Sensing service execution method, apparatuses, device, and medium

Abstract

The present application relates to the field of sensing, and discloses a sensing service execution method, apparatuses, a device, and a medium. The method is executed by a first node. The method comprises: acquiring first information sent by a source sensing node and / or candidate sensing nodes, wherein the first information is used for determining whether to switch the source sensing node to a target sensing node, the target sensing node is all or some of nodes among the candidate sensing nodes, and the source sensing node and the target sensing node are used for executing a sensing service on a first sensing target. According to the method provided in the present application, the first node controls the sensing node to perform switching, so that the sensing target can be uniquely identified when switching between different sensing nodes is performed, thereby maintaining the continuity of the sensing service.

Description

Method, device, equipment and medium for executing perception service Technical Field

[0001] The present application relates to the field of perception, and in particular to a method, apparatus, device and medium for executing a perception service. Background Art

[0002] One of the new technologies proposed by the 3GPP (Third Generation Partnership Project) is to integrate wireless sensing with mobile communications to achieve converged sensing communication services. Using higher frequency bands, wider bandwidths, and larger antenna arrays, the entire communication system can be used as a sensor to achieve high-precision, high-resolution perception.

[0003] For the communication service of converged perception, during the execution of the perception service, the perception target may be in a state of constant movement, and the perception target can be switched between different perception nodes.

[0004] However, when the perception target is a target that does not have the ability to send or receive signals, the perception target moves between different perception nodes. How to uniquely identify the perception target between different perception nodes and maintain the continuity of the perception service is a problem that needs to be solved urgently.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method, apparatus, device, and medium for executing a sensing service. The technical solution is as follows:

[0007] According to one aspect of an embodiment of the present application, a method for executing a sensing service is provided. The method is executed by a first node, and the method includes:

[0008] Acquiring first information sent by a source sensing node and / or a candidate sensing node, where the first information is used to determine whether to switch the source sensing node to a target sensing node;

[0009] The target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform a sensing service on a first sensing target.

[0010] According to one aspect of an embodiment of the present application, a method for executing a sensing service is provided. The method is executed by a source sensing node, and the method includes:

[0011] Sending first information to the first node;

[0012] The first information is used to determine whether to switch the source perception node to a target perception node; the target perception node is all or part of the candidate perception nodes, and the source perception node and the target perception node are used to perform perception services on the first perception target.

[0013] According to one aspect of an embodiment of the present application, a method for executing a sensing service is provided. The method is executed by a candidate sensing node, and the method includes:

[0014] Sending first information to the first node;

[0015] The first information is used to determine whether to switch the source perception node to a target perception node; the target perception node is all or part of the candidate perception nodes, and the source perception node and the target perception node are used to perform perception services on the first perception target.

[0016] According to one aspect of an embodiment of the present application, a first node device is provided, the device including:

[0017] an acquisition module, configured to acquire first information sent by a source sensing node and / or a candidate sensing node, wherein the first information is used to determine whether to switch the source sensing node to a target sensing node;

[0018] The target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform a sensing service on a first sensing target.

[0019] According to one aspect of an embodiment of the present application, a source sensing node device is provided, the device comprising:

[0020] A first sending module, configured to send first information to a first node;

[0021] The first information is used to determine whether to switch the source perception node to a target perception node; the target perception node is all or part of the candidate perception nodes, and the source perception node and the target perception node are used to perform perception services on the first perception target.

[0022] According to one aspect of an embodiment of the present application, a candidate sensing node device is provided, the device comprising:

[0023] A second sending module, configured to send first information to the first node;

[0024] The first information is used to determine whether to switch the source perception node to a target perception node; the target perception node is all or part of the candidate perception nodes, and the source perception node and the target perception node are used to perform perception services on the first perception target.

[0025] According to one aspect of the present application, a perception device is provided, wherein the communication device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the above-mentioned method for executing the perception service.

[0026] According to one aspect of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used to be executed by a processor to implement the above-mentioned method for executing the perception service.

[0027] According to one aspect of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When the chip is running, it is used to implement the execution method of the above-mentioned perception service.

[0028] According to one aspect of the present application, a computer program product is provided, which includes computer instructions stored in a computer-readable storage medium. A processor reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned method for executing the perception service.

[0029] The technical solutions provided in the embodiments of the present application can bring the following beneficial effects:

[0030] By obtaining first information sent by a source sensing node and / or a candidate sensing node, the first node determines, based on the first information, whether to switch the source sensing node to a target sensing node. The target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform sensing services for the sensing target. When the sensing target moves between the source sensing node and the candidate sensing node, the first node appropriately switches sensing nodes during the movement of the sensing target to ensure that each sensing node can uniquely identify the sensing target, thereby ensuring continuity of the sensing service. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] FIG1 shows a schematic diagram of the architecture of a communication system provided by an exemplary embodiment of the present application;

[0033] FIG2 is a schematic diagram showing a 5G (5th Generation Mobile Communication Technology) system architecture provided by an exemplary embodiment of the present application;

[0034] FIG3 shows a schematic diagram of device-free perception / device-based perception provided by an exemplary embodiment of the present application;

[0035] FIG4 shows a schematic diagram of a wireless sensing mode provided by an exemplary embodiment of the present application;

[0036] FIG5 shows a flow chart of perception triggered by AF (Application Function) provided by an exemplary embodiment of the present application;

[0037] FIG6 shows a UE-triggered perception flow chart provided by an exemplary embodiment of the present application;

[0038] FIG7 shows a flowchart of a UE-2-UE sensing mode controlled by a SF (Sensing Function) provided by an exemplary embodiment of the present application;

[0039] FIG8 shows a schematic diagram of a coverage scenario of a terminal device provided by an exemplary embodiment of the present application;

[0040] FIG9 shows a flowchart of a UE-independent perception service provided by an exemplary embodiment of the present application;

[0041] FIG10 shows a flow chart of terminal-independent UE-2-UE air interface perception provided by an exemplary embodiment of the present application;

[0042] FIG11 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application;

[0043] FIG12 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application;

[0044] FIG13 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application;

[0045] FIG14 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application;

[0046] FIG15 shows a flowchart of a method for executing a perception service provided by an exemplary embodiment of the present application;

[0047] FIG16 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application;

[0048] FIG17 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application;

[0049] FIG18 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application;

[0050] FIG19 shows a structural block diagram of a first node device provided by an exemplary embodiment of the present application;

[0051] FIG20 shows a structural block diagram of a source sensing node device provided by an exemplary embodiment of the present application;

[0052] FIG21 shows a structural block diagram of a candidate sensing node device provided by an exemplary embodiment of the present application;

[0053] FIG22 shows a structural block diagram of a sensing device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0054] To make the objectives, technical solutions, and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Exemplary embodiments will be described in detail herein, with examples shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0055] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0056] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0057] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0058] Before introducing the technical solutions of this application, we first introduce and explain some of the background technologies involved in this application. The following related technologies can be combined with the technical solutions of the embodiments of this application as optional solutions, and they all fall within the scope of protection of the embodiments of this application. The embodiments of this application include at least some of the following contents.

[0059] FIG1 shows a schematic diagram of the architecture of a communication system provided by an exemplary embodiment of the present application. The communication system 100 may include: a terminal device 10 , an access network device 20 , and a core network element 30 .

[0060] The terminal device 10 may refer to a UE, a STA (Station), an access terminal, a user unit, a user station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a wireless communication device, a user agent, or a user apparatus. In some embodiments, the terminal device 10 may also be a cellular phone, a cordless phone, a SIP (Session Initiation Protocol) phone, a WLL (Wireless Local Loop) station, a PDA (Personal Digital Assistant), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, a terminal device in a 5GS (5th Generation System) or a terminal device in a future evolved PLMN (Public Land Mobile Network), etc., and the embodiments of the present application are not limited thereto. For ease of description, the above-mentioned devices are collectively referred to as terminal devices. The number of terminal devices 10 is generally multiple, and one or more terminal devices 10 may be distributed in each cell managed by an access network device 20. The terminal device may also be referred to as a terminal or UE for short, and those skilled in the art will understand its meaning. In the embodiment of the present application, the terminal device refers to a sensing target that does not have the ability to send or receive signals.

[0061] The access network device 20 is a device deployed in the access network to provide wireless communication functions for the terminal device 10. The access network device 20 may include various forms of macro base stations, micro base stations, relay stations, etc. In systems using different wireless access technologies, the names of devices with access network device functions may be different. For example, in the 5G NR system, it is called gNodeB (the Next Generation Node B, next generation base station) or gNB (Next Generation Node B, next generation base station). With the evolution of communication technology, the name "access network device" may change. For the convenience of description, in the embodiment of the present application, the access network device 20 refers to the source perception node and candidate perception node that provide perception services for the perception target.

[0062] In some embodiments, a communication relationship can be established between the terminal device 10 and the core network element 30 through the access network device 20. For example, in an LTE (Long Term Evolution) system, the access network device 20 can be an Evolved Universal Terrestrial Radio Access Network (EUTRAN) or one or more eNodeBs in the EUTRAN; in a 5G NR (New Radio) system, the access network device 20 can be a RAN (Radio Access Network) or one or more gNBs in the RAN.

[0063] The core network element 30 is a network element deployed in the core network. The main function of the core network element 30 is to provide user connection, user management, and service bearer, and to provide an interface to the external network as a bearer network. For example, the core network elements in the 5G NR system may include network elements such as the SF, AMF entity, UPF (User Plane Function) entity, and SMF (Session Management Function) entity. In the embodiments of the present application, unless otherwise specified, the "network device" refers to the perception service node, that is, the first node.

[0064] In some embodiments, the access network device 20 and the core network element 30 communicate with each other via an air interface technology, such as the NG interface in the 5G NR system. The access network device 20 and the terminal device 10 communicate with each other via an air interface technology, such as the Uu interface.

[0065] The "5G NR system" in the embodiments of the present application may also be referred to as a 5G system or an NR system, but those skilled in the art will understand its meaning. The technical solutions described in the embodiments of the present application may be applicable to LTE systems, 5G NR systems, and subsequent evolution systems of 5G NR systems (e.g., B5G (Beyond 5G) systems, 6G systems (6th Generation System, sixth generation mobile communication systems)), and other communication systems such as NB-IoT (Narrow Band Internet of Things) systems, which are not limited in this application.

[0066] In an embodiment of the present application, the network device can provide services for a cell, and the terminal device communicates with the network device through the transmission resources (for example, frequency domain resources, or spectrum resources) on the carrier used by the cell. The cell can be a cell corresponding to the access network device (for example, a base station). The cell can belong to a macro base station or a base station corresponding to a small cell. The small cells here may include: metro cell, micro cell, pico cell, femto cell, etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-speed data transmission services.

[0067] Before introducing the technical solutions of this application, we first introduce and explain some of the relevant technical knowledge involved in this application. The following related technologies can be combined with the technical solutions of the embodiments of this application as optional solutions, and they all fall within the scope of protection of the embodiments of this application. The embodiments of this application include at least part of the following contents.

[0068] The 5G network system architecture is shown in Figure 2. Among them, the UE connects to the AN at the access layer through the Uu port, exchanges access layer messages and wireless data transmission, and connects to the AMF at the non-access layer (None Access Stratum, NAS) through the N1 port, and exchanges NAS messages. AMF is the mobility management function in the core network equipment, and SMF is the session management function in the core network equipment. In addition to managing the mobility of the UE, the AMF is also responsible for forwarding session management-related messages between the UE and the SMF. PCF (Policy Control Function) is a policy management function in the core network equipment, which is responsible for formulating policies related to UE mobility management, session management, billing, etc. UPF is a user plane function in the core network equipment, which transmits data with the external data network through the N6 interface and with the AN (Access Network) through the N3 interface.

[0069] Current cellular networks, including 5G networks, are used solely for communication. However, the radio electromagnetic wave signals used by cellular networks can be used not only for wireless data transmission and communication but also for environmental perception, such as user motion or gesture recognition, respiratory monitoring, device speed measurement, environmental imaging, and weather monitoring. Therefore, future cellular networks could be considered for use not only for communication and data transmission but also for acquiring sensory information. Table 1 lists some sensory information at different levels.

[0070] Table 1: Perceptual information at different levels

[0071] 1. Definition of Wireless Sensing

[0072] In the integration of communication and perception, the perception capability focuses on wireless signal perception, that is, by analyzing the direct, reflected, and scattered signals of radio waves, the perception of the environment and / or target object information in the environment (such as attributes and status, etc.) is obtained, and the positioning, ranging, speed measurement, imaging, detection, identification, environmental reconstruction and other functions are completed to realize the perception exploration of the physical world.

[0073] Passive perception: A sensing node (on the network side or at the terminal) senses by acquiring electromagnetic waves (such as terahertz waves) emitted by the target object or by reflecting electromagnetic waves from outside the sensing node and the target object. This is an example of China's passive imaging sensing technology for radio astronomy.

[0074] Active sensing: A transmitting node (network or terminal) transmits electromagnetic waves. After reflection from a target object, a receiving node receives the echo for sensing. This is an example of active radar-based sensing technology that transmits a detection signal. The node that receives the reflected wave is not necessarily the same node that sent the detection signal. In other words, multiple sensing nodes can achieve active sensing through some form of joint processing.

[0075] 2. Perception scenarios and use cases

[0076] In smart transportation scenarios, based on integrated communication and perception base stations or collaboration between base stations, perception of the road environment is achieved, high-precision map construction is effectively realized, and beyond-line-of-sight assistance is provided for the safe operation of autonomous vehicles; based on integrated communication and perception base stations or collaboration between base stations, all-round, all-weather, and uninterrupted detection of the movement trajectory and speed of moving vehicles is achieved, and the perception information is uploaded to the processing center, comprehensively improving the intelligent perception capability of the operation status of highways and providing data support for road supervision; based on integrated communication and perception base stations, perception of the railway track environment is achieved, and all-weather foreign object intrusion detection around high-speed railways is realized.

[0077] In smart low-altitude scenarios, all-round and multi-angle perception of the airspace is carried out based on an integrated communication and perception base station or collaboration between base stations, and the perception results are provided to drones. This can provide redundancy for obstacle avoidance warning and improve the success rate of drone obstacle avoidance. Based on an integrated communication and perception base station or collaboration between base stations, full airspace perception is carried out to locate and track drones that intrude into the regulatory range, thereby realizing drone intrusion monitoring for fixed areas.

[0078] In smart life scenarios, based on the collaboration between base stations and terminals, or the spontaneous transmission and reception of terminals, or the collaborative working mode between terminals, breathing monitoring, fitness monitoring, gesture / posture recognition, etc. are carried out by sensing changes in wireless channels. Based on the integrated communication perception base station or the collaboration between base stations, the signal link attenuation in the communication link is measured, and then the relationship between signal link attenuation and weather indicators is analyzed to obtain the corresponding weather indicators for weather monitoring.

[0079] In smart network scenarios, information such as the density and location of idle terminals in a cell can be obtained based on integrated communication-aware base stations or collaboration between base stations to assist in energy conservation and optimization of base station resource scheduling within the cell.

[0080] In smart transportation scenarios, continuous tracking of vehicles and real-time dynamic monitoring of vehicle status can be achieved based on integrated communication and perception base stations or collaboration between base stations. For vehicles with wireless communication capabilities, vehicle perception accuracy can also be improved through vehicle collaborative perception.

[0081] In smart low-altitude scenarios, based on integrated communication and perception base stations or collaboration between base stations, drones that intrude into the regulatory area are located and tracked, and then actions are taken to drive away "illegally flying" drones. For networked drones with wireless communication capabilities, drone collaborative perception can also be used to identify the flight status of the drone, roadblocks in the flight route, etc., to provide auxiliary flight services.

[0082] In smart life scenarios, by carrying a terminal with communication capabilities, based on the collaboration between base stations and terminals, or the spontaneous transmission and reception of terminals, or the collaborative working mode between terminals, breathing monitoring, fitness monitoring, gesture / posture recognition, etc. of a specific human body can be performed to achieve accurate real-time dynamic monitoring.

[0083] In smart network scenarios, synaesthesia technology is used to assist in improving beam management and channel estimation accuracy, enhance the timeliness of terminal beam tracking, improve channel estimation accuracy and reduce feedback overhead.

[0084] Per-Area / Object Sensing: 5G-A synaesthesia scenarios can be divided into Per-Area synaesthesia scenarios and Per-Object synaesthesia scenarios, depending on whether the perception requirements are primarily focused on a designated perception area or a designated perception target. Perception needs are ubiquitous across all industries. We call these Per-Area synaesthesia scenarios the scenarios that require efficient perception of the real-time status of roads, vehicles, and people in factories, roads, low altitudes, cities, and even larger time and space ranges. We call these Per-Object synaesthesia scenarios the scenarios that utilize synaesthesia technology to continuously perceive and track the perceived objects in order to obtain dynamic monitoring of the perceived object's status.

[0085] Device-based / free sensing: As shown in Figure 3, sensing scenarios can be categorized into device-based and device-free scenarios based on whether the sensing target has the ability to send or receive signals. For example, in flight path management and base station and terminal beam management, the sensing targets, drones and terminals, are user devices with the ability to send or receive signals, thus falling into the device-based scenario. In weather monitoring and respiratory monitoring, the sensing targets, rain and people, are targets without the ability to send or receive signals, thus falling into the device-free scenario.

[0086] 3. Wireless sensing mode

[0087] Sensing functionality is supported in 3GPP networks by adding a sensing control element (Sensing Function) and corresponding processes. When an application sends a sensing request for a sensing target to the core network device of the 3GPP network, the core network device selects the correct access network device or auxiliary UE (associated UE) through the SF or AMF, triggers the ability to perform sensing-related wireless measurements, starts measuring sensing information, and generates sensing results.

[0088] Regarding perception, there are many main wireless perception modes for synaesthesia integration. Figure 4 shows six possible modes of wireless perception.

[0089] a) Base station echo sensing (gNB autonomous sensing): The base station sends a sensing signal and receives an echo signal.

[0090] b) Inter-base station sensing (gNB-2-gNB sensing): Base station B receives the sensing signal sent by base station A.

[0091] c) Air interface uplink perception (UE-2-gNB perception): The base station receives the perception signal sent by the terminal;

[0092] d) Air interface downlink perception (gNB-2-UE perception): The terminal receives the perception signal sent by the base station;

[0093] e) Terminal echo perception (UE autonomous perception): The terminal sends a perception signal and receives an echo signal;

[0094] f) Inter-terminal perception (UE-2-UE perception): Terminal B receives the perception signal sent by terminal A.

[0095] Figure 5 shows a possible flowchart for controlling access network devices or UEs to perform sensing operations. In step 1, the sensing request is triggered by the AF, so it is called an AF-triggered sensing process. The sensing request belongs to the MT-SR (Mobile Terminated-Sensing Request). In addition to the MT-SR, sensing requests also include the MO-SR (Mobile Originated-Sensing Request) as shown in Figure 4, and the NI-SR (Network Induced-Sensing Request) that may be triggered by network elements within the network.

[0096] Step 6 in Figure 5 and step 4 in Figure 6 illustrate the air interface awareness signaling process. This process can be categorized based on the interacting network elements: SF-gNB signaling interaction, SF-UE signaling interaction, gNB-UE signaling interaction, and UE-UE signaling interaction. Because different awareness modes involve different types of sensing nodes (UE / gNB), the air interface signaling processes required by these modes also differ, as shown in Table 2.

[0097] Table 2: Air interface signaling processes corresponding to different perception modes

[0098] The following describes the air interface perception signaling process using the terminal perception mode (i.e., UE-2-UE perception, UE self-transmitting and self-receiving perception) as an example.

[0099] For the terminal perception mode (i.e., UE-2-UE perception, UE self-transmitting and self-receiving perception), its basic process design needs to consider the different coverage scenarios of the terminal - in coverage (IC) and out of coverage (OOC).

[0100] Figure 7 illustrates the air interface sensing signaling flow for a UE-2-UE sensing mode controlled by an SF. For other sensing modes involving UEs, the air interface sensing signaling flow is similar, requiring only appropriate modifications. For example, for UE-spontaneous sensing, the STx UE (Sensing Transmitting UE) and the SRx UE (Sensing Receiving UE) are the same UE; for UE-2-gNB sensing mode, the gNB replaces the SRx UE; and for gNB-2-UE sensing mode, the gNB replaces the STx UE.

[0101] In addition, as shown in FIG8 , for the terminal perception mode (ie, UE-2-UE perception, UE self-transmitting and self-receiving perception), the perception process also needs to consider the scenario of no network coverage (Out Of Coverage, OOC).

[0102] For OOC scenarios, similar to sidelink positioning, since the terminal device lacks network coverage, core network elements such as the SF cannot participate in the terminal perception process, and the perception process described in Figure 5 does not apply. In this case, it is necessary to select some terminal devices with strong capabilities, and have these terminal roles partially assume some of the SF tasks in the OOC scenario. Therefore, in addition to the two types of perception execution terminals (sensing sending terminals and sensing receiving terminals), it is also necessary to define the terminal roles of the sensing service terminal / sensing management terminal (Sensing Server / Management UE).

[0103] Therefore, terminal awareness needs to consider the following different terminal roles:

[0104] Sensing sending terminal: In terminal sensing, it is responsible for sending sensing reference signals.

[0105] Perception receiving terminal: In terminal perception, it is responsible for receiving and measuring the perception reference signal and obtaining the perception measurement quantity.

[0106] Sensing Server UE / SS UE: In terminal sensing, in OOC scenarios, a logical node that undertakes some SF functions, such as sensing measurement processing. It can be a sensing sending terminal, a sensing receiving terminal, or an independent one.

[0107] In particular, for UE self-transmitting and self-receiving perception, the perception sending terminal and the perception receiving terminal are the same terminal.

[0108] FIG9 is a complete UE-independent perception service flow chart including only UEs, mainly for OOC scenarios or when the current network does not support perception services.

[0109] Steps 4-8 are the air interface perception signaling process. For the air interface process of steps 4-8, Figure 10 further provides a terminal-independent UE-2-UE perception air interface flow chart, mainly for OOC scenarios.

[0110] 4. NR RRC (Radio Resource Control) Measurement

[0111] Measurements primarily refer to mobility measurements in a connected state. After the network sends a measurement configuration to the UE, the UE detects the signal quality status of neighboring cells based on the measurement objects, reporting configuration, and other parameters indicated in the measurement configuration. The UE then feeds back the measurement reporting information to the network for handover or to improve the neighbor cell relationship list.

[0112] 4.1 Measurement Configuration

[0113] In NR, the network sends measurement configuration information to the connected UE through RRC signaling. The UE performs measurements (same frequency, different frequency, different technology) according to the content of the measurement configuration information, and then reports the measurement results to the network. The network uses RRC connection reconfiguration to perform measurement configuration. The measurement configuration information includes the following:

[0114] 1) Measurement Object

[0115] For both intra-frequency and inter-frequency measurements, each measurement object indicates the time-frequency position and subcarrier spacing of the reference signal to be measured. For the cells associated with this measurement object, the network may configure a cell offset list, a blacklist cell list, and a whitelist cell list.

[0116] For cross-technology measurements, each measurement object corresponds to a single E-UTRA frequency. For cells associated with that E-UTRA frequency, the network may configure a cell offset list, a blacklist cell list, and a whitelist cell list.

[0117] The UE does not perform any operation on the blacklisted cells in the event evaluation and measurement report. The UE performs event evaluation and measurement report on the whitelisted cells.

[0118] For each measurement frequency, the network configures an SMTC (Serving Measurement and Timing Configuration) to indicate the time when the UE receives the SSB (Synchronization Signal Block) on the neighboring cell corresponding to the frequency. The SMTC configuration includes the SMTC period, the start time offset of the SMTC within a period, the duration of the SMTC, etc.

[0119] 2) Reporting Configuration

[0120] Each measurement object corresponds to one or more reporting configurations. Reporting configurations include:

[0121] Reporting criteria: This refers to the triggering conditions for the UE to perform measurement reporting, which can be periodic triggered reporting or event triggered reporting.

[0122] RS (Reference Signal) type: RS used by the UE for beam and cell measurements, which can be SS / PBCH (Synchronization Signal / Physical Broadcast Channel) blocks or CSI-RS (Channel State Information Reference Signal).

[0123] Reporting format: The UE reports measurement quantities (e.g., RSRP) for each cell and each beam. It also includes other relevant information, such as the maximum number of cells reported by the UE and the maximum number of beams reported for each cell.

[0124] 3) Measurement Identity

[0125] A single ID associates the measurement object with the reporting configuration. A measurement object can be associated with multiple reporting configurations at the same time, and a reporting configuration can also be associated with multiple measurement objects at the same time, distinguished by the measurement identifier.

[0126] 4) Measurement Gap

[0127] Indicates when the UE performs inter-frequency / inter-system measurements. The UE performs inter-frequency / inter-system measurements during a measurement gap. The measurement gap configuration includes the measurement gap period, the start time offset within a measurement gap period, and the measurement gap duration.

[0128] 4.2 Measurement Reporting

[0129] The UE performs measurements according to the measurement configuration issued by the network, and evaluates the measurement report when certain trigger conditions are met. If the reporting conditions are met, the UE will fill in the measurement report and include it in the measurement report and send it to the network.

[0130] Measurement reporting is divided into three categories:

[0131] Event triggering;

[0132] Periodic reporting;

[0133] Event trigger periodic reporting.

[0134] In some embodiments, a determination is made based on first information sent by a source sensing node or a candidate sensing node to determine whether to switch the source sensing node to a target sensing node. The first information indicates characteristic information about the sensing target, assisting the first node in deciding whether to switch sensing services between different sensing nodes. The manner in which the first node determines whether to switch sensing nodes includes, but is not limited to, at least one of the following three implementations (the order does not represent the merits of the implementations):

[0135] Method 1: Based on the characteristic information of the sensing target reported by the source sensing node and the candidate sensing nodes (the first node is SF);

[0136] Method 2: Based on the measurement information of the sensing target reported by the source sensing node and the candidate sensing node (the first node is SF);

[0137] Method three: switching between the source sensing node and the candidate sensing node (the first node is the source sensing node).

[0138] It should be noted that, in the embodiments of the present application, perception can be equivalent to or replaced by at least one of the following: positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking, and target recognition.

[0139] The following describes these three implementation methods respectively:

[0140] Implementation method 1: Based on the characteristic information of the sensing target reported by the source sensing node and the candidate sensing node

[0141] FIG11 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application, wherein the method is jointly executed by the SF, the source sensing node, and the candidate sensing nodes, and includes all or part of the following steps:

[0142] Step 601: The sensing node reports capability information;

[0143] In some embodiments, the sensing node reports capability information, including the source sensing node and / or the candidate sensing node reporting capability information to the SF.

[0144] In some embodiments, the source sensing node and / or candidate sensing node reports capability information to the SF based on the SF's capability information reporting request. The capability information reporting request includes capability information indicating that the source sensing node and / or candidate sensing node provide sensing service continuity. This capability information may be included in the reporting response.

[0145] The capability information is used to indicate whether the source sensing node and / or the candidate sensing node have the capability to ensure the continuity of the sensing service.

[0146] Optionally, the capability information is used to indicate whether the source sensing node and / or candidate sensing node has the capability to extract characteristic information of the sensing target. For example, the capability information is used to indicate whether the source sensing node supports the capability to extract first characteristic information of the sensing target, or the capability information is used to indicate whether the candidate sensing node has the capability to extract second characteristic information of the sensing target. The first characteristic information is the characteristic information of the first sensing target perceived by the source sensing node, and the second characteristic information is the characteristic information of the sensing target perceived by the candidate sensing node.

[0147] In some embodiments, the source sensing node and / or the candidate sensing node reports capability information to the SF, including: the source sensing node and / or the candidate sensing node reports sensing capabilities to the SF, and the source sensing node and / or the candidate sensing node can report its own sensing capabilities, such as at least one of sensing range, sensing accuracy, sensing speed, etc., to assist the SF in evaluating the applicability and reliability of the source sensing node and / or the candidate sensing node; the source sensing node and / or the candidate sensing node reports its own feature extraction capabilities to the SF, such as the ability to extract feature information of the sensing target, to assist the SF in determining whether the source sensing node and / or the candidate sensing node is suitable for sensing services; the source sensing node and / or the candidate sensing node reports its own communication capabilities to the SF, including at least one of communication protocol, communication bandwidth, communication stability, etc., to assist the SF in selecting appropriate source sensing nodes and / or candidate sensing nodes for communication and data transmission.

[0148] In some embodiments, the source sensing node and / or the candidate sensing node reports capability information to the SF, so that the SF can better manage and coordinate the execution of the sensing service.

[0149] Step 602: The SF sends a first request to the source sensing node;

[0150] The first request is used to request the source sensing node to obtain first characteristic information. The first characteristic information is characteristic information of a first sensing target sensed by the source sensing node.

[0151] In some embodiments, the characteristic information of the perceived target includes at least one of the following information:

[0152] Perceive the translational characteristics of the target;

[0153] · Detect the target's RCS (Radar Cross Section) characteristics;

[0154] ·Perceive the micro-motion characteristics of the target;

[0155] · Target imaging characteristics of the perceived target.

[0156] In some embodiments, the translational characteristics of the perceived target include at least one of the position, velocity, acceleration, time delay and Doppler shift of the perceived target, the RCS characteristics of the perceived target include the radar scattering cross section or the reflected signal receiving power of the perceived target, the micro-motion characteristics of the perceived target include micro-Doppler characteristics, and the target imaging characteristics of the perceived target include at least one of the human body, UAV (Unmanned Aerial Vehicle), vehicle, etc.

[0157] In some embodiments, the translational characteristics of a perceived target can be acquired by a sensing node. Position describes the spatial location of the perceived target, velocity and acceleration describe the perceived target's motion state, and delay and Doppler shift are related to signal propagation. Doppler shift refers to the change in signal frequency caused by the perceived target's motion. When the perceived target approaches the sensing node, the signal frequency increases; when the perceived target moves away from the sensing node, the signal frequency decreases. In some embodiments, the RCS characteristic of a perceived target measures the perceived target's ability to reflect radar waves, and the received power of the reflected signal is the power intensity of the received signal reflected from the perceived target. RCS characteristics can be measured by sensing nodes. In some embodiments, micro-motion characteristics refer to changes such as tiny vibrations or oscillations produced by the perceived target during motion. These micro-motion characteristics include micro-Doppler characteristics, which are frequency shifts caused by the perceived target's tiny movements and are used to determine the perceived target's tiny motion state. Taking the perceived target as a person as an example, micro-motion characteristics refer to at least one characteristic of the perceived target's tiny movements, such as breathing, heartbeat, or gait. In some embodiments, the target imaging features of the perceived target include the classification of the perceived target, which refers to the features presented by the perceived target during the imaging process. By obtaining the target imaging features of the perceived target, the SF can accurately identify and classify the perceived target.

[0158] In some embodiments, the first characteristic information is used to uniquely identify a current sensing target. The first sensing target is a current sensing target for which the source sensing node performs a sensing service.

[0159] In some embodiments, the first request includes a request for first feature information of the first perception target. Exemplarily, the first request is used to request the source perception node to provide location information of the first perception target to determine the location of the first perception target in the perception area, or the first request is used to request the source perception node to provide speed information of the first perception target to understand the motion state and speed of the first perception target, or the first request is used to request the source perception node to provide shape information of the first perception target to understand the appearance characteristics and shape of the first perception target, or the first request is used to request the source perception node to provide identification information of the first perception target to determine the category or identity of the first perception target. By sending the first request, the SF obtains the first feature information of the first perception target from the source perception node in order to perform subsequent perception tasks and decisions.

[0160] Step 603: The source sensing node obtains first feature information based on the first request;

[0161] In some embodiments, the source perception node receives the first request sent by the SF, and the source perception node obtains characteristic information of the perceived first perception target based on the content of the first request.

[0162] In some embodiments, the first feature information may be all or part of the feature information of the perception target.

[0163] In some embodiments, the source sensing node receives a request from the SF for obtaining characteristic information of a first sensing target, the first request including first measurement information. The source sensing node extracts the characteristic information of the first sensing target based on the first measurement information to obtain the first characteristic information. The first sensing target is the current sensing target for which the source sensing node performs a sensing service.

[0164] In some embodiments, the source perception node is a base station, and the source perception node can perceive the first perception target through a reference signal, where the reference signal includes at least one of an uplink reference signal, a downlink reference signal, or a sidelink reference signal; or, the source perception node is a UE, and the source perception node can perceive the first perception target through at least one of a visual sensor, an infrared sensor, etc., and send the perceived first feature information to the SF.

[0165] Exemplarily, the source sensing node obtains feature information of the first sensing target through a visual sensor. The visual sensor (e.g., a camera) can capture an image or video of the first sensing target. Through image processing and computer vision algorithms, feature information such as the shape and color of the first sensing target can be extracted for identification and classification of the first sensing target.

[0166] In some embodiments, the first feature information includes at least one of a translation feature of the perceived target, an RCS feature of the perceived target, a micro-motion feature of the perceived target, or a target imaging feature of the perceived target. Optionally, the source sensing node may obtain all or part of the feature information of the first perceived target.

[0167] In some embodiments, after obtaining the first feature information, the source sensing node sends the first feature information to the SF via a first response.

[0168] Step 604: The SF receives the first feature information sent by the source sensing node;

[0169] In some embodiments, the SF receives a first response sent by the source sensing node, wherein the first response includes: first feature information sensed by the source sensing target.

[0170] In some embodiments, the SF receives the first feature information sent by the source sensing node, including receiving at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the first feature information.

[0171] In some embodiments, the source perception node sends the first characteristic information to the SF. Optionally, the source perception node can send the first characteristic information to the SF through the RRC / perception protocol. The SF can receive the first characteristic information sent by the source perception node and process and make decisions based on the first characteristic information.

[0172] Step 605: The SF sends a second request to the candidate sensing node;

[0173] The second request is used to request the candidate sensing node to obtain second characteristic information. The second characteristic information is characteristic information of the sensing target sensed by the candidate sensing node.

[0174] In some embodiments, the second request includes a request for second feature information of the perception target. Exemplarily, the second request is used to request the candidate perception node to provide location information of the perception target to determine the location of the perception target in the perception area, or the second request is used to request the candidate perception node to provide speed information of the perception target to understand the motion state and speed of the perception target, or the second request is used to request the candidate perception node to provide shape information of the perception target to understand the appearance characteristics and shape of the perception target, or the second request is used to request the candidate perception node to provide identification information of the perception target to determine the category or identity of the perception target. By sending the second request, the SF obtains the second feature information of the perception target from the candidate perception node in order to perform subsequent perception tasks and decisions.

[0175] In some embodiments, the SF sends a second request to the candidate sensing node, where the second request carries the first feature information obtained from the source sensing node. The first feature information in the second request can be used by the candidate sensing node to perform the sensing measurement task. For example, if the first feature information is the position and velocity of the sensing target, the second request can request the candidate sensing node to track and measure the sensing target to obtain the trajectory information of the sensing target. If the first feature information is the RCS feature of the sensing target, the second request can request the candidate sensing node to measure the sensing target to obtain the reflection characteristics of the sensing target.

[0176] Step 606: The candidate sensing node obtains second feature information based on the second request;

[0177] In some embodiments, the candidate sensing node receives the second request sent by the SF, and the candidate sensing node obtains the second feature information of the sensing target according to the second request.

[0178] In some embodiments, the second feature information may be all or part of the feature information of the perception target.

[0179] In some embodiments, the candidate sensing node receives a request from the SF to obtain characteristic information of the sensing target, and the second request includes second measurement information. The source sensing node extracts the characteristic information of the sensing target based on the second measurement information and obtains the second characteristic information.

[0180] In some embodiments, the candidate sensing node may sense the sensing target through at least one of a reference signal, a visual sensor, an infrared sensor, etc., and send the second feature information to the SF.

[0181] In some embodiments, the second feature information includes at least one of a translation feature of the perceived target, an RCS feature of the perceived target, a micro-motion feature of the perceived target, or a target imaging feature of the perceived target. Optionally, the candidate sensing node may obtain all or part of the feature information of the perceived target.

[0182] In some embodiments, after acquiring the second feature information, the candidate sensing node sends the second feature information to the SF via a second response.

[0183] In some embodiments, when the candidate sensing node senses the sensing target based on the second request, the source sensing node continues to sense the first sensing target to ensure that the sensing task is not interrupted. After the candidate sensing node is able to uniquely identify and confirm the first sensing target, the source sensing node stops sensing the first sensing target to avoid repeated sensing of the first sensing target by the source sensing node, which would waste resources.

[0184] Step 607: The candidate sensing node matches the first feature information and the second feature information to obtain a matching result;

[0185] In some embodiments, the second request sent by the SF to the candidate sensing node includes: requesting the candidate sensing node to obtain the second feature information and the first feature information obtained by the source sensing node.

[0186] In some embodiments, after receiving the second request sent by the SF, the candidate sensing node obtains the second feature information based on the second request. The candidate sensing node matches the first feature information and the second feature information, and generates a matching result by matching the first feature information and the second feature information. The matching result is used to indicate the degree of matching between the first feature information and the second feature information.

[0187] In some embodiments, the matching result is obtained by calculating the similarity between the first feature information and the second feature information.

[0188] Step 608: The SF receives the second feature information or matching result sent by the candidate sensing node;

[0189] In some embodiments, the SF receives a second response sent by the candidate sensing node, wherein the second response includes: second feature information sensed by the candidate sensing target, and / or a matching result obtained by the candidate sensing node by matching the first feature information with the second feature information.

[0190] In some embodiments, the SF receives the second feature information sent by the candidate sensing node, including receiving at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the second feature information.

[0191] In some embodiments, SF receives matching results sent by one or more candidate perception nodes, and the matching results are used to indicate the degree of matching between the first feature information and the second feature information. When the first feature information and the second feature information match, SF switches the source perception node to the target perception node, where the target perception node is the matching candidate perception node.

[0192] In some embodiments, the matching result is indicated by the first bit, and the matching result includes a match and a mismatch. When the first bit has the first value, it is used to indicate a match between the first feature information and the second feature information; when the first bit has the second value, it is used to indicate a mismatch between the first feature information and the second feature information. Exemplarily, when the first bit is 1, it indicates that the first feature information and the second feature information match, and when the first bit is 0, it indicates that the first feature information and the second feature information do not match; or, when the first bit is 0, it indicates that the first feature information and the second feature information match, and when the first bit is 1, it indicates that the first feature information and the second feature information do not match.

[0193] In some embodiments, a matching result is indicated using at least two bits, representing the probability of a match between the first and second feature information. The at least two bits have at least three possible values, each of which indicates a matching probability between the first and second feature information. For example, assume the matching result has two bits, and the at least two bits have three possible values: 00, 01, and 10. 00 indicates a 0% matching probability between the first and second feature information; 01 indicates a 25% matching probability between the first and second feature information; and 10 indicates a 75% matching probability between the first and second feature information. Such a matching result can be used to indicate the degree of match between the first and second feature information. For example, a matching result of 0% indicates no match between the first and second feature information; a matching result of 01 indicates a low matching probability between the first and second feature information; and a matching result of 10 indicates a high matching probability between the first and second feature information.

[0194] In some embodiments, when the probability of matching the first feature information and the second feature information is higher than a preset condition, the first feature information and the second feature information may be considered to match. For example, when the probability of matching the first feature information and the second feature information is higher than 50%, it indicates that the first feature information and the second feature information match.

[0195] In some embodiments, the candidate sensing node may send the second feature information and / or the matching result between the first feature information and the second feature information to the SF via the RRC / sensing protocol.

[0196] Step 609: The SF decides whether to switch the source sensing node to the target sensing node.

[0197] In some embodiments, based on the second feature information obtained by the candidate perception node, and / or the matching result of the first feature information and the second feature information, SF can decide whether to switch the source perception node to the candidate perception node corresponding to the matching result, that is, the target perception node. This approach can ensure that the feature information of the perception target is more accurately matched and improve the accuracy and reliability of the perception measurement.

[0198] In some embodiments, when the matching result is indicated by the first bit, if the matching result is a match, SF switches the source perception node to the target perception node; when the matching result is indicated by at least two bits, the matching result represents the matching probability between the first feature information and the second feature information. When the matching probability is greater than a preset condition (for example, the matching probability is greater than 50%), it is considered that the first feature information and the second feature information match, and SF switches the source perception node to the target perception node.

[0199] In summary, in the method provided by the embodiment of the present application, when the SF and the source perception node are different nodes, the SF sends a first request to the source perception node and receives the first feature information perceived by the source perception node; the SF sends a second request to the candidate perception node and receives the second feature information perceived by the candidate perception node and / or the matching result between the first feature information and the second feature information. The SF decides whether to switch the perception node based on the second feature information and / or the matching result between the first feature information and the second feature information. The source perception node and the candidate perception node have the ability to directly obtain the feature information of the perception target. In this case, the SF only needs to switch the perception node based on the feature information of the perception target reported by the source perception node and the candidate perception node.

[0200] It should be noted that, in the method provided in the embodiment of the present application, it is an optional step for the perception node to report capability information to the SF. In the embodiment of the present application, the source perception node first reports the first characteristic information to the SF, and the candidate perception node then reports the second characteristic information to the SF. In one possible implementation method, the candidate perception node may first report the second characteristic information to the SF, and the source perception node may then report the first characteristic information to the SF. The source perception node matches the first characteristic information and the second characteristic information to obtain a matching result, and reports the matching result to the SF; or, the source perception node and the candidate perception node simultaneously obtain the characteristic information of the perception target, and then report the obtained first characteristic information and the second characteristic information to the SF respectively. The SF matches the matching result of the first characteristic information and the second characteristic information, and the SF decides whether to switch the perception node based on the matching result. The above is only an exemplary description, and the present application does not limit this.

[0201] Implementation method 2: Based on the measurement information of the sensing target reported by the source sensing node and the candidate sensing node

[0202] FIG12 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application, wherein the method is jointly executed by the SF, the source sensing node, and the candidate sensing nodes, and includes all or part of the following steps:

[0203] Step 701: The sensing node reports capability information;

[0204] In some embodiments, the sensing node reports capability information, including the source sensing node and / or the candidate sensing node reporting capability information to the SF.

[0205] In some embodiments, the source sensing node and / or candidate sensing node reports capability information to the SF based on the SF's capability information reporting request. The capability information reporting request includes capability information indicating that the source sensing node and / or candidate sensing node provide sensing service continuity. This capability information may be included in the reporting response.

[0206] The capability information is used to indicate whether the source sensing node and / or the candidate sensing node have the capability to ensure the continuity of the sensing service.

[0207] Optionally, the capability information is used to indicate whether the source sensing node and / or candidate sensing node has the capability to extract characteristic information of the sensing target. For example, the capability information is used to indicate whether the source sensing node supports the capability to extract first characteristic information of the sensing target, or the capability information is used to indicate whether the candidate sensing node has the capability to extract second characteristic information of the sensing target. The first characteristic information is the characteristic information of the first sensing target perceived by the source sensing node, and the second characteristic information is the characteristic information of the sensing target perceived by the candidate sensing node.

[0208] In some embodiments, the source sensing node and / or the candidate sensing node reports capability information to the SF, including: the source sensing node and / or the candidate sensing node reports sensing capabilities to the SF, where the source sensing node and / or the candidate sensing node may report its own sensing capabilities, such as at least one of sensing range, sensing accuracy, and sensing speed, to assist the SF in evaluating the applicability and reliability of the source sensing node and / or the candidate sensing node; the source sensing node and / or the candidate sensing node reports its own feature extraction capabilities to the SF, such as the ability to extract feature information of the sensing target, to assist the SF in determining whether the source sensing node and / or the candidate sensing node is suitable for sensing services; the source sensing node and / or the candidate sensing node reports its own communication capabilities to the SF, including at least one of communication protocol, communication bandwidth, and communication stability, to assist the SF in selecting appropriate source sensing nodes and / or candidate sensing nodes for communication and data transmission.

[0209] In some embodiments, the source sensing node and / or the candidate sensing node report capability information to the SF so that the SF can better manage and coordinate the execution of the sensing service.

[0210] Step 702: The SF sends a first request to the source sensing node;

[0211] The first request is used to request the source sensing node to obtain first measurement information. The first measurement information is used to generate first feature information.

[0212] In some embodiments, the first measurement information is measurement data used to generate the first feature information.

[0213] In some embodiments, the first request includes a request for first measurement information of the first sensing target. The source sensing node does not directly obtain the first feature information. Instead, the source sensing node reports first measurement information used to obtain the first feature information, and the SF obtains the first feature information based on the first measurement information reported by the source sensing node.

[0214] Step 703: The source sensing node obtains first measurement information based on the first request;

[0215] In some embodiments, the source sensing node receives the first request sent by the SF, and the source sensing node obtains the first measurement information used to generate the first feature information according to the first request.

[0216] In some embodiments, the source perception node can perceive the first perception target through at least one of a reference signal, a visual sensor, an infrared sensor, etc., and obtain the first measurement information of the first perception target from the corresponding sensor or perception data source, and send the first measurement information to the SF.

[0217] In some embodiments, the first feature information includes at least one of a translation feature of the perceived target, an RCS feature of the perceived target, a micro-motion feature of the perceived target, or a target imaging feature of the perceived target. The first measurement information is measurement data used to generate the first feature information.

[0218] In some embodiments, the first measurement information includes at least one of a translational feature measurement of the perception target, an RCS feature measurement of the perception target, a micro-motion feature measurement of the perception target, or a target imaging feature measurement of the perception target.

[0219] In some embodiments, the source sensing node may extract the first measurement information from the first feature information. For example, the source sensing node may obtain imaging data of the first sensing target through a visual sensor (such as a camera), and the source sensing node may obtain measurement data of the first sensing target through a reference signal.

[0220] Step 704: The SF receives first measurement information sent by the source sensing node;

[0221] In some embodiments, the SF receives a first response sent by the source sensing node, wherein the first response includes: first measurement information acquired by the source sensing target.

[0222] In some embodiments, the SF receives the first measurement information sent by the source sensing node, including receiving at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the first measurement information.

[0223] In some embodiments, the source sensing node may send the first measurement information to the SF through the RRC / perception protocol. The SF receives the first measurement information sent by the source sensing node and extracts the first feature information through the first measurement information.

[0224] Step 705: SF extracts first feature information based on the first measurement information;

[0225] In some embodiments, the SF may extract the first feature information using the first measurement information.

[0226] The first measurement information is the measurement information of the first perception target acquired by the source perception node, and the first feature information is the feature information of the first perception target extracted from the first measurement information.

[0227] In some embodiments, the source sensing node reports its acquired first measurement information to the SF, which then extracts first feature information based on the first measurement information. Optionally, the SF fuses and processes the first measurement information to obtain the first feature information. For example, the SF can fuse the measurement information from the camera and the reference signal to obtain the position and motion trajectory of the first sensing target.

[0228] Step 706: The SF sends a second request to the candidate sensing node;

[0229] The second request is used to request the candidate sensing node to obtain second measurement information. The second measurement information is used to generate second feature information.

[0230] In some embodiments, the second measurement information is measurement data used to generate the second feature information.

[0231] In some embodiments, the second request includes a request for second measurement information of the sensing target. The candidate sensing node does not directly obtain the characteristic information of the sensing target. The candidate sensing node reports second measurement information used to obtain the second characteristic information, and the SF obtains the characteristic information of the sensing target based on the second measurement information reported by the candidate sensing node.

[0232] Step 707: The candidate sensing node obtains second measurement information based on the second request;

[0233] The second request is used to request the candidate sensing node to obtain second measurement information. The second measurement information is used to generate second feature information.

[0234] In some embodiments, the candidate sensing node receives the second request sent by the SF, and the candidate sensing node obtains the second measurement information used to generate the second feature information according to the second request.

[0235] In some embodiments, the second measurement information includes at least one of the following information:

[0236] ·Measurement of translational characteristics of perceived targets;

[0237] ·Measurement of RCS characteristics of perceived targets;

[0238] ·Measurement of micro-motion characteristics of the perceived target;

[0239] ·Measurement of target imaging characteristics of perceived targets.

[0240] In some embodiments, the candidate sensing node may sense the sensing target through at least one of a reference signal, a visual sensor, an infrared sensor, etc., and obtain second measurement information of the sensing target from the corresponding sensor or sensing data source, and send the second measurement information to the SF.

[0241] In some embodiments, the second feature information includes at least one of a translation feature of the perceived target, an RCS feature of the perceived target, a micro-motion feature of the perceived target, or a target imaging feature of the perceived target. The second measurement information is measurement data used to generate the second feature information.

[0242] In some embodiments, the second measurement information includes at least one of a translational feature measurement of the perceived target, an RCS feature measurement of the perceived target, a micro-motion feature measurement of the perceived target, or a target imaging feature measurement of the perceived target. In some embodiments, the candidate sensing node may extract the second measurement information from the second feature information.

[0243] In some embodiments, after acquiring the second measurement information, the candidate sensing node sends the second measurement information to the SF via a second response.

[0244] Step 708: The SF receives the second measurement information sent by the candidate sensing node;

[0245] In some embodiments, the SF receives a second response sent by the candidate sensing node, wherein the second response includes: second measurement information acquired by the candidate sensing target.

[0246] In some embodiments, the SF receives the second measurement information sent by the candidate sensing node, including receiving at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the second measurement information.

[0247] In some embodiments, the candidate sensing node may send the second measurement information to the SF through the RRC / perception protocol. The SF receives the second measurement information sent by the candidate sensing node and extracts the second feature information through the second measurement information.

[0248] Step 709: SF extracts second feature information based on the second measurement information;

[0249] In some embodiments, the SF may utilize the second measurement information to extract the second feature information.

[0250] The second measurement information is measurement information of the perception target obtained by the candidate perception node, and the second feature information is feature information of the perception target extracted from the second measurement information.

[0251] In some embodiments, the candidate sensing node reports the measurement information of the sensing target obtained by itself to the SF, and the SF extracts the second feature information based on the second measurement information. Optionally, the SF fuses and processes the measurement information of the sensing target to obtain the feature information of the sensing target.

[0252] Step 710: SF matches the first feature information and the second feature information and obtains a matching result.

[0253] In some embodiments, SF extracts first feature information based on first measurement information and extracts second feature information based on second measurement information. SF matches the first feature information and the second feature information to obtain a matching result. The matching result is used to indicate the degree of matching between the first feature information and the second feature information. When the first feature information and the second feature information match, SF switches the source perception node to the target perception node, where the target perception node is a matching candidate perception node.

[0254] In some embodiments, the matching result is indicated by the first bit, and the matching result includes a match and a mismatch. When the first bit has the first value, it is used to indicate a match between the first feature information and the second feature information; when the first bit has the second value, it is used to indicate a mismatch between the first feature information and the second feature information. Exemplarily, when the first bit is 1, it indicates that the first feature information and the second feature information match, and when the first bit is 0, it indicates that the first feature information and the second feature information do not match; or, when the first bit is 0, it indicates that the first feature information and the second feature information match, and when the first bit is 1, it indicates that the first feature information and the second feature information do not match.

[0255] In some embodiments, the matching result is indicated using at least two bits, and the matching result represents the matching probability between the first feature information and the second feature information. The at least two bits have at least three values, and each of the at least three values ​​is used to indicate a matching probability between the first feature information and the second feature information. For example, assuming that the matching result has two bits, the at least two bits have three values: 00, 01, and 10. Among them, 00 indicates that the matching probability of the first feature information and the second feature information is 0%, 01 indicates that the matching probability of the first feature information and the second feature information is 25%, and 10 indicates that the matching probability of the first feature information and the second feature information is 75%. Such a matching result can be used to indicate the degree of matching between the first feature information and the second feature information.

[0256] In some embodiments, when the first feature information and the second feature information match, the SF switches the source sensing node to the target sensing node.

[0257] In summary, in the method provided in the embodiment of the present application, SF generates first feature information based on the first measurement information provided by the source perception node, generates second feature information based on the second measurement information provided by the candidate perception node, SF obtains a matching result by matching the first feature information and the second feature information, and evaluates the degree of matching between the source perception node and the candidate perception node based on the matching result. The task of acquiring and matching the feature information of the perception target is handed over to SF, rather than being performed directly by the source perception node and the candidate node. This method of directly acquiring the feature information and matching results of the perception target by SF allows SF to acquire the feature information of the perception target based on the demand for the perception service, avoiding repeated perception of the perception target by the perception node and waste of resources. SF can switch perception nodes more efficiently based on the matching results.

[0258] It should be noted that, in the method provided in the embodiment of the present application, it is an optional step for the sensing node to report capability information to the SF. In the embodiment of the present application, the source sensing node first reports the first measurement information to the SF, and the candidate sensing node then reports the second measurement information to the SF. In one possible implementation method, the candidate sensing node may first report the second measurement information to the SF, and the source sensing node may then report the first measurement information to the SF; or, the source sensing node and the candidate sensing node simultaneously obtain the measurement information of the sensing target, and then report the obtained first measurement information and second feature measurement to the SF respectively. The SF generates the first feature information and the second feature information based on the first measurement information and the second measurement information respectively. The SF matches the matching results of the first feature information and the second feature information. The SF decides whether to switch the sensing node based on the matching results. The above is only an exemplary description, and the present application does not limit this.

[0259] Implementation method three: switching between the source sensing node and the candidate sensing node (the first node is the source sensing node)

[0260] FIG13 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application, wherein the method is jointly executed by a source sensing node and a candidate sensing node, and includes all or part of the following steps:

[0261] Step 801: The source sensing node performs measurement to obtain first feature information;

[0262] The first characteristic information is characteristic information of the first perception target perceived by the source perception node.

[0263] In some embodiments, the source sensing node may sense the first sensing target through at least one of a reference signal, a visual sensor, an infrared sensor, etc. to obtain the first feature information.

[0264] In some embodiments, the characteristic information of the perceived target includes at least one of the following information:

[0265] Perceive the translational characteristics of the target;

[0266] ·Perceive the RCS characteristics of the target;

[0267] ·Perceive the micro-motion characteristics of the target;

[0268] · Target imaging characteristics of the perceived target.

[0269] In some embodiments, the translational characteristics of the perceived target include at least one of the position, velocity, acceleration, time delay and Doppler shift of the perceived target, the RCS characteristics of the perceived target include the radar scattering cross section or the reflected signal receiving power of the perceived target, the micro-motion characteristics of the perceived target include micro-Doppler characteristics, and the target imaging characteristics of the first perceived target include at least one of the human body, UAV, vehicle, etc.

[0270] In some embodiments, the first feature message obtained by the source sensing node may be all or part of the feature information of the sensing target.

[0271] Step 802: The source sensing node sends a handover request to the candidate sensing node;

[0272] The switching request includes the first feature information obtained by the source sensing node.

[0273] In some embodiments, when the source sensing node is unable to perceive the first sensing target or its sensing capability is insufficient, the source sensing node may send a switching request to the candidate sensing node to switch the sensing task to the candidate sensing node to ensure the continuity of the sensing service.

[0274] In some embodiments, in addition to the first feature information obtained by the source sensing node, the handover request also includes at least one of the following: sensing task requirements, the state of the source sensing node, etc. The state of the source sensing node includes at least one of the availability, load, and energy consumption of the source sensing node, etc., and is used to assist the candidate sensing node in evaluating the availability of the source sensing node.

[0275] In some embodiments, the switching request is used to instruct the candidate sensing node to perform a sensing operation on the first sensing target. The source sensing node sends the switching request to the candidate sensing node, and the candidate sensing node performs the sensing operation on the first sensing target.

[0276] In some embodiments, by sending a handover request to a candidate sensing node, the candidate sensing node may decide whether to accept the handover based on information in the handover request and make a corresponding response.

[0277] In some embodiments, the source sensing node sends a switching request to the candidate sensing node. Before the candidate sensing node corresponding to the matching result senses the first sensing target, the source sensing node continues to perform sensing operations on the first sensing target to ensure the continuity of the sensing service.

[0278] Step 803: The candidate sensing node performs measurement to obtain second feature information;

[0279] The second feature information is feature information of the perception target perceived by the candidate perception node.

[0280] In some embodiments, the candidate sensing node may sense the sensing target through at least one of a reference signal, a visual sensor, an infrared sensor, etc. to obtain the second feature information.

[0281] In some embodiments, the characteristic information of the perceived target includes at least one of the following information:

[0282] Perceive the translational characteristics of the target;

[0283] ·Perceive the RCS characteristics of the target;

[0284] ·Perceive the micro-motion characteristics of the target;

[0285] · Target imaging characteristics of the perceived target.

[0286] In some embodiments, the second feature message obtained by the candidate sensing node may be all or part of the feature information of the sensing target.

[0287] Step 804: The candidate sensing node matches the first feature information and the second feature information;

[0288] In some embodiments, the handover request sent by the source sensing node to the candidate sensing node includes: requesting the candidate sensing node to obtain the second feature information and the first feature information obtained by the source sensing node.

[0289] In some embodiments, after the candidate sensing node obtains the second feature information, it will match it with the first feature information obtained by the source sensing node, and generate a matching result by matching the first feature information and the second feature information. The matching result is used to indicate the degree of matching between the first feature information and the second feature information.

[0290] In some embodiments, the candidate sensing node obtains a matching result by matching the first feature information and the second feature information.

[0291] In some embodiments, when the matching result is a mismatch, the candidate perception node does not meet the requirements of being a target perception node, and in this case the perception node will not be switched; when the matching result is higher than the preset condition, it can be considered that the first feature information matches the second feature information, and the candidate perception node sends the matching result as a switching confirmation message to the source perception node.

[0292] In one possible implementation, when the matching result is a match, other factors may affect the sensing node's handover decision. For example, using the candidate sensing node as a UE, the other factors may include at least one of user-set restrictions, insufficient battery power on the candidate sensing node, and insufficient remaining computing power. Due to these other factors, the sensing node's handover decision may be affected, and the candidate sensing node may not be able to switch to the target sensing node.

[0293] It should be noted that in the process of switching perception nodes, in addition to the matching results, the limitations of other factors need to be considered comprehensively to ensure the stability of perception.

[0294] Step 805: The source sensing node receives the handover request confirmation.

[0295] The switching request confirmation includes: a matching result of the first feature information and the second feature information.

[0296] In some embodiments, after receiving the matching result sent by the candidate sensing node, the source sensing node confirms that the candidate sensing node can uniquely identify and confirm the sensing target, and the candidate sensing node corresponding to the matching result is designated as the target sensing node. The source sensing node stops sensing the sensing target to avoid duplicate sensing and waste of resources.

[0297] In summary, in the method provided by the embodiment of the present application, the source sensing node performs measurement on the sensing target and obtains first characteristic information, sends the first characteristic information to the candidate sensing node, and the candidate sensing node performs measurement on the sensing target and obtains second characteristic information. A matching result is obtained by matching the first characteristic information and the second characteristic information. The candidate sensing node corresponding to the matching result is the target sensing node. In this way, the sensing node can directly obtain the characteristic information of the sensing target, directly interact with each other, and switch directly based on the matching results. Flexible switching and allocation of sensing tasks can be achieved without the participation of the SF, thereby improving the efficiency of switching between sensing nodes.

[0298] It should be noted that, in one possible implementation method, the source perception node sends a switching request to the candidate perception node, and the switching request includes: requesting the candidate perception node to obtain the second feature information, the candidate perception node reports the second feature information to the source perception node, the source perception node matches the first feature information and the second feature information by itself and obtains a matching result, and the source perception node decides whether to switch the perception node based on the matching result.

[0299] It should be noted that, in one possible implementation, the steps shown in FIG11 can be combined with the steps shown in FIG12 to form a new embodiment: FIG14 shows a flowchart of a method for executing a perception service provided by an exemplary embodiment of the present application, wherein the method is jointly executed by the first node, the source perception node and the candidate perception node.

[0300] Step 901: The sensing node reports capability information;

[0301] Step 902: The first node sends a first request to the source sensing node;

[0302] Step 903: The source sensing node obtains first feature information based on the first request;

[0303] Step 904: The first node receives the first feature information sent by the source sensing node;

[0304] The contents of steps 901 to 904 are the same as those of steps 601 to 604 above, and will not be repeated here.

[0305] Step 905: The first node sends a second request to the candidate sensing node;

[0306] The second request is used to request the candidate sensing node to obtain second measurement information.

[0307] Step 906: The candidate sensing node obtains second measurement information based on the second request;

[0308] Step 907: The first node receives second measurement information sent by the candidate sensing node;

[0309] Step 908: The first node extracts second feature information based on the second measurement information;

[0310] Step 909: The first node matches the first feature information with the second feature information to obtain a matching result.

[0311] The contents of steps 905 to 909 are as described in steps 706 to 710 above and are not repeated here.

[0312] To summarize, in the method provided in the embodiment of the present application, the first node sends a first request to the source perception node and receives the first feature information perceived by the source perception node; the first node sends a second request to the candidate perception node and receives the second measurement information perceived by the candidate perception node. The first node generates the second feature information based on the second measurement information provided by the candidate perception node. The first node obtains a matching result by matching the first feature information and the second feature information, evaluates the degree of matching between the source perception node and the candidate perception node based on the matching result, and switches the perception node based on the matching result.

[0313] It should be noted that, in one possible implementation, the steps shown in FIG11 can be combined with the steps shown in FIG12 to form a new embodiment: FIG15 shows a flowchart of a method for executing a perception service provided by an exemplary embodiment of the present application, wherein the method is jointly executed by the first node, the source perception node and the candidate perception node.

[0314] Step 1001: The sensing node reports capability information;

[0315] Step 1002: The first node sends a first request to the source sensing node;

[0316] Step 1003: The source sensing node obtains first measurement information based on the first request;

[0317] Step 1004: The first node receives first measurement information sent by the source sensing node;

[0318] Step 1005: The first node extracts first feature information based on the first measurement information;

[0319] The contents of steps 1001 to 1005 are as described in steps 701 to 705 above and will not be repeated here.

[0320] Step 1006: The first node sends a second request to the candidate sensing node;

[0321] Step 1007: The candidate sensing node obtains second feature information based on the second request;

[0322] Step 1008: The candidate sensing node matches the first feature information and the second feature information;

[0323] Step 1009: The first node receives the second feature information or matching result sent by the candidate sensing node;

[0324] Step 1010: The first node decides whether to switch the source sensing node to the target sensing node.

[0325] The contents of steps 1006 to 1010 are as described in steps 605 to 609 above and will not be repeated here.

[0326] To summarize, in the method provided in the embodiment of the present application, the first node sends a first request to the source perception node and receives the first measurement information perceived by the source perception node, and the first node generates first feature information based on the first measurement information provided by the source perception node; the first node sends a second request to the candidate perception node and receives the second feature information perceived by the candidate perception node and / or the matching result between the first feature information and the second feature information, and the first node decides whether to switch the perception node based on the second feature information and / or the matching result between the first feature information and the second feature information.

[0327] It should be noted that, in one possible implementation method, the steps in the embodiment of the present application can be combined or replaced with the steps in the prior art process in Figures 5, 6, 7 and 9 to form a new embodiment, and this application does not limit this.

[0328] First node side:

[0329] FIG16 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application, wherein the method is jointly executed by a first node, a source sensing node, and a candidate sensing node, and includes all or part of the following steps:

[0330] Step 210: Acquire first information sent by the source sensing node and / or the candidate sensing node.

[0331] The first information is used to determine whether to switch the source sensing node to the target sensing node. The first information is reference information used to assist the first node in deciding whether the sensing node for the sensing target needs to be switched.

[0332] The target sensing nodes are all or part of the candidate sensing nodes, and the source sensing nodes and the target sensing nodes are used to perform sensing services on the first sensing target. Optionally, the first sensing target may be a passive sensing target that does not have the ability to send or receive signals.

[0333] In some embodiments, the source sensing node is a node currently executing a sensing service, and the candidate sensing node is another node that may be switched to a target sensing node during the sensing service execution process. The first sensing target is the current sensing target of the source sensing node executing the sensing service.

[0334] In some embodiments, the first information is information sent by the source sensing node to the first node, and / or information sent by the candidate sensing node to the first node.

[0335] In some embodiments, the first node is a sensing service node, performing decision-making and control functions. The first node is responsible for receiving first information sent by a source sensing node and candidate sensing nodes, and based on the first information, deciding whether to switch the source sensing node to a target sensing node. Optionally, the first information includes feature information about the sensing target.

[0336] In some embodiments, the first node may determine whether it is necessary to switch the perception node based on characteristic information of the perception target, evaluating the current perception situation and the status of the perception node, as well as the availability and adaptability of the candidate perception nodes.

[0337] In some embodiments, the first information includes the first information sent by the source sensing node, or the first information includes the first information sent by the candidate sensing node, or the first information includes the first information sent by the source sensing node and the candidate sensing node.

[0338] In some embodiments, the first information is first characteristic information or first measurement information sent by the source perception node, and / or the first information includes at least one of second characteristic information or second measurement information or matching results sent by the candidate perception node.

[0339] The first characteristic information is characteristic information of the first perception target perceived by the source perception node, and the first measurement information is used to generate the first characteristic information.

[0340] In some embodiments, the first node receives first feature information or first measurement information sent by the source sensing node.

[0341] The first measurement information is used to generate first characteristic information, which is characteristic information of a first sensing target sensed by the source sensing node. The first characteristic information is used to uniquely identify the current sensing target. The first sensing target is the current sensing target for which the source sensing node is performing a sensing service.

[0342] In some embodiments, the first node receives a first response sent by the source sensing node, wherein the first response includes: first feature information or first measurement information sensed by the source sensing target.

[0343] In some embodiments, the first node receives first measurement information sent by the source sensing node, including receiving at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the first measurement information.

[0344] In some embodiments, the first node receives first feature information sent by the source sensing node, including receiving at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the first feature information.

[0345] In some embodiments, the translational feature includes at least one of position, velocity, acceleration, time delay, and Doppler shift, the RCS feature includes the reflected signal received power, the micro-motion feature includes micro-Doppler feature, and the target imaging feature includes target classification.

[0346] In some embodiments, the source perception node can perceive the first perception target through at least one of a reference signal, a visual sensor, an infrared sensor, etc., and obtain first measurement information of the first perception target from the corresponding sensor or perception data source, and send the first measurement information to the first node.

[0347] In some embodiments, the first node sends a first request to a source sensing node.

[0348] The first request is used to request the source sensing node to obtain first characteristic information or first measurement information. The first characteristic information is characteristic information of a first sensing target perceived by the source sensing node. The first measurement information is used to generate the first characteristic information.

[0349] In some embodiments, the first measurement information is measurement data used to generate the first feature information.

[0350] In some embodiments, the first request includes: a request for first feature information of the first perceptual target or a request for first measurement information of the first perceptual target.

[0351] In some embodiments, the first node receives a first response sent by the source sensing node.

[0352] The first response includes at least one of first characteristic information or first measurement information.

[0353] In some embodiments, the source perception node sends the first characteristic information or the first measurement information to the first node. Optionally, the source perception node may send the first characteristic information or the first measurement information to the first node through the RRC / perception protocol. The first node may receive the first characteristic information sent by the source perception node, or generate the first characteristic information based on the first measurement information sent by the source perception node, and perform processing and decision-making based on the first characteristic information.

[0354] In some embodiments, the first node extracts first feature information based on the first measurement information.

[0355] The first characteristic information is characteristic information of the first perception target perceived by the source perception node.

[0356] In some embodiments, the first node may extract first feature information using the first measurement information.

[0357] The first measurement information is measurement information of the first perception target obtained by the source perception node, and the first feature information is feature information of the first perception target extracted from the first measurement information.

[0358] In some embodiments, the source sensing node reports the first measurement information obtained by itself to the first node, and the first node extracts the first feature information based on the first measurement information. Optionally, the first node integrates and processes the first measurement information to obtain the first feature information.

[0359] In some embodiments, the first node receives at least one of the second feature information, the second measurement information, or the matching result sent by the candidate sensing node.

[0360] Among them, the second measurement information is used to generate second feature information, the second feature information is the feature information of the perception target perceived by the candidate perception node, the matching result is the matching result of the first feature information and the second feature information, and the first feature information is the feature information of the first perception target perceived by the source perception node.

[0361] In some embodiments, the first node receives a second response sent by the candidate sensing node, wherein the second response includes at least one of second feature information sensed by the candidate sensing target, second measurement information, and a matching result.

[0362] In some embodiments, the first node receives the second feature information sent by the candidate sensing node, including receiving at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the second feature information.

[0363] In some embodiments, the first node receives second measurement information sent by the candidate sensing node, including receiving at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the second measurement information.

[0364] In some embodiments, the first node receives a matching result sent by a candidate perception node, where the matching result is used to indicate the degree of matching between the first feature information and the second feature information. When the first feature information and the second feature information match, the first node switches the source perception node to the target perception node, where the target perception node is the candidate perception node corresponding to the matching result.

[0365] In some embodiments, the matching result is obtained by calculating the similarity between the first feature information and the second feature information.

[0366] In some embodiments, the matching result is indicated by the first bit, and the matching result includes a match and a mismatch. When the first bit has a first value, it is used to indicate a match between the first feature information and the second feature information; when the first bit has a second value, it is used to indicate a mismatch between the first feature information and the second feature information.

[0367] In some embodiments, the matching result is indicated by at least two bits, and the matching result represents a matching probability between the first feature information and the second feature information. The at least two bits have at least three values, and each of the at least three values ​​is used to indicate a matching probability between the first feature information and the second feature information.

[0368] In some embodiments, the first node sends a second request to the candidate sensing node.

[0369] The second request is used to request the candidate sensing node to obtain at least one of second characteristic information, second measurement information, and a matching result. The second characteristic information is characteristic information of the sensing target perceived by the candidate sensing node. The second measurement information is measurement data used to generate the second characteristic information.

[0370] In some embodiments, the first node sends a second request to the candidate sensing node, where the second request carries the first feature information obtained from the source sensing node.

[0371] In some embodiments, the first node receives a second response sent by the candidate sensing node.

[0372] The second response includes at least one of the second feature information, the second measurement information, or the matching result.

[0373] In some embodiments, the first node receives the second feature information sent by the candidate sensing node, including receiving at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the second feature information.

[0374] In some embodiments, the first node receives second measurement information sent by the candidate sensing node, including receiving at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the second measurement information.

[0375] In some embodiments, the first node receives a matching result sent by a candidate perception node, where the matching result is used to indicate the degree of matching between the first feature information and the second feature information. When the first feature information and the second feature information match, the first node switches the source perception node to the target perception node, where the target perception node is the candidate perception node corresponding to the matching result.

[0376] In some embodiments, the first node extracts second feature information based on the second measurement information.

[0377] The second feature information is feature information of the perception target perceived by the candidate perception node.

[0378] In some embodiments, the first node may use the second measurement information to extract the second feature information.

[0379] The second measurement information is measurement information of the perception target obtained by the candidate perception node, and the second feature information is feature information of the perception target extracted from the second measurement information.

[0380] In some embodiments, the candidate sensing node reports the second measurement information it obtains to the first node, and the first node extracts the second feature information based on the second measurement information. Optionally, the first node fuses and processes the second measurement information to obtain the second feature information.

[0381] In some embodiments, the first node sends first feature information or first measurement information to the candidate sensing node.

[0382] The first measurement information is used to generate first feature information.

[0383] In some embodiments, the first node sends a second request to the candidate sensing node, where the second request carries first feature information or first measurement information obtained from the source sensing node. The first feature information or first measurement information in the second request can be used by the candidate sensing node to perform a sensing measurement task.

[0384] In some embodiments, when the matching result indicates that the first feature information and the second feature information match, the first node switches the source perception node to the target perception node.

[0385] The target sensing node is the candidate sensing node corresponding to the matching result.

[0386] In some embodiments, the first node receives a matching result sent by the candidate sensing node, where the matching result is used to indicate a degree of matching between the first feature information and the second feature information.

[0387] In some embodiments, the first node extracts first feature information based on the first measurement information and extracts second feature information based on the second measurement information. The first node matches the first feature information and the second feature information to obtain a matching result, which is used to indicate the degree of matching between the first feature information and the second feature information.

[0388] In some embodiments, when the first feature information and the second feature information match, the first node switches the source perception node to the target perception node, where the target perception node is a candidate perception node corresponding to the matching result.

[0389] In some embodiments, the first node receives capability information reported by the source sensing node and / or the candidate sensing node.

[0390] The capability information is used to indicate whether the source sensing node and / or candidate sensing node has the capability to ensure the continuity of sensing services. Optionally, the capability information is used to indicate whether the source sensing node and / or candidate sensing node has the capability to extract feature information of the sensing target.

[0391] In some embodiments, the capability information is used to indicate whether the source sensing node supports the capability of extracting the first characteristic information of the sensing target, or the capability information is used to indicate whether the candidate sensing node has the capability of extracting the second characteristic information of the sensing target.

[0392] In some embodiments, the first node sends a request for reporting capability information to the source sensing node and / or the candidate sensing node.

[0393] In some embodiments, the first node sends a capability information reporting request to the source perception node and / or the candidate perception node, and the capability information reporting request includes capability information indicating that the source perception node and / or the candidate perception node provides capability information related to perception service continuity.

[0394] In summary, the method provided in the embodiments of the present application obtains first information sent by a source sensing node and / or a candidate sensing node, and the first node determines whether to switch the source sensing node to a target sensing node based on the first information, wherein the target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform sensing services for the sensing target. This ensures that the sensing target can be uniquely identified when switching between the coverage areas of different sensing nodes, thereby maintaining the continuity of the sensing service.

[0395] Source perception node side:

[0396] FIG17 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application, wherein the method is jointly executed by a first node, a source sensing node, and a candidate sensing node, and includes all or part of the following steps:

[0397] Step 310: The source sensing node sends first information to the first node.

[0398] The first information is used to determine whether to switch the source sensing node to a target sensing node. The target sensing node is all or part of the candidate sensing nodes. The source sensing node and the target sensing node are used to perform a sensing service on a first sensing target. The first sensing target is the current sensing target for which the source sensing node performs the sensing service.

[0399] In some embodiments, the source sensing node sends first information to the first node. Optionally, the first message includes first feature information or first measurement information.

[0400] The first characteristic information is characteristic information of the first perception target perceived by the source perception node, and the first measurement information is used to generate the first characteristic information.

[0401] In some embodiments, the source perception node provides the first node with characteristic information or measurement information about the first perception target by sending the first information to the first node, so as to assist the first node in deciding whether the perception node for the first perception target needs to be switched.

[0402] In some embodiments, the source sensing node sends first feature information or first measurement information to the first node.

[0403] The first measurement information is used to generate first characteristic information, which is characteristic information of a first sensing target sensed by the source sensing node. The first characteristic information is used to uniquely identify the current sensing target.

[0404] The first measurement information is used to generate first characteristic information, and the first characteristic information is characteristic information of the first perception target perceived by the source perception node.

[0405] In some embodiments, the source sensing node sends first measurement information to the first node, including sending at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the first measurement information.

[0406] In some embodiments, the source sensing node sends first feature information to the first node, including sending at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the first feature information.

[0407] In some embodiments, the translational feature includes at least one of position, velocity, acceleration, time delay, and Doppler shift, the RCS feature includes the reflected signal received power, the micro-motion feature includes micro-Doppler feature, and the target imaging feature includes target classification.

[0408] In some embodiments, the source perception node can perceive the first perception target through at least one of a reference signal, a visual sensor, an infrared sensor, etc., and obtain first measurement information of the first perception target from the corresponding sensor or perception data source, and send the first measurement information to the first node.

[0409] In some embodiments, the source sensing node receives a first request sent by the first node.

[0410] The first request is used to request the source sensing node to obtain first characteristic information or first measurement information. The first characteristic information is characteristic information of a first sensing target perceived by the source sensing node. The first measurement information is used to generate the first characteristic information.

[0411] In some embodiments, the first measurement information is measurement data used to generate the first feature information.

[0412] In some embodiments, the first request includes: a request for first feature information of the first perceptual target or a request for first measurement information of the first perceptual target.

[0413] In some embodiments, the source sensing node sends a first response to the first node.

[0414] The first response includes at least one of first characteristic information or first measurement information.

[0415] In some embodiments, the source sensing node sends the first feature information or the first measurement information to the first node. Optionally, the source sensing node may send the first feature information or the first measurement information to the first node via an RRC / perception protocol.

[0416] In some embodiments, the source sensing node reports capability information to the first node.

[0417] The capability information is used to indicate whether the source sensing node has the ability to ensure the continuity of the sensing service. Optionally, the capability information is used to indicate whether the source sensing node has the ability to obtain characteristic information of the sensing target. For example, the capability information is used to indicate whether the source sensing node supports the ability to extract the first characteristic information of the sensing target.

[0418] In some embodiments, the source sensing node receives a request for reporting capability information sent by the first node.

[0419] In some embodiments, the source sensing node reports capability information to the first node based on a capability information reporting request from the first node, wherein the capability information reporting request includes capability information instructing the source sensing node to provide capability information related to sensing service continuity.

[0420] In summary, in the method provided in the embodiments of the present application, a source sensing node sends first information to a first node, and the first node determines whether to switch the source sensing node to a target sensing node based on the first information. The target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform sensing services for the sensing target. This ensures that the sensing target can be uniquely identified when switching between the coverage areas of different sensing nodes, maintaining the continuity of the sensing service.

[0421] Candidate perception node side:

[0422] FIG18 shows a flowchart of a method for executing a sensing service provided by an exemplary embodiment of the present application, wherein the method is jointly executed by a first node, a source sensing node, and a candidate sensing node, and includes all or part of the following steps:

[0423] Step 410: The candidate sensing node sends first information to the first node.

[0424] The first information is used to determine whether to switch the source perception node to the target perception node; the target perception node is all or part of the candidate perception nodes, and the source perception node and the target perception node are used to perform perception services on the perception target.

[0425] In some embodiments, the candidate sensing node sends first information to the first node. Optionally, the first message includes at least one of second feature information, second measurement information, and a matching result.

[0426] Among them, the second feature information is the feature information of the perception target perceived by the candidate perception node, the second measurement information is used to generate the second feature information, the matching result is the matching result of the first feature information and the second feature information, and the matching result is used to indicate the degree of matching between the first feature information and the second feature information.

[0427] In some embodiments, the candidate perception node provides the first node with at least one of feature information, measurement information, or matching results about the perception target by sending first information to the first node, so as to assist the first node in deciding whether the perception node for the perception target needs to be switched.

[0428] In some embodiments, the candidate sensing node sends at least one of the second feature information, the second measurement information, or the matching result to the first node.

[0429] The second measurement information is used to generate second feature information, which is feature information of the target perceived by the candidate sensing node. The matching result is the matching result of the first feature information and the second feature information, where the first feature information is feature information of the target perceived by the source sensing node. The second feature information is used to uniquely identify the current target.

[0430] In some embodiments, the candidate sensing node sends second measurement information to the first node, including sending at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the second measurement information.

[0431] In some embodiments, the candidate sensing node sends second feature information to the first node, including sending at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the second feature information.

[0432] In some embodiments, the translational motion feature includes at least one of position, velocity, acceleration, time delay, and Doppler shift; the RCS feature includes reflected signal received power; the micro-motion feature includes a micro-Doppler feature; and the target imaging feature includes target classification. In some embodiments, the candidate sensing node can sense the sensing target using at least one of a reference signal, a visual sensor, an infrared sensor, etc., and obtain second measurement information of the sensing target from the corresponding sensor or sensing data source, and send the second measurement information to the first node.

[0433] In some embodiments, the candidate perception node sends a matching result to the first node, where the matching result is used to indicate the degree of matching between the first feature information and the second feature information. When the first feature information and the second feature information match, the first node switches the source perception node to the target perception node, where the target perception node is the candidate perception node corresponding to the matching result.

[0434] In some embodiments, the candidate sensing node receives the second request sent by the first node.

[0435] The second request is used to request the candidate sensing node to obtain at least one of second characteristic information, second measurement information, and a matching result. The second characteristic information is characteristic information of the sensing target perceived by the candidate sensing node. The second measurement information is measurement data used to generate the second characteristic information.

[0436] In some embodiments, the candidate sensing node receives a second request sent by the first node, where the second request carries the first feature information obtained from the source sensing node.

[0437] In some embodiments, the candidate sensing node sends a second response to the first node.

[0438] The second response includes at least one of the second feature information, the second measurement information, or the matching result.

[0439] In some embodiments, the candidate perception node sends at least one of the second feature information or the second measurement information or the matching result to the first node. Optionally, the candidate perception node may send at least one of the second feature information or the second measurement information or the matching result to the first node via the RRC / perception protocol.

[0440] In some embodiments, the candidate sensing node receives the first feature information or the first measurement information sent by the first node.

[0441] The first measurement information is used to generate first feature information.

[0442] In some embodiments, the candidate sensing node receives a second request sent by the first node, where the second request carries first feature information or first measurement information obtained from the source sensing node. The first feature information or first measurement information in the second request can be used by the candidate sensing node to perform a sensing measurement task.

[0443] In some embodiments, the candidate sensing node reports capability information to the first node.

[0444] The capability information indicates whether the candidate sensing node is capable of ensuring the continuity of sensing services. Optionally, the capability information indicates whether the candidate sensing node is capable of obtaining characteristic information of the sensing target. For example, the capability information indicates whether the candidate sensing node supports the ability to extract second characteristic information of the sensing target.

[0445] In some embodiments, the candidate sensing node receives a request for reporting capability information sent by the first node.

[0446] In some embodiments, the candidate sensing node reports capability information to the first node based on a capability information reporting request from the first node, wherein the capability information reporting request includes capability information indicating that the candidate sensing node provides capability information related to sensing service continuity.

[0447] In summary, in the method provided in an embodiment of the present application, a candidate sensing node sends first information to a first node, and the first node determines whether to switch the source sensing node to a target sensing node based on the first information. The target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform sensing services for the sensing target. This ensures that the sensing target can be uniquely identified when switching between the coverage areas of different sensing nodes, maintaining the continuity of the sensing service.

[0448] On the first node device side:

[0449] FIG19 shows a block diagram of a first node device according to an exemplary embodiment of the present application. The device 1300 has the function of implementing the above-mentioned method for executing the perception service. The first node device may include: an acquisition module 1310;

[0450] The acquisition module 1310 is used to acquire first information sent by the source sensing node and / or the candidate sensing node.

[0451] The first information is used to determine whether to switch the source sensing node to the target sensing node. The first information is reference information used to assist the first node device in deciding whether the sensing node for the sensing target needs to be switched.

[0452] The target sensing nodes are all or part of the candidate sensing nodes, and the source sensing nodes and the target sensing nodes are used to perform sensing services on the first sensing target. Optionally, the first sensing target may be a passive sensing target that does not have the ability to send or receive signals.

[0453] In some embodiments, the source sensing node is a node currently executing a sensing service, and the candidate sensing node is another node that may be switched to a target sensing node during the sensing service execution process. The first sensing target is the current sensing target of the source sensing node executing the sensing service.

[0454] In some embodiments, the first information is information sent by the source sensing node to the first node device, and / or information sent by the candidate sensing node to the first node device.

[0455] In some embodiments, the first node device is a sensing service node, which performs decision-making and control functions. The first node device is responsible for receiving first information sent by the source sensing node and the candidate sensing node, and based on the first information, decides whether to switch the source sensing node to the target sensing node. Optionally, the first information includes feature information about the sensing target.

[0456] In some embodiments, the first node device may evaluate the current perception situation and the state of the perception node, as well as the availability and adaptability of the candidate perception nodes based on the characteristic information of the perception target, to determine whether the perception node needs to be switched.

[0457] In some embodiments, the first information includes the first information sent by the source sensing node, or the first information includes the first information sent by the candidate sensing node, or the first information includes the first information sent by the source sensing node and the candidate sensing node.

[0458] In some embodiments, the first information is first characteristic information or first measurement information sent by the source perception node, and / or the first information includes at least one of second characteristic information or second measurement information or matching results sent by the candidate perception node.

[0459] The first characteristic information is characteristic information of the first perception target perceived by the source perception node, and the first measurement information is used to generate the first characteristic information.

[0460] In some embodiments, the first node device further includes a receiving module.

[0461] The receiving module is used to receive the first feature information or the first measurement information sent by the source sensing node.

[0462] The first measurement information is used to generate first characteristic information, which is characteristic information of a first sensing target sensed by the source sensing node. The first characteristic information is used to uniquely identify the current sensing target. The first sensing target is the current sensing target for which the source sensing node is performing a sensing service.

[0463] In some embodiments, the first node device receives a first response sent by the source sensing node, wherein the first response includes: first feature information or first measurement information sensed by the source sensing target.

[0464] In some embodiments, the first node device receives first measurement information sent by the source sensing node, including receiving at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the first measurement information.

[0465] In some embodiments, the first node device receives first feature information sent by the source sensing node, including receiving at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the first feature information.

[0466] In some embodiments, the translational feature includes at least one of position, velocity, acceleration, time delay, and Doppler shift, the RCS feature includes the reflected signal received power, the micro-motion feature includes micro-Doppler feature, and the target imaging feature includes target classification.

[0467] In some embodiments, the source sensing node can sense the sensing target through at least one of a reference signal, a visual sensor, an infrared sensor, etc., and obtain first measurement information of the sensing target from the corresponding sensor or sensing data source, and send the first measurement information to the first node device.

[0468] In some embodiments, the first node device further includes a sending module.

[0469] A sending module is used to send a first request to the source perception node.

[0470] The first request is used to request the source sensing node to obtain first characteristic information or first measurement information. The first characteristic information is characteristic information of a first sensing target perceived by the source sensing node. The first measurement information is used to generate the first characteristic information.

[0471] In some embodiments, the first measurement information is measurement data used to generate the first feature information.

[0472] In some embodiments, the first request includes: a request for first feature information of the first perceptual target or a request for first measurement information of the first perceptual target.

[0473] The receiving module is used to receive the first response sent by the source sensing node.

[0474] The first response includes at least one of first characteristic information or first measurement information.

[0475] In some embodiments, the source perception node sends the first characteristic information or the first measurement information to the first node device. Optionally, the source perception node may send the first characteristic information or the first measurement information to the first node device through the RRC / perception protocol. The first node device may receive the first characteristic information sent by the source perception node, or generate the first characteristic information based on the first measurement information sent by the source perception node, and perform processing and decision-making based on the characteristic information corresponding to the perception target in the first characteristic information.

[0476] In some embodiments, the first node device further includes an extraction module.

[0477] The extraction module is configured to extract first feature information based on the first measurement information.

[0478] The first characteristic information is characteristic information of the perception target perceived by the source perception node.

[0479] In some embodiments, the first node device may use the first measurement information to extract the first feature information.

[0480] The first measurement information is measurement information of the first perception target obtained by the source perception node, and the first feature information is feature information of the first perception target extracted from the first measurement information.

[0481] In some embodiments, the source sensing node reports the first measurement information obtained by itself to the first node device, and the first node device extracts the first feature information based on the first measurement information. Optionally, the first node device integrates and processes the first measurement information to obtain the first feature information.

[0482] a receiving module, configured to receive at least one of the second feature information, the second measurement information, or the matching result sent by the candidate sensing node;

[0483] Among them, the second measurement information is used to generate second feature information, the second feature information is the feature information of the perception target perceived by the candidate perception node, and the matching result is the matching result of the first feature information and the second feature information, and the first feature information is the feature information of the perception target perceived by the source perception node.

[0484] In some embodiments, the first node device receives a second response sent by the candidate sensing node, wherein the second response includes at least one of second feature information sensed by the candidate sensing target, second measurement information, and a matching result.

[0485] In some embodiments, the first node device receives the second feature information sent by the candidate sensing node, including receiving at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the second feature information.

[0486] In some embodiments, the first node device receives second measurement information sent by the candidate sensing node, including receiving at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the second measurement information.

[0487] In some embodiments, the first node device receives a matching result sent by the candidate perception node, and the matching result is used to indicate the degree of matching between the first feature information and the second feature information. When the first feature information and the second feature information match, the first node device switches the source perception node to the target perception node, wherein the target perception node is the candidate perception node corresponding to the matching result.

[0488] In some embodiments, the matching result is obtained by calculating the similarity between the first feature information and the second feature information.

[0489] In some embodiments, the matching result is indicated by the first bit, and the matching result includes a match and a mismatch. When the first bit has a first value, it is used to indicate a match between the first feature information and the second feature information; when the first bit has a second value, it is used to indicate a mismatch between the first feature information and the second feature information.

[0490] In some embodiments, the matching result is indicated by at least two bits, and the matching result represents a matching probability between the first feature information and the second feature information. The at least two bits have at least three values, and each of the at least three values ​​is used to indicate a matching probability between the first feature information and the second feature information.

[0491] A sending module is used to send a second request to the candidate sensing node.

[0492] The second request is used to request the candidate sensing node to obtain at least one of second characteristic information, second measurement information, and a matching result. The second characteristic information is characteristic information of the sensing target perceived by the candidate sensing node. The second measurement information is measurement data used to generate the second characteristic information.

[0493] In some embodiments, the first node device sends a second request to the candidate sensing node, where the second request carries the first feature information obtained from the source sensing node.

[0494] The receiving module is used to receive a second response sent by the candidate sensing node.

[0495] The second response includes at least one of the second feature information, the second measurement information, or the matching result.

[0496] In some embodiments, the first node device receives the second feature information sent by the candidate sensing node, including receiving at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the second feature information.

[0497] In some embodiments, the first node device receives second measurement information sent by the candidate sensing node, including receiving at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the first sensing target in the second measurement information.

[0498] In some embodiments, the first node device receives a matching result sent by the candidate perception node, and the matching result is used to indicate the degree of matching between the first feature information and the second feature information. When the first feature information and the second feature information match, the first node device switches the source perception node to the target perception node, wherein the target perception node is the candidate perception node corresponding to the matching result.

[0499] an extraction module, configured to extract second feature information based on the second measurement information;

[0500] The second feature information is feature information of the perception target perceived by the candidate perception node.

[0501] In some embodiments, the first node device may use the second measurement information to extract the second feature information.

[0502] The second measurement information is measurement information of the perception target obtained by the candidate perception node, and the second feature information is feature information of the perception target extracted from the second measurement information.

[0503] In some embodiments, the candidate sensing node reports the second measurement information obtained by itself to the first node device, and the first node device extracts the second feature information based on the second measurement information. Optionally, the first node device integrates and processes the second measurement information to obtain the second feature information.

[0504] A sending module, configured to send first feature information or first measurement information to a candidate sensing node;

[0505] The first measurement information is used to generate first feature information.

[0506] In some embodiments, the first node device sends a second request to the candidate sensing node, where the second request carries first feature information or first measurement information obtained from the source sensing node. The first feature information or first measurement information in the second request can be used by the candidate sensing node to perform the sensing measurement task.

[0507] In some embodiments, the first node device further includes a switching module.

[0508] A switching module, used to switch the source sensing node to the target sensing node;

[0509] The target sensing node is the candidate sensing node corresponding to the matching result.

[0510] In some embodiments, the first node device receives a matching result sent by the candidate sensing node, where the matching result is used to indicate a degree of matching between the first feature information and the second feature information.

[0511] In some embodiments, the first node device extracts first feature information based on the first measurement information and extracts second feature information based on the second measurement information. The first node device matches the first feature information and the second feature information to obtain a matching result, which is used to indicate the degree of matching between the first feature information and the second feature information.

[0512] In some embodiments, when the first feature information and the second feature information match, the first node device switches the source perception node to the target perception node, wherein the target perception node is a candidate perception node corresponding to the matching result.

[0513] A receiving module, configured to receive capability information reported by a source sensing node and / or a candidate sensing node;

[0514] The capability information is used to indicate whether the source sensing node and / or candidate sensing node has the capability to ensure the continuity of sensing services. Optionally, the capability information is used to indicate whether the source sensing node and / or candidate sensing node has the capability to extract feature information of the sensing target.

[0515] The sending module is used to send a request for reporting capability information to the source sensing node and / or the candidate sensing node.

[0516] In some embodiments, the first node device sends a capability information reporting request to the source sensing node and / or the candidate sensing node, and the capability information reporting request includes capability information indicating that the source sensing node and / or the candidate sensing node provides capability information related to the continuity of sensing services.

[0517] In summary, the method provided in the embodiments of the present application obtains first information sent by a source sensing node and / or candidate sensing nodes, and the first node device determines, based on the first information, whether to switch the source sensing node to a target sensing node, where the target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform sensing services for the sensing target. This ensures that the sensing target can be uniquely identified when switching between the coverage areas of different sensing nodes, maintaining the continuity of the sensing service.

[0518] Source sensing node device side:

[0519] FIG20 shows a block diagram of a source sensing node device according to an exemplary embodiment of the present application. The device 1400 has the function of implementing the above-mentioned method for executing sensing services. The source sensing node device may include: a first sending module 1410;

[0520] The first sending module 1410 is configured to send first information to a first node.

[0521] The first information is used to determine whether to switch the source sensing node apparatus to a target sensing node. The target sensing node is all or part of the candidate sensing nodes. The source sensing node apparatus and the target sensing node are used to perform a sensing service on a first sensing target. The first sensing target is the current sensing target for which the source sensing node apparatus performs the sensing service.

[0522] In some embodiments, the source sensing node device sends first information to the first node. Optionally, the first message includes first feature information or first measurement information.

[0523] The first characteristic information is characteristic information of the perception target perceived by the source perception node device, and the first measurement information is used to generate the first characteristic information.

[0524] In some embodiments, the source perception node device provides the first node with characteristic information or measurement information about the first perception target by sending first information to the first node, so as to assist the first node in deciding whether the perception node for the first perception target needs to be switched.

[0525] A first sending module 1410 is configured to send first feature information or first measurement information to a first node;

[0526] The first measurement information is used to generate first characteristic information, which is characteristic information of a first sensing target sensed by the source sensing node device. The first characteristic information is used to uniquely identify the current sensing target.

[0527] The first measurement information is used to generate first characteristic information, and the first characteristic information is characteristic information of the first perception target perceived by the source perception node device.

[0528] In some embodiments, the source sensing node device sends first measurement information to the first node, including sending at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the first measurement information.

[0529] In some embodiments, the source sensing node device sends first feature information to the first node, including sending at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the first feature information.

[0530] In some embodiments, the translational feature includes at least one of position, velocity, acceleration, time delay, and Doppler shift, the RCS feature includes the reflected signal received power, the micro-motion feature includes micro-Doppler feature, and the target imaging feature includes target classification.

[0531] In some embodiments, the source perception node device can perceive the first perception target through at least one of a reference signal, a visual sensor, an infrared sensor, etc., and obtain first measurement information of the first perception target from the corresponding sensor or perception data source, and send the first measurement information to the first node.

[0532] In some embodiments, the source sensing node device further includes a receiving module.

[0533] The receiving module is configured to receive a first request sent by a first node.

[0534] The first request is used to request the source sensing node device to obtain first characteristic information or first measurement information. The first characteristic information is characteristic information of a first sensing target sensed by the source sensing node device. The first measurement information is used to generate the first characteristic information.

[0535] In some embodiments, the first measurement information is measurement data used to generate the first feature information.

[0536] In some embodiments, the first request includes: a request for first feature information of the first perceptual target or a request for first measurement information of the first perceptual target.

[0537] The first sending module 1410 is configured to send a first response to the first node.

[0538] The first response includes at least one of first characteristic information or first measurement information.

[0539] In some embodiments, the source perception node device sends the first feature information or the first measurement information to the first node. Optionally, the source perception node device may send the first feature information or the first measurement information to the first node via an RRC / perception protocol.

[0540] In some embodiments, the source sensing node device further includes a reporting module.

[0541] A reporting module, configured to report capability information to the first node;

[0542] The capability information is used to indicate whether the source sensing node device is capable of ensuring the continuity of the sensing service. Optionally, the capability information is used to indicate whether the source sensing node device is capable of obtaining characteristic information of the first sensing target. For example, the capability information is used to indicate whether the source sensing node device supports the capability of extracting the first characteristic information of the first sensing target.

[0543] The receiving module is configured to receive a capability information reporting request sent by the first node.

[0544] In some embodiments, the source sensing node device reports capability information to the first node based on a capability information reporting request from the first node. The capability information reporting request includes capability information instructing the source sensing node device to provide sensing service continuity-related capability information.

[0545] In summary, in the method provided in the embodiments of the present application, a source sensing node apparatus sends first information to a first node. The first node determines, based on the first information, whether to switch the source sensing node apparatus to a target sensing node. The target sensing node is all or part of a candidate sensing node. The source sensing node apparatus and the target sensing node are used to perform sensing services for the sensing target. This ensures that the sensing target can be uniquely identified when switching between the coverage areas of different sensing nodes, thereby maintaining the continuity of the sensing service.

[0546] Candidate sensing node device side:

[0547] FIG21 shows a block diagram of a candidate sensing node device according to an exemplary embodiment of the present application. The device 1500 has the function of implementing the above-mentioned method for executing the sensing service. The candidate sensing node device may include: a second sending module 1510;

[0548] The second sending module 1510 is configured to send first information to the first node.

[0549] Among them, the first information is used to determine whether to switch the source perception node to the target perception node; the target perception node is all or part of the nodes in the candidate perception node device, and the source perception node and the target perception node are used to perform perception services on the perception target.

[0550] In some embodiments, the candidate sensing node device sends first information to the first node. Optionally, the first message includes at least one of second feature information, second measurement information, and a matching result.

[0551] Among them, the second characteristic information is the characteristic information of the perception target perceived by the candidate perception node device, the second measurement information is used to generate the second characteristic information, the matching result is the matching result of the first characteristic information and the second characteristic information, and the matching result is used to indicate the degree of matching between the first characteristic information and the second characteristic information.

[0552] In some embodiments, the candidate perception node device provides the first node with at least one of feature information, measurement information, or matching results about the perception target by sending first information to the first node, so as to assist the first node in deciding whether the perception node for the perception target needs to be switched.

[0553] The second sending module 1510 is configured to send at least one of the second feature information, the second measurement information, or the matching result to the first node;

[0554] The second measurement information is used to generate second characteristic information, which is characteristic information of the sensing target perceived by the candidate sensing node device. The matching result is the matching result of the first characteristic information and the second characteristic information, where the first characteristic information is characteristic information of the sensing target perceived by the source sensing node. The second characteristic information is used to uniquely identify the current sensing target.

[0555] In some embodiments, the candidate sensing node device sends second measurement information to the first node, including sending at least one of the translational feature measurement of the sensing target, the RCS feature measurement of the sensing target, the micro-motion feature measurement of the sensing target, or the target imaging feature measurement of the sensing target in the second measurement information.

[0556] In some embodiments, the candidate sensing node device sends second feature information to the first node, including sending at least one of the translation feature of the sensing target, the RCS feature of the sensing target, the micro-motion feature of the sensing target, or the target imaging feature of the sensing target in the second feature information.

[0557] In some embodiments, the translational motion feature includes at least one of position, velocity, acceleration, time delay, and Doppler shift; the RCS feature includes reflected signal received power; the micro-motion feature includes a micro-Doppler feature; and the target imaging feature includes target classification. In some embodiments, the candidate sensing node device can sense the sensing target using at least one of a reference signal, a visual sensor, an infrared sensor, etc., and obtain second measurement information of the sensing target from the corresponding sensor or sensing data source, and transmit the second measurement information to the first node.

[0558] In some embodiments, the candidate perception node device sends a matching result to the first node, and the matching result is used to indicate the degree of matching between the first feature information and the second feature information. When the first feature information and the second feature information match, the first node switches the source perception node to the target perception node, wherein the target perception node is the candidate perception node device corresponding to the matching result.

[0559] In some embodiments, the candidate sensing node device further includes a receiving module.

[0560] The receiving module is configured to receive a second request sent by the first node.

[0561] The second request is used to request the candidate sensing node device to obtain at least one of second characteristic information, second measurement information, and a matching result. The second characteristic information is characteristic information of a sensing target perceived by the candidate sensing node device. The second measurement information is measurement data used to generate the second characteristic information.

[0562] In some embodiments, the candidate sensing node device receives a second request sent by the first node, where the second request carries the first feature information obtained from the source sensing node.

[0563] The second sending module 1510 is configured to send a second response to the first node.

[0564] The second response includes at least one of the second feature information, the second measurement information, or the matching result.

[0565] In some embodiments, the candidate perception node device sends the second characteristic information or the second measurement information or at least one of the matching results to the first node. Optionally, the candidate perception node device can send the second characteristic information or the second measurement information or at least one of the matching results to the first node via the RRC / perception protocol.

[0566] A receiving module, configured to receive first characteristic information or first measurement information sent by a first node;

[0567] The first measurement information is used to generate first feature information.

[0568] In some embodiments, the candidate sensing node device receives a second request sent by the first node, where the second request carries first feature information or first measurement information obtained from the source sensing node. The first feature information or first measurement information in the second request can be used by the candidate sensing node device to perform a sensing measurement task.

[0569] In some embodiments, the candidate sensing node device further includes a reporting module.

[0570] A reporting module, configured to report capability information to the first node;

[0571] The capability information is used to indicate whether the candidate sensing node device has the ability to ensure the continuity of the sensing service. Optionally, the capability information is used to indicate whether the candidate sensing node device has the ability to obtain characteristic information of the sensing target. For example, the capability information is used to indicate whether the candidate sensing node device supports the ability to extract the second characteristic information of the sensing target.

[0572] The receiving module is configured to receive a capability information reporting request sent by the first node.

[0573] In some embodiments, the candidate sensing node device reports capability information to the first node based on a capability information reporting request from the first node, wherein the capability information reporting request includes capability information indicating that the candidate sensing node device provides capability information related to sensing service continuity.

[0574] In summary, in the method provided in the embodiments of the present application, a candidate sensing node apparatus sends first information to a first node, and the first node determines whether to switch the source sensing node to a target sensing node based on the first information. The target sensing node is all or part of the nodes in the candidate sensing node apparatus, and the source sensing node and the target sensing node are used to perform sensing services for the sensing target. This ensures that the sensing target can be uniquely identified when switching between the coverage areas of different sensing nodes, maintaining the continuity of the sensing service.

[0575] Please refer to Figure 22, which shows a block diagram of a communication device provided in one embodiment of the present application. This communication device can be used to implement the perception service execution method provided in the above embodiments. The perception device may include: a processor 2301, a receiver 2302, a transmitter 2303, a memory 2304, and a bus 2305.

[0576] The processor 2301 includes one or more processing cores. The processor 2301 executes various functional applications and information processing by running software programs and modules.

[0577] The receiver 2302 and the transmitter 2303 may be implemented as a transceiver, which may be a communication chip.

[0578] The memory 2304 is connected to the processor 2301 via a bus 2305; in some embodiments, the processor 2301 can be implemented as a first IC chip, and the processor 2301 and the memory 2304 can be jointly implemented as a second IC chip; the first chip or the second chip can be an application specific integrated circuit (ASIC) chip.

[0579] The memory 2304 may be used to store at least one computer program, and the processor 2301 may be used to execute the at least one computer program to implement the various steps performed by the communication system in the above method embodiment.

[0580] In addition, the memory 2304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: random-access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state storage technology, compact disc read-only memory (CD-ROM), high-density digital video disc (DVD) or other optical storage, tape cassettes, magnetic tape, disk storage or other magnetic storage devices.

[0581] In an exemplary embodiment, a chip is further provided. The chip includes a programmable logic circuit and / or program instructions. When the chip runs on a multi-link device, it is used to implement the above-mentioned method for executing the perception service.

[0582] In an exemplary embodiment, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the computer program implements the above-mentioned method for executing the perception service.

[0583] In an exemplary embodiment, a computer program product is further provided. When the computer program product is executed by a processor, it is used to implement the above-mentioned method for executing the perception service.

[0584] It should be understood that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. In addition, the step numbers described in this article only illustrate a possible execution sequence between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order to the diagram. The embodiments of the present application do not limit this.

[0585] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for executing a sensing service, characterized in that, The method is executed by a first node, and the method includes: Obtaining first information sent by a source sensing node and / or a candidate sensing node, where the first information is used to determine whether to switch the source sensing node to a target sensing node; Wherein, the target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform sensing services on a first sensing target.

2. The method according to claim 1, wherein The first node and the source sensing node are different nodes, and obtaining the first information sent by the source sensing node includes: Receiving first feature information or first measurement information sent by the source sensing node; Wherein, the first measurement information is used to generate the first feature information, and the first feature information is feature information of a first sensing target sensed by the source sensing node.

3. The method according to claim 2, wherein The method further includes: Sending a first request to the source sensing node, where the first request is used to request the source sensing node to obtain the first measurement information; Receiving a first response sent by the source sensing node, where the first response includes at least one of the first feature information or the first measurement information.

4. The method according to claim 1, wherein The first node and the source sensing node are the same node, and obtaining the first information sent by the source sensing node includes: Extracting the first feature information based on the first measurement information; Wherein, the first feature information is feature information of a first sensing target sensed by the source sensing node.

5. The method according to any one of claims 2 to 4, characterized in that The first feature information includes at least one of the following information: The translational feature of the sensing target; The radar cross section (RCS) feature of the sensing target; The micro-motion feature of the sensing target; The target imaging feature of the sensing target.

6. The method according to claim 5, wherein The translational feature includes at least one of position, velocity, acceleration, time delay, and Doppler frequency shift, the RCS feature includes received power of a reflected signal, the micro-motion feature includes a micro-Doppler feature, and the target imaging feature includes target classification.

7. The method according to any one of claims 1 to 6, characterized in that Obtaining the first information sent by the candidate sensing node includes: Receiving at least one of second feature information, second measurement information, or a matching result sent by the candidate sensing node; Wherein, the second measurement information is used to generate the second feature information, the second feature information is feature information of a sensing target sensed by the candidate sensing node, the matching result is a matching result between the first feature information and the second feature information, and the first feature information is feature information of a first sensing target sensed by the source sensing node.

8. The method according to claim 7, characterized in that, The method further includes: Sending a second request to the candidate sensing node, where the second request is used to request the candidate sensing node to obtain the second measurement information; Receiving a second response sent by the candidate sensing node, where the second response includes at least one of the second feature information, the second measurement information, or the matching result.

9. The method according to claim 8, wherein Obtaining the first information sent by the candidate sensing node includes: Extracting the second feature information based on the second measurement information; Wherein, the second feature information is feature information of a sensing target sensed by the candidate sensing node.

10. The method according to any one of claims 7 to 9, characterized in that The second feature information includes at least one of the following information: The translational features of the perceived target; The RCS features of the perceived target; the micro-motion features of the perceived target; The target imaging features of the perceived target.

11. The method according to claim 10, wherein The translational features include at least one of position, velocity, acceleration, time delay, and Doppler frequency shift. The RCS features include the received power of the reflected signal. The micro-motion features include micro-Doppler features. The target imaging features include target classification.

12. The method according to claim 7, wherein The method further includes: Sending the first feature information or the first measurement information to the candidate sensing node; Wherein, the first measurement information is used to generate the first feature information.

13. The method according to claim 7 or 8, characterized in that The matching result includes a first bit, When the first bit takes a first value, it is used to indicate a match between the first feature information and the second feature information; When the first bit takes a second value, it is used to indicate a mismatch between the first feature information and the second feature information.

14. The method according to claim 13, characterized in that The matching result includes at least two bits, and the at least two bits have at least three values. Each of the at least three values is used to indicate a matching probability between the first feature information and the second feature information.

15. The method according to any one of claims 7 to 14, characterized in that The method further includes: When the matching result is used to indicate a match between the first feature information and the second feature information, switching the source sensing node to the target sensing node; Wherein, the target sensing node is a candidate sensing node corresponding to the matching result.

16. The method according to any one of claims 1 to 15, characterized in that, The method further includes: Receiving the capability information reported by the source sensing node and / or the candidate sensing node; Wherein, the capability information is used to indicate whether the source sensing node and / or the candidate sensing node has the ability to ensure the continuity of the sensing service.

17. The method according to claim 16, wherein The method further includes: Sending a reporting request for the capability information to the source sensing node and / or the candidate sensing node.

18. A method for executing a sensing service, characterized in that, The method is executed by a source sensing node, and the method includes: Sending first information to a first node; Wherein, the first information is used to determine whether to switch the source sensing node to a target sensing node. The target sensing node is all or part of the candidate sensing nodes. The source sensing node and the target sensing node are used to perform sensing services on a first perceived target.

19. The method according to claim 18, wherein The first node and the source sensing node are different nodes. Sending the first information to the first node includes: Sending the first feature information or the first measurement information to the first node; Wherein, the first measurement information is used to generate the first feature information, and the first feature information is the feature information of the first perceived target sensed by the source sensing node.

20. The method according to claim 19, wherein Sending the first feature information or the first measurement information to the first node includes: Receiving a first request sent by the first node, where the first request is used to request the source sensing node to obtain the first measurement information; Sending a first response to the first node, where the first response includes at least one of the first feature information or the first measurement information.

21. The method according to claim 19 or 20, characterized in that The first feature information includes at least one of the following information: The translational features of the perceived target; The RCS features of the perceived target; The micro-motion features of the perceived target; The target imaging features of the sensed target.

22. The method according to claim 21, wherein The translational features include at least one of position, velocity, acceleration, time delay, and Doppler frequency shift. The RCS features include the received power of the reflected signal. The micro-motion features include micro-Doppler features. The target imaging features include target classification.

23. The method according to any one of claims 18 to 22, characterized in that, The method further includes: Reporting capability information to the first node; Wherein, the capability information is used to indicate whether the source sensing node has the ability to ensure the continuity of the sensing service.

24. The method according to claim 23, wherein The method further includes: Receiving a reporting request for the capability information sent by the first node.

25. A method for executing a sensing service, characterized in that, The method is executed by a candidate sensing node, and the method includes: Sending first information to a first node; Wherein, the first information is used to determine whether to switch the source sensing node to a target sensing node. The target sensing node is all or part of the candidate sensing nodes. The source sensing node and the target sensing node are used to perform sensing services for a first sensed target.

26. The method according to claim 25, wherein The sending the first information to the first node includes: Sending at least one of second feature information, second measurement information, or a matching result to the first node; Wherein, the second measurement information is used to generate the second feature information. The second feature information is the feature information of the sensed target sensed by the candidate sensing node. The matching result is the matching result between the first feature information and the second feature information. The first feature information is the feature information of the first sensed target sensed by the source sensing node.

27. The method according to claim 26, wherein The sending the second feature information, second measurement information, or matching result to the first node includes: Receiving a second request sent by the first node, where the second request is used to request the candidate sensing node to obtain the second measurement information; Sending a second response to the first node, where the second response includes at least one of the second feature information, the second measurement information, or the matching result.

28. The method according to claim 26, wherein The method further includes: Receiving the first feature information or the first measurement information sent by the first node; Wherein, the first measurement information is used to generate the first feature information.

29. The method according to claim 26 or 27, characterized in that, The matching result includes a first bit, When the first bit is a first value, it is used to indicate a match between the first feature information and the second feature information; When the first bit is a second value, it is used to indicate a mismatch between the first feature information and the second feature information.

30. The method according to claim 29, wherein The matching result includes at least two bits, and the at least two bits have at least three values. Each of the at least three values is used to indicate a matching probability between the first feature information and the second feature information.

31. The method according to any one of claims 25 to 30, characterized in that, The method further includes: Reporting capability information to the first node; Wherein, the capability information is used to indicate whether the candidate sensing node has the ability to ensure the continuity of the sensing service.

32. The method according to claim 31, wherein The method further includes: Receiving a reporting request for the capability information sent by the first node.

33. The method according to any one of claims 25 to 32, characterized in that, The second feature information includes at least one of the following information: The translational features of the sensed target; The RCS features of the sensed target; The micro-motion features of the sensed target; The target imaging features of the perceived target.

34. The method according to claim 33, characterized in that, The translational features include at least one of position, velocity, acceleration, time delay, and Doppler frequency shift. The RCS features include the received power of the reflected signal. The micro-motion features include micro-Doppler features. The target imaging features include target classification.

35. An execution device for a sensing service, characterized in that, The device includes: An acquisition module, configured to acquire first information sent by a source sensing node and / or a candidate sensing node, where the first information is used to determine whether to switch the source sensing node to a target sensing node; Wherein, the target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform sensing services on a first perceived target.

36. An execution device for a sensing service, characterized in that, The device includes: A first sending module, configured to send first information to a first node; Wherein, the first information is used to determine whether to switch the source sensing node to a target sensing node; the target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform sensing services on a first perceived target.

37. An execution device for a perception service, characterized in that, The device includes: A second sending module, configured to send first information to a first node; Wherein, the first information is used to determine whether to switch the source sensing node to a target sensing node; the target sensing node is all or part of the candidate sensing nodes, and the source sensing node and the target sensing node are used to perform the sensing service.

38. A sensing device, characterized in that, The communication device includes a processor and a memory. A computer program is stored in the memory. The processor executes the computer program to implement the method for executing the sensing service according to any one of claims 1 to 17, or to implement the method for executing the sensing service according to any one of claims 18 to 24, or to implement the method for executing the sensing service according to any one of claims 25 to 34.

39. A computer-readable storage medium, characterized in that, A computer program is stored in the storage medium. The computer program is used to be executed by a processor to implement the method for executing the sensing service according to any one of claims 1 to 17, or to implement the method for executing the sensing service according to any one of claims 18 to 24, or to implement the method for executing the sensing service according to any one of claims 25 to 34.

40. A chip, characterized in that, The chip includes programmable logic circuits and / or program instructions. When the chip runs, it is used to implement the method for executing the sensing service according to any one of claims 1 to 17, or to implement the method for executing the sensing service according to any one of claims 18 to 24, or to implement the method for executing the sensing service according to any one of claims 25 to 34.

41. A computer program product, characterized in that, The computer program product includes computer instructions. The computer instructions are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the method for executing the sensing service according to any one of claims 1 to 17, or to implement the method for executing the sensing service according to any one of claims 18 to 24, or to implement the method for executing the sensing service according to any one of claims 25 to 34.

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