement object and a handover measurement report configuration.

[0411] The handover measurement report includes at least one of a measurement result of a perception measurement quantity required for handover measurement and a target indicator.

[0412] The awareness measurement quantity required for handover measurement may include the current awareness service awareness measurement quantity.

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

[0414] 1) The target indicator obtained by the source node meets the target condition. The explanation of the target indicator and the target condition has been described in the above embodiment and will not be repeated here.

[0415] 2) Detect changes in the target's state (including position, speed, etc.);

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

[0417] 4) Changes in the perceived area environment (such as obstructions);

[0418] 5) The communication measurement quantity obtained by the source node reaches a preset threshold. The communication measurement quantity includes at least one of the following: Reference Signal Received Power (RSRP), Signal Noise Ratio (SNR), Signal to Interference plus Noise Ratio (SINR), Reference Signal Received Quality (RSRQ), Received Signal Strength Indicator (RSSI), Bit Error Rate (BER), Block Error Rate (BER), Throughput, Spectral Efficiency, etc.

[0419] 6) Changes in the available sensing resources of the source node. For example, if other high-priority sensing / communication / synaesthesia services suddenly become available, it is necessary to evaluate whether to initiate a sensing handover process based on the remaining available sensing resources.

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

[0421] If the switch is not initiated, the subsequent processing may be to maintain or end the current first perception.

[0422] If a switch is initiated, the first device or source node determines which node switches to the second sensing mode. This is specifically divided into the following situations:

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

[0424] The source node sends a first request message to at least one candidate second node, wherein the first request message is for requesting the first request message recipient to perform a second second node-third node perception after the perception mode switching is completed. The candidate second node sends the first request message to at least one candidate third node;

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

[0426] Optionally, the source node sends first indication information to the first device, and the first indication information notifies the first indication information receiver to perform second perception of the second node-third node after the perception mode is switched.

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

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

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

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

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

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

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

[0434] Optionally, the source node sends second indication information to the first device, where the second indication information indicates a second indication information receiver, and the second indication information sender performs second perception after the perception mode switching is completed.

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

[0436] Optionally, the first request information may include a soft handover request.

[0437] It should be noted that the candidate target node may be determined based on at least one of the following information:

[0438] 1) Location information of candidate target nodes;

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

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

[0441] 4) Sensing capability information of candidate target nodes, including UE sensing coverage, maximum bandwidth available for sensing, maximum duration of sensing services, supported sensing signal types and frame formats, and UE antenna array information (array type, number of antennas, array aperture, antenna polarization characteristics, array element gain and directivity characteristics, etc.);

[0442] 5) Resource information currently available for sensing by the candidate target node, including time resources (number of symbols, number of time slots, number of frames, etc.), frequency resources (number of resource blocks (RBs), number of resource elements (REs), total bandwidth, available frequency band location, etc.), antenna resources (number of antennas / antenna subarrays), phase modulation resources (number of hardware phase shifters), orthogonal code resources (length and number of orthogonal codes), etc.

[0443] 6) Channel state information of the candidate target node, including at least one of the channel transfer function / channel impulse response, channel quality indicator (CQI), precoding matrix indicator (PMI), CSI-RS resource indicator, SSB resource indicator, layer indicator (LI), rank indicator (RI), and L1-RSRP of at least one communication link;

[0444] It should be noted that the first request information also includes at least one of the following information:

[0445] 1) Perception requirements, including the perception target area / object type, required perception function, perception purpose, perception results, etc.;

[0446] 2) Perception QoS, including at least one of the following: perception resolution (further divided into ranging resolution, angular resolution, velocity resolution, and imaging resolution), perception accuracy (further divided into ranging accuracy, angular accuracy, velocity accuracy, and positioning accuracy), perception range (further divided into ranging range, velocity range, angular range, and imaging range), perception latency (the time interval from the sending of a perception signal to the acquisition of a perception result, or the time interval from the initiation of a perception request to the acquisition of a perception result), perception update rate (the time interval between two consecutive perception operations and the acquisition of perception results), detection probability (the probability of correctly detecting a perception target when it is present), false alarm probability (the probability of incorrectly detecting a perception target when it is not present), perception security, and perception privacy.

[0447] 3) Perceptual measurement quantity (see the explanation of perceptual measurement quantity above);

[0448] 4) Perceptual measurement results, including perception results obtained directly or indirectly based on at least one perceptual measurement quantity;

[0449] 5) Perception conditions, including at least one of the following: perception start time, perception end time, and perception duration;

[0450] 6) Prior information on the perceived target or perceived area, including at least one item such as the perceived target type, the approximate location / area of ​​the perceived target, and the historical state of the perceived target (speed, angle, distance, acceleration, spatial orientation);

[0451] 7) Sensing mode switching success judgment condition, for example, indicating that the measurement result of at least one sensing measurement quantity and / or communication measurement quantity reaches a preset threshold or falls within a preset interval within a preset time / preset number of times.

[0452] Step (13): The candidate target node decides whether to accept the second sensing after switching the sensing mode, which is divided into the following two cases:

[0453] Case 1: The candidate target node agrees to switch and executes the following processes in sequence:

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

[0455] 2) After the candidate second node or source node receives the second response information sent by the candidate third node, it sends a first response information to the sender of the first request information (source node or first device). The first response information indicates the sender of the first request information that after the perception mode is switched, the sender of the first response information agrees to perform the second perception.

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

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

[0458] Optionally, the candidate third node feeds back suggested second parameter configuration information in the second response message. The second parameter configuration information is used by the candidate target node to configure the perception parameters for the second perception. The second parameter configuration information is sent by the candidate third node and is the parameter configuration of the target node suggested by the candidate third node. The target node ultimately decides whether to adopt the first parameter configuration information, the second parameter configuration information, or partially adopt the first and second parameter configuration information.

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

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

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

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

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

[0464] Case 2: At least one of the candidate target nodes disagrees with the switch:

[0465] Optionally, the candidate second node sends a first rejection message to the first request information sender (source node or first device), where the first rejection message indicates to the first request information sender that the first rejection message sender does not perform the second perception.

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

[0467] It should be noted that the candidate second node may not reply to the first rejection message, and when the source node or the first device times out, it is determined that the candidate second node does not agree to perform the second perception; the candidate third node may not reply to the second rejection message, and when the source node or the candidate second node times out, it is determined that the candidate third node does not agree to perform the second perception.

[0468] If no candidate first node or candidate second node agrees to perform the second perception within the preset waiting time, the subsequent processing may be one of the following: i. the source node or the first device re-determines the candidate second node; ii. the candidate second node re-determines the candidate third node; iii. the source node or the first device re-determines the candidate second node, and the candidate second node determines the candidate third node; iii. cancel the switch and maintain the current first perception; iv. end the current first perception.

[0469] Step (14): The source node or the first device determines a sensing node to perform the second sensing, which can be divided into the following two cases:

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

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

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

[0473] After receiving the first switching command, the target second node determines at least one target third node from the candidate third nodes as a sensing node for performing the second sensing after the switching. Further, the target second node sends a switching command to the target third node.

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

[0475] The source node or the first device determines at least one target second node among the candidate target second nodes and at least one target third node among the candidate target third nodes based on the received first response information as perception nodes that perform the second perception after switching.

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

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

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

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

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

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

[0482] After the target node obtains at least one perception measurement result and / or perception result, or after the obtained target indicator meets the target condition, the target node sends a handover success message to the source node or the first device.

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

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

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

[0486] Step 6: Optionally, the source node and / or the first device sends part or all of the historical sensing measurement quantities and / or historical sensing results, and sensing target / area priori information to the target node.

[0487] Example 2:

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

[0489] The difference between this embodiment and the first embodiment is that the description of the switching method is the process and interactive content of conditional switching. The corresponding term definitions are the same as those in the first embodiment and are not repeated in this embodiment.

[0490] Step (21): Same as step (11) in Example 1.

[0491] Step (22): Same as step (12) in Example 1.

[0492] Step (23): The candidate target node decides whether to accept the second sensing after switching the sensing mode. There are two cases:

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

[0494] Follow the steps below:

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

[0496] 23-2) After performing at least one perception measurement, the candidate target node sends a first response message to the source node or the first device, where the first response message indicates the sender of the first request message. After the perception mode is switched, the sender of the first response message agrees to perform the second perception.

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

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

[0499] 2) performing at least one second perception measurement result and / or perception result of the second perception;

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

[0501] 1) Second parameter configuration information: The second parameter configuration information is used by the target node to configure perception parameters for performing the second perception.

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

[0503] 3) Communication measurement results.

[0504] 23-3) The source node or the first device waits for the first response information from the candidate target node within a preset time. When the first response information sent by a candidate target node is received and meets the target condition, at least one candidate second node and / or candidate third node among the above candidate target nodes is selected as the perception node for performing the second perception after switching.

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

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

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

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

[0509] Optionally, the candidate third node sends a second rejection message to the second request information sender (source node or candidate second node), where the second rejection message indicates to the second request information sender that the second rejection message sender does not perform the second perception.

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

[0511] If no candidate target node agrees to perform the second perception within the preset waiting time, the subsequent processing may be one of the following: i. the source node re-determines the candidate third node; ii. the candidate second node re-determines the candidate third node; iii. the source node or the first device re-determines the candidate second node, and the candidate second node determines the candidate third node; iii. cancel the switch and maintain the current first perception; iv. end the current first perception.

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

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

[0514] Alternatively, the source node or the first device sends switching confirmation information to the target second node and the target third node.

[0515] Optionally, after determining the target node, the source node or the first device sends a handover cancellation message to other candidate target second nodes except the target second node. The handover cancellation message is used to notify the other candidate target nodes to cancel the second perception and release the reserved perception resources. After receiving the handover cancellation message, the other candidate target second nodes forward the handover cancellation message to the candidate target third nodes associated with them.

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

[0517] The candidate target second node and the candidate target third node receive the handover cancellation information, or release the reserved sensing resources after waiting for timeout.

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

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

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

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

[0522] Optionally, the source node or the first device sends part or all of the historical sensing measurement quantities and / or historical sensing results, and sensing target / area priori information to the target node.

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

[0524] The sensing mode switching method provided in the embodiment of the present application can be executed by a sensing mode switching device. In the embodiment of the present application, the sensing mode switching device executing the sensing mode switching method is taken as an example to illustrate the sensing mode switching device provided in the embodiment of the present application.

[0525] Please refer to FIG8 , which is a structural diagram of a sensing mode switching device provided in an embodiment of the present application. The first sensing node includes the sensing mode switching device. As shown in FIG8 , the sensing mode switching device 400 includes:

[0526] An acquisition module 401 is configured to acquire a first target indicator value;

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

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

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

[0530] The first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

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

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

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

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

[0535] A handover measurement report is sent to the first device, where content of the handover measurement report includes the first target indicator value.

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

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

[0538] The preset events include:

[0539] The second target indicator value obtained by the first sensing node meets the target condition;

[0540] The second target index value is a perception-related index value measured by the first perception node.

[0541] Optionally, when it is determined that the perception mode of the perception target is switched from the first perception mode to the second perception mode, the apparatus further includes:

[0542] A sending module, configured to send first request information to a candidate target node, wherein the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to a second sensing manner;

[0543] The receiving module is used to receive the first response information sent by the candidate target node and determine the target perception node based on the first response information.

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

[0545] A target perception node is selected from candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, and the third target indicator value is a perception-related indicator value measured by the candidate target node.

[0546] In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

[0547] Optionally, the first target indicator value, the second target indicator value, or the third target indicator value includes at least one of the following:

[0548] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

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

[0550] The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or

[0551] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0552] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

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

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

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

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

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

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

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

[0560] The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

[0561] Optionally, the target condition includes at least one of the following:

[0562] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period;

[0563] The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number;

[0564] A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period;

[0565] The number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number;

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

[0567] The number of times that the at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number;

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

[0569] The number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0570] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0571] The target measurement node obtains at least one perception measurement value a number of times within a first preset interval within a first preset time period, and obtains at least one communication measurement value a number of times within a fifth preset interval within a fifth preset time period, and reaches a fifth preset number of times;

[0572] The at least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0573] The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

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

[0575] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

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

[0577] The state of the perceived target changes;

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

[0579] The target indicator value includes a first target indicator value, a second target indicator value or a third target indicator value.

[0580] The sensing mode switching device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or chip. The electronic device can be a terminal, or it can be other devices other than a terminal. For example, the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiment of the present application.

[0581] The perception mode switching device provided in the embodiment of the present application can implement the various processes implemented in the method embodiment of Figure 2 and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0582] Please refer to FIG9 , which is a structural diagram of a sensing mode switching device provided in an embodiment of the present application. A first device includes the sensing mode switching device. As shown in FIG9 , the sensing mode switching device 500 includes:

[0583] An acquisition module 501 is configured to acquire a first target indicator value;

[0584] A switching module 502 is configured to determine whether to switch a sensing mode for a sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

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

[0586] The first target indicator value is a perception-related indicator value measured by a first perception node. In the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal.

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

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

[0589] Optionally, the device further comprises:

[0590] A first sending module is configured to send a handover measurement request to the first sensing node when a preset event occurs, wherein the handover measurement request is used to obtain the first target indicator value;

[0591] The preset events include:

[0592] The second target index value satisfies the target condition, and the second target index value is a perception-related index value measured by the first perception node.

[0593] Optionally, when it is determined that the perception mode of the perception target is switched from the first perception mode to the second perception mode, the apparatus further includes:

[0594] A second sending module is used to send a first request information to the candidate target node, where the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing method;

[0595] The receiving module is used to receive the first response information sent by the candidate target node and determine the target perception node based on the first response information.

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

[0597] A target perception node is selected from candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, and the third target indicator value is a perception-related indicator value measured by the candidate target node.

[0598] In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

[0599] Optionally, the first target indicator value, the second target indicator value, or the third target indicator value includes at least one of the following:

[0600] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

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

[0602] The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or

[0603] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0604] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

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

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

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

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

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

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

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

[0612] The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

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

[0614] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period;

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

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

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

[0618] At least one target indicator value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0619] The number of times that the at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number;

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

[0621] The number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0622] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0623] The target measurement node obtains at least one perception measurement value a number of times within a first preset interval within a first preset time period, and obtains at least one communication measurement value a number of times within a fifth preset interval within a fifth preset time period, and reaches a fifth preset number of times;

[0624] The at least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0625] The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

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

[0627] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

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

[0629] The state of the perceived target changes;

[0630] The positions of the nodes involved in sensing change;

[0631] The target indicator value includes a first target indicator value, a second target indicator value or a third target indicator value.

[0632] The sensing mode switching device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or chip. The electronic device can be a terminal, or it can be other devices other than a terminal. For example, the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiment of the present application.

[0633] The perception mode switching device provided in the embodiment of the present application can implement the various processes implemented in the method embodiment of Figure 4 and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0634] Please refer to FIG. 10 , which is a structural diagram of a sensing mode switching device provided in an embodiment of the present application. The second sensing node includes the sensing mode switching device. As shown in FIG. 10 , the sensing mode switching device 600 includes:

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

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

[0637] Upon receiving the first request information, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measurement value of the sensing measurement quantity, a sensing result, and a third target indicator value, and sends a first response information corresponding to the first request information, where the first request information is used to request the second sensing node to perform the sensing operation on the sensing target according to the second sensing method, and the first response information carries at least one of the measurement value of the sensing measurement quantity, the sensing result, and the third target indicator value, or the first response information indicates whether the second sensing node agrees to perform the sensing operation on the sensing target according to the second sensing method, and the third target indicator value is a sensing-related indicator value measured by the second sensing node;

[0638] Upon receiving the switching command, the second sensing node obtains a fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value, wherein the switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode, and the switching success message is used to indicate that the sensing mode of the sensing target is successfully switched from the first sensing mode to the second sensing mode, and the fourth target indicator value is a sensing-related indicator value measured by the second sensing node;

[0639] Among them, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes.

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

[0641] When the fourth target indicator value meets the target condition, a switching success message is sent to the first device or the first perception node.

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

[0643] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

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

[0645] The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or

[0646] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0647] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

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

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

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

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

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

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

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

[0655] The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

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

[0657] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period;

[0658] The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number;

[0659] A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period;

[0660] The number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number;

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

[0662] The number of times that the at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number;

[0663] The difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period;

[0664] The number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0665] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0666] The target measurement node obtains at least one perception measurement value a number of times within a first preset interval within a first preset time period, and obtains at least one communication measurement value a number of times within a fifth preset interval within a fifth preset time period, and reaches a fifth preset number of times;

[0667] The at least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0668] The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

[0669] A difference between at least one sensing result obtained by the target measurement node and a corresponding sensing result obtained by the first sensing node is maintained within a sixth preset interval within a sixth preset time period;

[0670] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

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

[0672] The state of the perceived target changes;

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

[0674] The target indicator value includes a third target indicator value or a fourth target indicator value.

[0675] The sensing mode switching device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or chip. The electronic device can be a terminal, or it can be other devices other than a terminal. For example, the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiment of the present application.

[0676] The perception mode switching device provided in the embodiment of the present application can implement the various processes implemented in the method embodiment of Figure 5 and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0677] As shown in Figure 11, an embodiment of the present application also provides a communication device 700, including a processor 701 and a memory 702, and the memory 702 stores a program or instruction that can be run on the processor 701. When the program or instruction is executed by the processor 701, the various steps of the above-mentioned perception mode switching method embodiment are implemented and the same technical effect can be achieved.

[0678] The present application also provides a terminal including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to execute a program or instruction to implement the steps in the method embodiments shown in Figures 2, 4, or 5. This terminal embodiment corresponds to the aforementioned terminal-side method embodiment, and each implementation process and implementation method of the aforementioned method embodiment can be applied to this terminal embodiment and achieve the same technical effects. Specifically, Figure 12 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of the present application.

[0679] The terminal 800 includes but is not limited to: a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809 and at least some of the components of the processor 810.

[0680] Those skilled in the art will appreciate that the terminal 800 may also include a power supply (such as a battery) to power various components. The power supply may be logically connected to the processor 810 through a power management system, thereby implementing functions such as charging, discharging, and power consumption management through the power management system. The terminal structure shown in Figure 12 does not constitute a limitation of the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be described in detail here.

[0681] It should be understood that in an embodiment of the present application, the input unit 804 may include a graphics processing unit (GPU) 8041 and a microphone 8042, and the graphics processor 8041 processes image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 806 may include a display panel 8061, and the display panel 8061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 807 includes a touch panel 8071 and at least one of other input devices 8072. The touch panel 8071 is also called a touch screen. The touch panel 8071 may include two parts: a touch detection device and a touch controller. Other input devices 8072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0682] In the embodiment of the present application, after receiving downlink data from a network-side device, the radio frequency unit 801 may transmit the data to the processor 810 for processing. Furthermore, the radio frequency unit 801 may send uplink data to the network-side device. Typically, the radio frequency unit 801 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, and the like.

[0683] The memory 809 can be used to store software programs or instructions and various data. The memory 809 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 809 may include a volatile memory or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 809 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0684] Processor 810 may include one or more processing units. Optionally, processor 810 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 810.

[0685] When the terminal is a first sensing node:

[0686] The processor 810 is used to:

[0687] Obtaining a first target indicator value;

[0688] Execute a first operation;

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

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

[0691] The first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target indicator value;

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

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

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

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

[0696] A handover measurement report is sent to the first device, where content of the handover measurement report includes the first target indicator value.

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

[0698] When a preset event occurs, performing switching measurement to obtain a first target indicator value;

[0699] The preset events include:

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

[0701] The second target index value is a perception-related index value measured by the first perception node.

[0702] Optionally, when it is determined that the sensing mode for the sensing target is switched from the first sensing mode to the second sensing mode, the radio frequency unit 801 is configured to:

[0703] Sending first request information to the candidate target node, where the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode;

[0704] Receive first response information sent by the candidate target node, and determine the target perception node based on the first response information.

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

[0706] A target perception node is selected from candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, and the third target indicator value is a perception-related indicator value measured by the candidate target node.

[0707] In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

[0708] Optionally, the first target indicator value, the second target indicator value, or the third target indicator value includes at least one of the following:

[0709] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

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

[0711] The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or

[0712] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0713] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

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

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

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

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

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

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

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

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

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

[0723] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period;

[0724] The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number;

[0725] A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period;

[0726] The number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number;

[0727] At least one target indicator value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0728] The number of times that the at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number;

[0729] The difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period;

[0730] The number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0731] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0732] The target measurement node obtains at least one perception measurement value a number of times within a first preset interval within a first preset time period, and obtains at least one communication measurement value a number of times within a fifth preset interval within a fifth preset time period, and reaches a fifth preset number of times;

[0733] The at least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0734] The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

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

[0736] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

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

[0738] The state of the perceived target changes;

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

[0740] The target indicator value includes a first target indicator value, a second target indicator value or a third target indicator value.

[0741] When the terminal is a first device:

[0742] The processor 810 is used to:

[0743] Obtaining a first target indicator value;

[0744] determining, based on the first target indicator value, whether to switch a sensing mode for the sensing target from a first sensing mode to a second sensing mode;

[0745] Wherein, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes;

[0746] The first target indicator value is a perception-related indicator value measured by a first perception node. In the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal.

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

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

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

[0750] When a preset event occurs, the first device sends a handover measurement request to the first sensing node, where the handover measurement request is used to obtain the first target indicator value;

[0751] The preset events include:

[0752] The second target index value satisfies the target condition, and the second target index value is a perception-related index value measured by the first perception node.

[0753] Optionally, when it is determined that the sensing mode for the sensing target is switched from the first sensing mode to the second sensing mode, the radio frequency unit 801 is configured to:

[0754] Sending first request information to the candidate target node, where the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode;

[0755] Receive first response information sent by the candidate target node, and determine the target perception node based on the first response information.

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

[0757] A target perception node is selected from candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, and the third target indicator value is a perception-related indicator value measured by the candidate target node.

[0758] In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

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

[0760] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

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

[0762] The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or

[0763] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0764] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

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

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

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

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

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

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

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

[0772] The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

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

[0774] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period;

[0775] The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number;

[0776] A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period;

[0777] The number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number;

[0778] At least one target indicator value obtained by the target measurement node remains within a third preset interval within a third preset time period;

[0779] The number of times that the at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number;

[0780] The difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period;

[0781] The number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0782] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0783] The target measurement node obtains at least one perception measurement value a number of times within a first preset interval within a first preset time period, and obtains at least one communication measurement value a number of times within a fifth preset interval within a fifth preset time period, and reaches a fifth preset number of times;

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

[0785] The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

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

[0787] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

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

[0789] The state of the perceived target changes;

[0790] The positions of the nodes involved in sensing change;

[0791] The target indicator value includes a first target indicator value, a second target indicator value or a third target indicator value.

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

[0793] The processor 810 is configured to:

[0794] performing a second operation;

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

[0796] Upon receiving the first request information, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measurement value of the sensing measurement quantity, a sensing result, and a third target indicator value, and sends a first response information corresponding to the first request information, where the first request information is used to request the second sensing node to perform the sensing operation on the sensing target according to the second sensing method, and the first response information carries at least one of the measurement value of the sensing measurement quantity, the sensing result, and the third target indicator value, or the first response information indicates whether the second sensing node agrees to perform the sensing operation on the sensing target according to the second sensing method, and the third target indicator value is a sensing-related indicator value measured by the second sensing node;

[0797] Upon receiving the switching command, the second sensing node obtains a fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value, wherein the switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode, and the switching success message is used to indicate that the sensing mode of the sensing target is successfully switched from the first sensing mode to the second sensing mode, and the fourth target indicator value is a sensing-related indicator value measured by the second sensing node;

[0798] Among them, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes.

[0799] Optionally, the radio frequency unit 801 is configured to:

[0800] When the fourth target indicator value meets the target condition, a switching success message is sent to the first device or the first perception node.

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

[0802] Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

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

[0804] The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or

[0805] The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value;

[0806] The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, where the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal;

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

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

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

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

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

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

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

[0814] The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

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

[0816] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period;

[0817] The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number;

[0818] A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period;

[0819] The number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number;

[0820] At least one target indicator value obtained by the target measurement node remains within a third preset interval within a third preset time period;

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

[0822] The difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period;

[0823] The number of times the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number;

[0824] The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0825] The target measurement node obtains at least one perception measurement value a number of times within a first preset interval within a first preset time period, and obtains at least one communication measurement value a number of times within a fifth preset interval within a fifth preset time period, and reaches a fifth preset number of times;

[0826] The at least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period;

[0827] The target measurement node obtains at least one target indicator value within a third preset interval a third preset number of times, and obtains at least one communication measurement value within a fifth preset interval a fifth preset number of times within a fifth preset time period;

[0828] A difference between at least one sensing result obtained by the target measurement node and a corresponding sensing result obtained by the first sensing node is maintained within a sixth preset interval within a sixth preset time period;

[0829] The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number;

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

[0831] The state of the perceived target changes;

[0832] The positions of the nodes involved in sensing change;

[0833] The target indicator value includes a third target indicator value or a fourth target indicator value.

[0834] It can be understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the method embodiment Figure 2 or Figure 4 or Figure 5, and achieve the same or corresponding technical effects. To avoid repetition, it will not be repeated here.

[0835] The present application also provides a network-side device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to execute a program or instruction to implement the steps of the method embodiment shown in Figures 2, 4, or 5. This network-side device embodiment corresponds to the aforementioned network-side device method embodiment, and each implementation process and implementation method of the aforementioned method embodiment is applicable to this network-side device embodiment and can achieve the same technical effects.

[0836] Specifically, embodiments of the present application also provide a network-side device. As shown in Figure 13, the network-side device 900 includes an antenna 91, a radio frequency device 92, a baseband device 93, a processor 94, and a memory 95. Antenna 91 is connected to radio frequency device 92. In the uplink direction, radio frequency device 92 receives information via antenna 91 and sends the received information to baseband device 93 for processing. In the downlink direction, baseband device 93 processes the information to be transmitted and sends it to radio frequency device 92. Radio frequency device 92 processes the received information and then sends it through antenna 91.

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

[0838] The baseband device 93 may include, for example, at least one baseband board, on which multiple chips are arranged, as shown in Figure 13, one of the chips is, for example, a baseband processor, which is connected to the memory 95 through a bus interface to call the program in the memory 95 and execute the network device operations shown in the above method embodiment.

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

[0840] Specifically, the network side device 900 of the embodiment of the present application also includes: instructions or programs stored in the memory 95 and can be run on the processor 94. The processor 94 calls the instructions or programs in the memory 95 to execute the methods executed by the modules shown in Figures 8, 9 or 10, and achieves the same technical effect. To avoid repetition, it will not be repeated here.

[0841] Specifically, the embodiment of the present application further provides a network side device. As shown in FIG14 , the network side device 1000 includes: a processor 1001, a network interface 1002, and a memory 1003. The network interface 1002 is, for example, a common public radio interface (CPRI).

[0842] Specifically, the network side device 1000 of the embodiment of the present application also includes: instructions or programs stored in the memory 1003 and can be run on the processor 1001. The processor 1001 calls the instructions or programs in the memory 1003 to execute the methods executed by the modules shown in Figures 8, 9 or 10, and achieves the same technical effect. To avoid repetition, it will not be repeated here.

[0843] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned perception mode switching method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0844] The processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. In some examples, the readable storage medium may be a non-transitory readable storage medium.

[0845] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned perception mode switching method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0846] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

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

[0848] An embodiment of the present application also provides a perception mode switching system, including: a first node, a first perception node and a second perception node, wherein the first node can be used to execute the steps of the perception mode switching method applied to the first node as described above, the first perception node can be used to execute the steps of the perception mode switching method applied to the first perception node as described above, and the second perception node can be used to execute the steps of the perception mode switching method applied to the second perception node as described above.

[0849] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0850] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general-purpose hardware platform, or of course, by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes a number of instructions for enabling a terminal or network-side device to execute the methods described in each embodiment of the present application.

[0851] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of this application and the scope of protection of the claims. These implementation methods are all within the protection of this application.

Claims

1. A perception mode switching method, comprising: The first sensing node obtains a first target indicator value; The first sensing node performs a first operation; The first operation includes at least one of the following: The first sensing node sends the first target indicator value to the first device; The first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target indicator value; The first target index value is a perception-related index value measured by the first sensing node, and the first target index value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; In the first perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are the same node, and in the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal; In the second perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are different nodes.

2. The method according to claim 1, wherein: The first sensing node sending the first target indicator value to the first device includes: The first sensing node sends a switching measurement report to the first device, and the content of the switching measurement report includes the first target indicator value.

3. The method according to claim 1 or 2, wherein: The first sensing node obtains a first target indicator value, including: When a preset event occurs, the first sensing node performs switching measurement to obtain a first target indicator value; The preset events include: The second target indicator value obtained by the first sensing node meets the target condition; The second target index value is a perception-related index value measured by the first perception node.

4. The method according to any one of claims 1 to 3, wherein: In the case where it is determined to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the method further includes: The first sensing node sends first request information to the candidate target node, where the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing method; The first sensing node receives the first response information sent by the candidate target node, and determines the target sensing node based on the first response information.

5. The method according to claim 4, wherein: The determining of the target sensing node based on the first response information includes at least one of the following: Selecting a target perception node from the candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, wherein the third target indicator value is a perception-related indicator value measured by the candidate target node; In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

6. The method according to claim 4 or 5, wherein: The first target indicator value, the second target indicator value, or the third target indicator value includes at least one of the following: Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

7. The method according to claim 6, wherein: The received power-related index value includes: a first index value; or The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value; The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, and the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal; The second indicator value is determined based on the difference between the total received power and the first indicator value; The third indicator value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on a quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

8. The method according to claim 3 or 5, wherein: The target condition includes at least one of the following: The measurement value of at least one sensing measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period; The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number; A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of a corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period; The number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number; At least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period; The number of times that at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number; The difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period; The number of times that the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number; The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period; The number of measurement values ​​of at least one perception measurement quantity obtained by the target measurement node in the first preset time period and in the first preset interval reaches the first preset number of times, and the number of measurement values ​​of at least one communication measurement quantity obtained in the fifth preset time period and in the fifth preset interval reaches the fifth preset number of times; The at least one target indicator value obtained by the target measurement node is maintained within the third preset interval within the third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within the fifth preset interval within the fifth preset time period; The number of times that the target measurement node obtains at least one target indicator value in a third preset interval within a third preset time period reaches a third preset number, and the number of times that the target measurement node obtains at least one communication measurement value in a fifth preset interval within a fifth preset time period reaches a fifth preset number; The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is maintained within a sixth preset interval within a sixth preset time period; The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number of times; The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the sensing QoS; The state of the perceived target changes; The positions of nodes involved in sensing change; The target indicator value includes a first target indicator value, a second target indicator value or a third target indicator value.

9. A method for switching a sensing mode, comprising: The first device obtains a first target indicator value; The first device determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target indicator value; Wherein, in the first perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are the same node, and in the second perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are different nodes; The first target indicator value is a perception-related indicator value measured by a first perception node. In the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal.

10. The method according to claim 9, wherein: The first device obtains a first target indicator value, including: The first device receives a switching measurement report sent by a first perception node, and content of the switching measurement report includes the first target indicator value.

11. The method according to claim 9 or 10, wherein: Before the first device acquires the first target indicator value, the method further includes: When a preset event occurs, the first device sends a handover measurement request to the first sensing node, where the handover measurement request is used to obtain the first target indicator value; The preset events include: The second target index value satisfies the target condition, and the second target index value is a perception-related index value measured by the first perception node.

12. The method according to any one of claims 9 to 11, wherein: In the case where it is determined to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the method further includes: The first device sends first request information to the candidate target node, where the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing method; The first device receives first response information sent by the candidate target node, and determines a target sensing node based on the first response information.

13. The method according to claim 12, wherein: The determining of the target sensing node based on the first response information includes at least one of the following: Selecting a target perception node from the candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, wherein the third target indicator value is a perception-related indicator value measured by the candidate target node; In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

14. The method according to claim 12 or 13, wherein: The first target indicator value, the second target indicator value, or the third target indicator value includes at least one of the following: Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

15. The method according to claim 14, wherein: The received power-related index value includes: a first index value; or The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value; The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, and the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal; The second indicator value is determined based on the difference between the total received power and the first indicator value; The third indicator value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on a quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

16. The method according to claim 11 or 13, wherein: The target condition includes at least one of the following: The measurement value of at least one sensing measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period; The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number; A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of a corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period; The number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number; At least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period; The number of times that at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number; The difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period; The number of times that the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number; The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period; The number of measurement values ​​of at least one perception measurement quantity obtained by the target measurement node in the first preset time period and in the first preset interval reaches the first preset number of times, and the number of measurement values ​​of at least one communication measurement quantity obtained in the fifth preset time period and in the fifth preset interval reaches the fifth preset number of times; The at least one target indicator value obtained by the target measurement node is maintained within the third preset interval within the third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within the fifth preset interval within the fifth preset time period; The number of times that the target measurement node obtains at least one target indicator value in a third preset interval within a third preset time period reaches a third preset number, and the number of times that the target measurement node obtains at least one communication measurement value in a fifth preset interval within a fifth preset time period reaches a fifth preset number; The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is maintained within a sixth preset interval within a sixth preset time period; The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number of times; The perception parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the perception service quality QoS; The state of the perceived target changes; The positions of nodes involved in sensing change; The target indicator value includes a first target indicator value, a second target indicator value or a third target indicator value.

17. A method for switching a sensing mode, comprising: The second sensing node performs a second operation; The second operation includes at least one of the following: In the case of receiving the first request information, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measurement value, a sensing result, and a third target indicator value of the sensing measurement quantity, and sends a first response information corresponding to the first request information, where the first request information is used to request the second sensing node to perform a sensing operation on the sensing target according to the second sensing method, and the first response information carries at least one of the measurement value, the sensing result, and the third target indicator value of the sensing measurement quantity, or the first response information indicates whether the second sensing node agrees to perform a sensing operation on the sensing target according to the second sensing method, and the third target indicator value is a sensing-related indicator value measured by the second sensing node; In the case of receiving the switching command, the second sensing node obtains the fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value, wherein the switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode, and the switching success message is used to indicate that the sensing mode of the sensing target is successfully switched from the first sensing mode to the second sensing mode, and the fourth target indicator value is a sensing-related indicator value measured by the second sensing node; Among them, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes.

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

19. The method according to claim 18, wherein: The third target indicator value or the fourth target indicator value includes at least one of the following: Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

20. The method according to claim 19, wherein: The received power-related index value includes: a first index value; or The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value; The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, and the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal; The second indicator value is determined based on the difference between the total received power and the first indicator value; The third indicator value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on a quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

21. The method according to any one of claims 18 to 20, wherein: The target condition includes at least one of the following: The measurement value of at least one sensing measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period; The number of times that the measurement value of at least one sensing measurement quantity obtained by the target measurement node is within a first preset interval within a first preset time period reaches a first preset number; A difference between a measurement value of at least one sensing measurement quantity obtained by the target measurement node and a measurement value of a corresponding sensing measurement quantity obtained by the first sensing node is maintained within a second preset interval within a second preset time period; The number of times that the difference between the measurement value of at least one sensing measurement quantity obtained by the target measurement node and the measurement value of the corresponding sensing measurement quantity obtained by the first sensing node is within the second preset interval within the second preset time period reaches the second preset number; At least one target indicator value obtained by the target measurement node is maintained within a third preset interval within a third preset time period; The number of times that at least one target indicator value obtained by the target measurement node is within a third preset interval within a third preset time period reaches a third preset number; The difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is maintained within a fourth preset interval within a fourth preset time period; The number of times that the difference between at least one target indicator value obtained by the target measurement node and the corresponding target indicator value obtained by the first sensing node is within a fourth preset interval within a fourth preset time period reaches a fourth preset number; The measurement value of at least one perception measurement quantity obtained by the target measurement node is maintained within a first preset interval within a first preset time period, and the measurement value of at least one communication measurement quantity obtained is maintained within a fifth preset interval within a fifth preset time period; The number of measurement values ​​of at least one perception measurement quantity obtained by the target measurement node in the first preset time period and in the first preset interval reaches the first preset number of times, and the number of measurement values ​​of at least one communication measurement quantity obtained in the fifth preset time period and in the fifth preset interval reaches the fifth preset number of times; The at least one target indicator value obtained by the target measurement node is maintained within the third preset interval within the third preset time period, and the measurement value of the at least one communication measurement quantity obtained is maintained within the fifth preset interval within the fifth preset time period; The number of times that the target measurement node obtains at least one target indicator value in a third preset interval within a third preset time period reaches a third preset number, and the number of times that the target measurement node obtains at least one communication measurement value in a fifth preset interval within a fifth preset time period reaches a fifth preset number; The difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is maintained within a sixth preset interval within a sixth preset time period; The number of times that the difference between at least one sensing result obtained by the target measurement node and the corresponding sensing result obtained by the first sensing node is within a sixth preset interval within a sixth preset time period reaches a sixth preset number of times; The sensing parameter configuration information used by at least one target measurement node meets the minimum configuration requirements of the sensing QoS; The state of the perceived target changes; The positions of nodes involved in sensing change; Wherein, the target indicator value includes a third target indicator value or a fourth target indicator value.

22. A sensing mode switching device, wherein a first sensing node comprises the sensing mode switching device, wherein: The sensing mode switching device comprises: An acquisition module, used to acquire a first target indicator value; An execution module, configured to execute a first operation; The first operation includes at least one of the following: The first sensing node sends the first target indicator value to the first device; The first sensing node determines whether to switch a sensing mode of the sensing target from a first sensing mode to a second sensing mode based on the first target indicator value; The first target index value is a perception-related index value measured by the first sensing node, and the first target index value is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; In the first perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are the same node, and in the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal; In the second perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are different nodes.

23. The device according to claim 22, wherein: The acquisition module is specifically used for: When a preset event occurs, the first sensing node performs switching measurement to obtain a first target indicator value; The preset events include: The second target indicator value obtained by the first sensing node meets the target condition; The second target index value is a perception-related index value measured by the first perception node.

24. The device according to claim 22 or 23, wherein: In the case where it is determined that the sensing mode for the sensing target is switched from the first sensing mode to the second sensing mode, the device further includes: A sending module, used to send first request information to the candidate target node, where the first request information is used to request the candidate target node to perform a sensing operation on the sensing target according to the second sensing mode; The receiving module is used to receive the first response information sent by the candidate target node and determine the target perception node based on the first response information.

25. The device according to claim 24, wherein: The determining of the target sensing node based on the first response information includes at least one of the following: Selecting a target perception node from the candidate target nodes whose first response information meets the target condition, wherein the first response information includes at least one of a measurement value of a perception measurement quantity, a perception result, and a third target indicator value, wherein the third target indicator value is a perception-related indicator value measured by the candidate target node; In a case where the first response information indicates that the candidate target node agrees to perform a sensing operation on the sensing target according to the second sensing manner, a target sensing node is selected from the candidate target nodes based on the node-related information of the candidate target node.

26. The device according to claim 25, wherein The first target indicator value, the second target indicator value, or the third target indicator value includes at least one of the following: Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

27. The device according to claim 26, wherein: The received power-related index value includes: a first index value; or The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value; The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, and the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal; The second indicator value is determined based on the difference between the total received power and the first indicator value; The third indicator value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on a quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

28. A sensing mode switching device, wherein a first device comprises the sensing mode switching device, wherein: The sensing mode switching device comprises: An acquisition module, used to acquire a first target indicator value; A switching module, used for determining whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode based on the first target indicator value; Wherein, in the first perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are the same node, and in the second perception mode, a signal sending node of the first signal and a signal receiving node of the first signal are different nodes; The first target indicator value is a perception-related indicator value measured by a first perception node. In the first perception mode, the first perception node is a signal sending node and a signal receiving node of the first signal.

29. The device according to claim 28, wherein The device also includes: A first sending module, configured to send a switching measurement request to the first sensing node when a preset event occurs, wherein the switching measurement request is used to obtain the first target indicator value; The preset events include: The second target index value satisfies the target condition, and the second target index value is a perception-related index value measured by the first perception node.

30. The device according to claim 29, wherein: The first target indicator value, the second target indicator value, or the third target indicator value includes at least one of the following: Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

31. The device according to claim 30, wherein The received power-related index value includes: a first index value; or The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value; The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, and the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal; The second indicator value is determined based on the difference between the total received power and the first indicator value; The third indicator value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on a quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

32. A sensing mode switching device, wherein the second sensing node comprises the sensing mode switching device, wherein: The sensing mode switching device comprises: An execution module, configured to execute a second operation; The second operation includes at least one of the following: In the case of receiving the first request information, the second sensing node performs a sensing operation on the sensing target according to the second sensing method, obtains at least one of a measurement value, a sensing result, and a third target indicator value of the sensing measurement quantity, and sends a first response information corresponding to the first request information, where the first request information is used to request the second sensing node to perform a sensing operation on the sensing target according to the second sensing method, and the first response information carries at least one of the measurement value, the sensing result, and the third target indicator value of the sensing measurement quantity, or the first response information indicates whether the second sensing node agrees to perform a sensing operation on the sensing target according to the second sensing method, and the third target indicator value is a sensing-related indicator value measured by the second sensing node; In the case of receiving the switching command, the second sensing node obtains the fourth target indicator value, and determines whether to send a switching success message based on the fourth target indicator value, wherein the switching command is used to notify the second sensing node to perform a sensing operation on the sensing target according to the second sensing mode, and the switching success message is used to indicate that the sensing mode of the sensing target is successfully switched from the first sensing mode to the second sensing mode, and the fourth target indicator value is a sensing-related indicator value measured by the second sensing node; Among them, in the first perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are the same node, and in the second perception mode, the signal sending node of the first signal and the signal receiving node of the first signal are different nodes.

33. The device according to claim 32, wherein: The execution module is specifically used for: When the fourth target indicator value meets the target condition, a switching success message is sent to the first device or the first perception node.

34. The device according to claim 33, wherein The third target indicator value or the fourth target indicator value includes at least one of the following: Index values ​​related to received power; index values ​​related to interference or noise power; index values ​​related to both received power and interference or noise power.

35. The device according to claim 34, wherein The received power-related index value includes: a first index value; or The interference or noise power-related index value includes at least one of the following: a second index value, a third index value, and a fourth index value; or The index values ​​related to both the received power and the interference or noise power include at least one of the following: a fifth index value, a sixth index value, a seventh index value, and an eighth index value; The first indicator value is determined based on a linear average value of received power on a resource unit carrying the first signal, and the received power is the received power of a path associated with a sensing target in a channel response measured for the first signal; The second indicator value is determined based on the difference between the total received power and the first indicator value; The third indicator value is determined based on the difference between the total received power and the received power of the first signal; The fourth index value is determined based on the difference between the received power of the first signal and the first index value; The fifth index value is determined based on the quotient of the first index value and the second index value; The sixth index value is determined based on a quotient of the first index value and the third index value; The seventh index value is determined based on the quotient of the first index value and the fourth index value; The eighth index value is determined based on the quotient of the first index value and the total received power; The total received power is the linear average of all received powers on the time-frequency domain resource units carrying the first signal.

36. A communication device, comprising a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the program or instruction implements the steps of the perception mode switching method as described in any one of claims 1 to 8, or implements the steps of the perception mode switching method as described in any one of claims 9 to 16, or implements the steps of the perception mode switching method as described in any one of claims 17 to 21.

37. A chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the steps of the perception mode switching method as described in any one of claims 1 to 8, or to implement the steps of the perception mode switching method as described in any one of claims 9 to 16, or to implement the steps of the perception mode switching method as described in any one of claims 17 to 21.

38. A readable storage medium storing a program or instruction, wherein the program or instruction, when executed by a processor, implements the steps of the perception mode switching method as described in any one of claims 1 to 8, or implements the steps of the perception mode switching method as described in any one of claims 9 to 16, or implements the steps of the perception mode switching method as described in any one of claims 17 to 21.

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