Sensing terminal switching method and apparatus, and storage medium

Abstract

The present disclosure provides a sensing terminal switching method and apparatus, and a storage medium. The sensing terminal switching method comprises: receiving first indication information from a first terminal device, wherein the first terminal device is a terminal device that currently performs cooperative sensing on a sensing target with a network device, and the first indication information is triggered when the first terminal device meets a sensing configuration condition; and sending second indication information to a second terminal device, wherein the second indication information is used for instructing the second terminal device and the network device to perform cooperative sensing on the sensing target.

Description

Perception terminal switching method and device, and storage medium

[0001] This disclosure claims priority to Chinese patent application No. 202410115612.9, filed on January 26, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of communication technologies, and in particular to a method and device for perceiving terminal switching, and a storage medium. Background Art

[0003] Communication perception technology integrates communication and perception technologies to achieve target perception while ensuring high-speed communication. In terminal device perception mode, network equipment can transmit multiple perception signals. After being scattered by the environment or the perceived target, the terminal device receives multiple echo signals. The terminal device analyzes the echo signals to obtain perception data, which is then transmitted to the perception network element through the network equipment. This perception network element can then obtain relevant information about the environment and the perceived target. Summary of the Invention

[0004] In a first aspect, the present disclosure provides a perception terminal switching method, applied to a network device. The perception terminal switching method comprises: receiving first indication information from a first terminal device, the first terminal device being a terminal device currently performing collaborative perception of a perception target with the network device, the first indication information being triggered when the first terminal device satisfies a perception configuration condition; and sending second indication information to a second terminal device, the second indication information being used to instruct the second terminal device to perform collaborative perception of the perception target with the network device.

[0005] In some embodiments, the perception configuration condition includes at least one of the following: a first switching condition, a second switching condition, or a third switching condition; the first switching condition is that the distance between the first terminal device and the perception target is greater than a first preset threshold, the second switching condition is that the distance between the first terminal device and the network device is greater than a second preset threshold, and the third switching condition is that the signal quality of the signal transmitted by the network device within the target time period is less than a third preset threshold.

[0006] In some embodiments, the perception terminal switching method further includes: determining a terminal device with preset perception capability from a plurality of terminal devices as a third terminal device; and determining a second terminal device from the third terminal devices that do not meet the perception configuration condition.

[0007] In some embodiments, determining a second terminal device from a third terminal device that does not meet the perception configuration condition includes: i. selecting a fourth terminal device from the third terminal devices that do not meet the perception configuration condition, the fourth terminal device being any third terminal device among the third terminal devices that do not meet the perception configuration condition; ii. sending a third indication message to the perception network element, the third indication message being used to request the perception network element to determine whether the perception capability of the fourth terminal device meets the perception requirements; iii. upon receiving the fourth indication message from the perception network element: determining that the fourth terminal device is the second terminal device, the fourth indication message being triggered when the perception capability of the fourth terminal device meets the perception requirements; iv. upon receiving the fifth indication message from the perception network element: reselecting from the third terminal devices that do not meet the perception configuration condition to obtain an updated fourth terminal device, wherein the fifth indication message is triggered when the perception capability of the fourth terminal device does not meet the perception requirements; and repeating operations ii-iv based on the updated fourth terminal device until the second terminal device is determined.

[0008] In some embodiments, the second indication information is further used to indicate the configuration parameters required by the second terminal device when the second terminal device and the network device collaborate to perceive the perception target.

[0009] In one possible implementation, the configuration parameters are used to configure reference signals and measurement indicators, where the reference signals include channel state information reference signals CSI-RS and / or positioning reference signals PRS, and the measurement indicators include at least one of the following: distance, angle, or speed.

[0010] In the second aspect, the present application provides a perception terminal switching device, which is applied to a network device, and the device includes: a communication unit and a processing unit; the processing unit is used to instruct the communication unit to receive a first indication information from a first terminal device; the first terminal device is a terminal device that currently collaborates with the network device to perceive a perception target; the first indication information is triggered when the first terminal device meets the perception configuration conditions; the communication unit is also used to send a second indication information to the second terminal device; the second indication information is used to instruct the second terminal device and the network device to collaborate to perceive the perception target.

[0011] In one possible implementation, the perception configuration condition includes at least one of the following: a first switching condition, a second switching condition, or a third switching condition; the first switching condition is that the distance between the first terminal device and the perception target is greater than a first preset threshold; the second switching condition is that the distance between the first terminal device and the network device is greater than a second preset threshold; the third switching condition is that the signal quality of the signal transmitted by the network device within the target time period is less than a third preset threshold.

[0012] In one possible implementation, the processing unit is further used to determine a terminal device with preset perception capabilities from multiple terminal devices as a third terminal device; the processing unit is further used to determine the second terminal device from the third terminal devices that do not meet the perception configuration conditions.

[0013] In one possible implementation, step 1, the processing unit is also used to select a fourth terminal device from the third terminal devices that do not meet the perception configuration conditions; the fourth terminal device is any third terminal device among the third terminal devices that do not meet the perception configuration conditions; step 2, the communication unit is also used to send a third indication message to the perception network element; the third indication message is used to request the perception network element to determine whether the perception capability of the fourth terminal device meets the perception requirements; step 3, the processing unit is also used to determine that the fourth terminal device is the second terminal device when receiving the fourth indication message from the perception network element; the fourth indication message is triggered when the perception capability of the fourth terminal device meets the perception requirements; step 4, the processing unit is also used to reselect from the third terminal devices that do not meet the perception configuration conditions when receiving the fifth indication message from the perception network element, obtain an updated fourth terminal device, and repeat steps 2, 3, and 4 based on the updated fourth terminal device until the second terminal device is determined; the fifth indication message is triggered when the perception capability of the fourth terminal device does not meet the perception requirements.

[0014] In a possible implementation, the second indication information is also used to indicate the configuration parameters required by the second terminal device when the second terminal device and the network device collaborate to perceive the perception target.

[0015] In one possible implementation, the configuration parameters are used to configure reference signals and measurement indicators, where the reference signals include channel state information reference signals CSI-RS and / or positioning reference signals PRS, and the measurement indicators include at least one of the following: distance, angle, or speed.

[0016] In a third aspect, the present application provides a perception terminal switching device, which includes: a processor and a communication interface; the communication interface and the processor are coupled, and the processor is used to run a computer program or instructions to implement the perception terminal switching method described in the first aspect and any possible implementation method of the first aspect.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a terminal, the terminal executes the perceptual terminal switching method described in the first aspect and any possible implementation of the first aspect.

[0018] In a fifth aspect, the present application provides a computer program product comprising instructions. When the computer program product runs on a perception terminal switching device, the perception terminal switching device executes the perception terminal switching method described in the first aspect and any possible implementation of the first aspect.

[0019] In a sixth aspect, the present application provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a computer program or instruction to implement the perception terminal switching method described in the first aspect and any possible implementation method of the first aspect.

[0020] Specifically, the chip provided in this application also includes a memory for storing computer programs or instructions.

[0021] In the perception terminal switching method provided in the embodiment of the present application, when the first terminal device (i.e., the terminal device that is currently performing collaborative perception of the perception target with the network device) meets the perception configuration conditions, the network device receives first indication information from the first terminal device and sends second indication information to the second terminal device, so that the second terminal device and the network device perform collaborative perception of the perception target. In this way, when the first terminal device in the network device meets the perception configuration conditions, the network device can promptly determine the second terminal device and instruct the second terminal device to perform collaborative perception of the perception target with the network device, which can avoid the situation where the terminal device cannot monitor and track the perception target after the perception configuration conditions are met, and further avoid the situation where the perception target cannot be perceived, thereby ensuring the continuity of the network device's perception of the perception target. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a diagram of an application scenario of integrated communication and perception provided by an embodiment of the present application;

[0023] FIG2 is a schematic diagram of a network architecture of a perception system provided in an embodiment of the present application;

[0024] FIG3 is a schematic diagram of the structure of a communication system provided in an embodiment of the present application;

[0025] FIG4 is a schematic structural diagram of a perception terminal switching device provided in an embodiment of the present application;

[0026] FIG5 is a flow chart of a method for switching a perception terminal provided in an embodiment of the present application;

[0027] FIG6 is a flowchart of another perception terminal switching method provided in an embodiment of the present application;

[0028] FIG7 is a schematic structural diagram of another perception terminal switching device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following describes in detail the perception terminal switching method, device and storage medium provided in the embodiments of the present application in conjunction with the accompanying drawings.

[0030] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: only A, only B, and A and B.

[0031] The terms “first” and “second” and the like in the specification and drawings of the present disclosure are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0032] Furthermore, the terms "including," "having," and any variations thereof, as used in the description of this disclosure are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include other steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0033] It should be noted that in the embodiments of the present disclosure, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present disclosure should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0034] As a key technology in communication networks, integrated communication and perception technology enables the coexistence of two independent functions, communication and perception, within the same system through joint signal design and / or hardware sharing. This allows for the monitoring and tracking of perceived targets (e.g., unknown and known objects) by leveraging the communication system and its reference signals while maintaining high-speed communication. Therefore, integrated communication and perception technology is a candidate for sixth-generation mobile communication technology (6G).

[0035] Figure 1 is a diagram of an application scenario for integrated communication perception. In this application scenario, the transmission modes of communication perception include network device perception mode and terminal device perception mode. For different transmission modes, the sending node and receiving node of the perception signal are also different. For example, in the network device perception mode, the first network device can send multiple perception signals, which are scattered by the environment or the perception target, and the first network device receives the multiple perception signals (i.e., echo signals) that have been scattered. For another example, in the network device perception mode, the first network device can send multiple perception signals, which are scattered by the environment or the perception target, and the first network device and the second network device receive the multiple echo signals that have been scattered. For another example, in the network device perception mode, the terminal device can send multiple perception signals, which are scattered by the environment or the perception target, and the network device receives the multiple echo signals that have been scattered. For another example, in the terminal device perception mode, the network device can send multiple perception signals, which are scattered by the environment or the perception target, and the terminal device receives the multiple echo signals that have been scattered. For another example, in the terminal device perception mode, the first terminal device may send multiple perception signals, which are scattered by the environment or the perception target, and then the first terminal device and the second terminal device receive the multiple scattered echo signals. For another example, in the terminal device perception mode, the first terminal device may send multiple perception signals, which are scattered by the environment or the perception target, and then the first terminal device receives the multiple scattered echo signals.

[0036] In a communication perception system, network equipment can first determine the communication perception transmission mode and the uplink and downlink signals required for this transmission mode. Based on the uplink and downlink signals required by this transmission mode, the network equipment can configure corresponding perception signals for perception nodes (network equipment and / or terminal devices). The perception nodes then transmit the perception signals and receive echo signals, analyzing and processing the perception signals to generate perception data.

[0037] Figure 2 shows a schematic diagram of the network architecture of a perception system. In this diagram, the network element functional entities in the perception system include: unified data management (UDM), network data analytics function (NWDAF), location management function (LMF), policy control function (PCF), access and mobility management function (AMF), sensing function (SF) (including SF-C (sensing function-control plane) and SF-U (sensing function-user plane)), network exposure function (NEF), application layer function (AF), user equipment (UE), (radio) access network (R)AN), user plane function (UPF), non-3rd generation partnership project access (N3GPP access), and 3rd generation partnership project-access gateway function (N3-AGF).The functions of the above-mentioned network element functional entities are as follows: UDM is responsible for user subscription data management; NWDAF is responsible for providing network analysis services; LMF is responsible for positioning calculation of terminal devices; PCF is responsible for user policy control, including session policy, mobility policy, etc.; AMF is responsible for user access and mobility management; SF is responsible for providing perception services, including the selection of perception nodes, configuration and coordination of perception resources, and processing of perception data; NEF is responsible for opening the capabilities of the fifth generation mobile communication technology (5G) network to external systems; AF is responsible for interoperating with the core network to provide services to users; UPF is responsible for user plane processing; N3GPP access is responsible for connecting to the evolved packet core (EPC) in various ways according to the operator's business model and architecture preferences; N3-AGF is responsible for connecting ordinary telephone users to the soft switch network.

[0038] The connection relationship between the above network element functional entities is as follows:

[0039] N1 interface: the interface between UE and AMF.

[0040] Uu interface: the interface between UE and (R)AN.

[0041] N2 interface: the interface between (R)AN and AMF.

[0042] N3 interface: the interface between (R)AN and UPF.

[0043] N5 interface: the interface between NEF and PCF.

[0044] N8 interface: interface between UDM and AMF.

[0045] N33 interface: interface between NEF and AF.

[0046] The above briefly introduces the network architecture of the perception system in this disclosure.

[0047] In terminal device perception mode, the network device can transmit multiple perception signals. After being scattered by the environment or perception target, the terminal device receives multiple scattered echo signals. The terminal device can analyze the echo signals to obtain perception data and send the perception data to the perception network element through the network device, so that the perception network element can obtain relevant information about the environment and perception target.

[0048] However, when the terminal device moves, it may be impossible to detect and track the perceived target, causing the terminal device to no longer report perception data to the network device. This makes it difficult for the network device to determine the specific location of the perceived target, and in turn makes it difficult for the network device to continuously perceive the perceived target.

[0049] In view of this, an embodiment of the present disclosure provides a perception terminal switching method, in which, when a first terminal device (i.e., a terminal device that is currently performing collaborative perception of a perception target with a network device) meets a perception configuration condition, the network device receives a first indication message from the first terminal device and sends a second indication message to a second terminal device, so that the second terminal device and the network device perform collaborative perception of the perception target. In this way, when the first terminal device in the network device meets the perception configuration condition, the network device can promptly determine the second terminal device and instruct the second terminal device and the network device to perform collaborative perception of the perception target, which can avoid the situation where the terminal device cannot monitor and track the perception target after the perception configuration condition is met, thereby avoiding the situation where the perception target cannot be perceived, and ensuring the continuity of the network device's perception of the perception target.

[0050] The technical solutions provided by the embodiments of the present disclosure can be applied to various communication systems, for example, a 5G New Radio (NR) communication system, a future evolution system, or a multi-communication convergence system.

[0051] For example, as shown in FIG3 , FIG3 shows a schematic diagram of the structure of a communication system provided by an embodiment of the present disclosure. The communication system includes: a network device 301, a first terminal device 302, and a second terminal device 303. FIG3 illustrates an example in which the communication system includes a network device 301, a first terminal device 302, and a second terminal device 303.

[0052] The network device 301 is configured to receive first indication information from a first terminal device and send second indication information to a second terminal device.

[0053] The first terminal device 302 is used to send first indication information to the network device 301.

[0054] The second terminal device 303 is used to receive the second indication information from the network device 301.

[0055] The first terminal device is a terminal device that is currently performing collaborative perception of a perception target with a network device. The first indication information is triggered when the first terminal device meets the perception configuration condition. The second indication information is used to instruct the second terminal device to perform collaborative perception of the perception target with the network device.

[0056] In some embodiments, the network device 301 may be a base station or base station controller for wireless communication, etc. In the embodiment of the present invention, the network device 301 may be a base transceiver station (BTS) in the global system for mobile communication (GSM), code division multiple access (CDMA), a node B (NB) in wideband code division multiple access (WCDMA), an evolved node B (eNB) in long term evolution (LTE), an eNB in ​​the internet of things (IoT) or narrowband internet of things (NB-IoT), a base station in a future 5G mobile communication network or a future evolved public land mobile network (PLMN), and the embodiment of the present invention does not impose any restrictions on this.

[0057] In some embodiments, the network device 301 may also be a small base station, a wireless access point, a transmission receive point (TRP), a transmission point (TP), a micro operator, or any other access node.

[0058] In some embodiments, the first terminal device 302 may be located within the coverage of the network device 301 and connected to the network device 301. The first terminal device 302 may be a terminal (terminal equipment) or user equipment (UE) or a mobile station (MS) or a mobile terminal (MT), etc. The first terminal device 302 may be a mobile phone, a tablet computer or a computer with wireless transceiver function, or a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in telemedicine, a wireless terminal in a smart grid, a wireless terminal in a smart city, a smart home, a vehicle-mounted terminal, etc. In the embodiments of the present disclosure, the device for realizing the function of the terminal device may be a terminal device, or a device that can support the terminal device to realize the function, such as a chip or a chip system.

[0059] In some embodiments, the second terminal device 303 may also be located within the coverage of the network device 301 and connected to the network device 301. The second terminal device 303 may be terminal equipment, UE, MS, MT, etc. The second terminal device 303 may be a mobile phone, a tablet computer, or a computer with wireless transceiver function, or a VR terminal, an AR terminal, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in telemedicine, a wireless terminal in a smart grid, a wireless terminal in a smart city, a smart home, a vehicle-mounted terminal, etc. In the embodiments of the present disclosure, the device for realizing the function of the terminal device may be a terminal device, or a device that can support the terminal device to realize the function, for example, a chip or a chip system.

[0060] In some embodiments, the communication system may further include a perception network element. Exemplarily, the perception network element may be responsible for perception services. For example, the perception network element may detect and / or collect perception data based on internal network requirements or the requirements of the perception service demander. It may also provide perception services based on the perception data, for example, providing perception services to the perception service demander or optimizing the network internally based on the perception data. The perception network element may be one of the core network elements, for example, one of the 5G core network elements; or the perception network element may not be a core network element, for example, it may be an access network device or an external application server.

[0061] In some embodiments, the aforementioned perception network element may be an SF network element. The SF network element is used to manage the perception operations of network device 301, for example, receiving third indication information from network device 301, participating in the negotiation process for collaborative perception between receiving network device 301 and first terminal device 302, and between receiving network device 301 and second terminal device 303, and issuing perception-related configuration information to network device 301. The naming of the perception function network element in the embodiments of the present disclosure is merely exemplary, and the perception function network element may have other names, which are not limited to this.

[0062] It should be noted that Figure 3 is only an exemplary framework diagram. The number of devices included in Figure 3 and the names of each device are not limited. In addition to the functional devices shown in Figure 3, the communication system may also include other devices, and this disclosure does not impose any restrictions on this.

[0063] The application scenarios of the embodiments of the present disclosure are not limited. The system architecture and business scenarios described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Those skilled in the art will appreciate that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are equally applicable to similar technical problems.

[0064] In some embodiments, the devices in Figure 3 may all adopt the structure shown in Figure 4, or include the components shown in Figure 4. Figure 4 is a schematic diagram of the structure of a perception terminal switching device 400 according to an embodiment of the present disclosure. As shown in Figure 4, the perception terminal switching device 400 may include a processor 401 and a communication line 402.

[0065] In some embodiments, the perception terminal switching device 400 may further include a communication interface 403 and a memory 404. The processor 401, the memory 404 and the communication interface 403 may be connected via a communication line 402.

[0066] Processor 401 is a CPU (central processing unit), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. Processor 401 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0067] The communication line 402 is used to transmit information between the components included in the perception terminal switching device 400.

[0068] Communication interface 403 is used to communicate with other devices or other communication networks. Such other communication networks may be Ethernet, radio access networks (RAN), wireless local area networks (WLAN), etc. Communication interface 403 may be a module, circuit, communication interface, or any other device capable of implementing communication.

[0069] The memory 404 is used to store instructions, which may be computer programs.

[0070] The memory 404 may be a read-only memory (ROM) or other type of static storage device that can store static information and / or instructions, or a random access memory (RAM) or other type of dynamic storage device that can store dynamic information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0071] It should be noted that memory 404 can exist independently of processor 401 or can be integrated with processor 401. Memory 404 can be used to store instructions, program code, or data. Memory 404 can be located within or outside of perception terminal switching device 400, without limitation. Processor 401 is configured to execute instructions stored in memory 404 to implement the perception terminal switching method provided in the following embodiments of the present disclosure.

[0072] In some embodiments, processor 401 may include one or more CPUs, for example, CPU0 and CPU1.

[0073] In some implementations, the perception terminal switching device 400 includes multiple processors.

[0074] In some embodiments, the sensing terminal switching device 400 further includes an output device and an input device. For example, the output device is a display screen, a speaker, and the like, and the input device is a keyboard, a mouse, a microphone, or a joystick, and the like.

[0075] It should be noted that the sensing terminal switching device 400 can be a desktop computer, a portable computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system, or a device with a similar structure to that shown in Figure 4. In addition, the component structure shown in Figure 4 does not constitute a limitation on the various devices in Figures 3 and 4. In addition to the components shown in Figure 4, the various devices in Figures 3 and 4 may include more or fewer components than shown, or combine certain components, or arrange the components differently. In the embodiments of the present disclosure, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0076] In addition, the actions and terms involved in the various embodiments of the present disclosure may refer to each other without limitation. The names of messages or parameter names in messages exchanged between devices in the embodiments of the present disclosure are merely examples, and other names may be used in some implementations without limitation.

[0077] The following describes the perception terminal switching method provided by the embodiment of the present disclosure in conjunction with the communication system shown in Figure 3. The actions, terms, etc. involved in the various embodiments of the present disclosure can refer to each other without limitation. The message names or parameter names in the messages exchanged between the various devices in the embodiment of the present disclosure are only an example. In some implementations, other names can also be used without limitation. The actions involved in the various embodiments of the present disclosure are only an example. In some implementations, other names can also be used. For example, "included in" in the embodiment of the present disclosure can also be replaced with "carried on" or "carried in", etc.

[0078] In order to solve the problems existing in the above-mentioned prior art, the embodiments of the present disclosure propose a perception terminal switching method, which can achieve continuous perception of a perception target. As shown in FIG5 , the perception terminal switching method includes S501-S502.

[0079] S501: A first terminal device sends first indication information to a network device. Correspondingly, the network device receives the first indication information from the first terminal device.

[0080] The first terminal device is a terminal device that is currently performing collaborative perception of a perception target with a network device. The first indication information is triggered when the first terminal device meets a perception configuration condition.

[0081] In the perception terminal switching method provided by the embodiment of the present disclosure, when the first terminal device (i.e., the terminal device that currently collaborates with the network device to perceive the perception target) meets the perception configuration conditions, the network device receives first indication information from the first terminal device and sends second indication information to the second terminal device, so that the second terminal device and the network device collaborate to perceive the perception target. In this way, when the first terminal device in the network device meets the perception configuration conditions, the network device can promptly determine the second terminal device and instruct the second terminal device to collaborate with the network device to perceive the perception target, which can avoid the situation where the terminal device cannot monitor and track the perception target after the perception configuration conditions are met, and further avoid the situation where the perception target cannot be perceived, thereby ensuring the continuity of the network device's perception of the perception target.

[0082] The above S501 is described in detail below.

[0083] In some embodiments, the implementation process of S501 may include: the network device may send seventh indication information indicating the perception configuration condition to the first terminal device. The first terminal device receives the seventh indication information from the network device and determines whether the first terminal device meets the perception configuration condition based on the perception configuration condition. If the first terminal device determines that the first terminal device meets the perception configuration condition, the first terminal device sends the first indication information to the network device. Accordingly, the network device receives the first indication information from the first terminal device.

[0084] In some embodiments, the aforementioned perception configuration conditions may be applied to a handover scenario of a perception terminal. When the perception configuration conditions are applied to a handover scenario of a perception terminal, the perception configuration conditions may include one or more handover conditions, and when the perception terminal satisfies the handover conditions, the network device may instruct the perception terminal after handover to perceive the perception target, thereby implementing handover of the perception terminal.

[0085] In some embodiments, the sensing configuration condition includes at least one of the following: a first switching condition, a second switching condition, or a third switching condition. The first switching condition is that the distance between the first terminal device and the sensing target is greater than a first preset threshold. The second switching condition is that the distance between the first terminal device and the network device is greater than a second preset threshold. The third switching condition is that the signal quality of the signal transmitted by the network device within a target time period is less than a third preset threshold.

[0086] Exemplarily, the signal quality may include at least one of the following: reference signal received power (RSRP), reference signal received quality (RSRQ), or signal to interference plus noise ratio (SINR). The above is only an exemplary description of signal quality. The signal quality may also include other signal qualities, and this disclosure does not impose any limitation on this.

[0087] In some embodiments, the seventh indication information sent by the network device to the first terminal device for indicating the perception configuration condition may be:

[0088] In conjunction with the above example, the first preset threshold in the sensing configuration condition may be SensingTargetDistance, the third preset threshold in the sensing configuration condition may be SensingUEThreshold, and the target time period in the sensing configuration condition may be TimeToTriggerForMeas.

[0089] It should be noted that since the perception configuration condition may include at least one of the first switching condition, the second switching condition, or the third switching condition, the implementation process for the first terminal device to determine whether the first terminal device meets the perception configuration condition will also be different when the perception configuration condition includes different switching conditions. The following is a detailed description of the implementation process for the first terminal device to determine whether the first terminal device meets the perception configuration condition.

[0090] In some embodiments, when the perception configuration condition includes a first switching condition, the implementation process of the first terminal device determining whether the first terminal device satisfies the perception configuration condition may be as follows: the first terminal device monitors the perception target, determines the location information of the perception target, and substitutes the location information of the perception target and the location information of the first terminal device into the distance formula to obtain the distance between the first terminal device and the perception target. When the distance between the first terminal device and the perception target is greater than a first preset threshold, the first terminal device determines that the first terminal device satisfies the perception configuration condition. Correspondingly, when the distance between the first terminal device and the perception target is less than or equal to the first preset threshold, the first terminal device determines that the first terminal device does not satisfy the perception configuration condition.

[0091] In some embodiments, the location information may include longitude information, latitude information, and altitude information. The above is only an exemplary description of the location information. The location information may also include other information, and the present disclosure does not impose any limitation on this.

[0092] For example, the network device may set the first preset threshold based on experience or the sensing range of the first terminal device. For example, the network device may set the first preset threshold to 20 meters. The above is only an exemplary description of the first preset threshold. The first preset threshold may also be other values ​​(e.g., 30 meters), and this disclosure does not impose any limitations on this.

[0093] It is understandable that when the distance between the first terminal device and the perception target is far, the perception quality will be reduced, which may result in poor effect of collaborative perception of the perception target by the first terminal device and the network device. Therefore, when the distance between the first terminal device and the perception target is greater than the first preset threshold, the first terminal device can send a first indication information to the network device, so that the network device can determine that the first terminal device meets the perception configuration conditions, and then select the second terminal device to collaborate with the network device to perceive the perception target, so as to ensure the perception effect of the network device on the perception target.

[0094] In some embodiments, when the perception configuration condition includes a second switching condition, the implementation process of the first terminal device determining whether the first terminal device satisfies the perception configuration condition may be as follows: the first terminal device obtains the location information of the network device, and substitutes the location information of the network device and the location information of the first terminal device into a distance formula to obtain the distance between the first terminal device and the network device. When the distance between the first terminal device and the network device is greater than a second preset threshold, the first terminal device determines that the first terminal device satisfies the perception configuration condition. Correspondingly, when the distance between the first terminal device and the network device is less than or equal to the second preset threshold, the first terminal device determines that the first terminal device does not satisfy the perception configuration condition.

[0095] Exemplarily, the network device may set the second preset threshold value based on experience or the coverage range of the network device. For example, the network device may set the second preset threshold value to the diameter of the coverage range of the network device (for example, if the diameter of the coverage range of the network device is 1000 meters, the network device may set the second preset threshold value to 1000 meters). The above is only an exemplary description of the second preset threshold value. The above second preset threshold value may also be other values ​​(for example, SensingTargetUetoNwDistance), and the present disclosure does not impose any restrictions on this.

[0096] It is understandable that when the distance between the first terminal device and the network device is far, the perception quality will be reduced, which may result in poor effect of the collaborative perception of the perception target by the first terminal device and the network device. Therefore, when the distance between the first terminal device and the network device is greater than the second preset threshold, the first terminal device can send a first indication information to the network device, so that the network device can determine that the first terminal device meets the perception configuration conditions, and then select the second terminal device and the network device to collaborate on the perception target to ensure the perception effect of the network device on the perception target.

[0097] In some embodiments, when the perception configuration condition includes a third switching condition, the process by which the first terminal device determines whether the first terminal device satisfies the perception configuration condition may be as follows: the first terminal device determines the signal quality of a signal transmitted by a network device received by the first terminal device within a target time period, and if the signal quality is less than a third preset threshold value during the target time period, the first terminal device determines that the first terminal device satisfies the perception configuration condition. Correspondingly, if the signal quality is greater than or equal to the third preset threshold value during the target time period, the first terminal device determines that the first terminal device does not satisfy the perception configuration condition.

[0098] Exemplarily, the network device may set the third preset threshold based on experience. For example, the network device may set the third preset threshold to -50 decibels on the dBm scale (dBm). The above is only an exemplary description of the third preset threshold. The third preset threshold may also be other values ​​(e.g., -45 dBm), and this disclosure does not impose any limitation on this.

[0099] It is understandable that poor perception quality may cause the first terminal device to receive a lower signal quality of the signal transmitted by the network device, and poor perception quality may be caused by the long distance between the first terminal device and the network device. Therefore, within the above-mentioned target time period, when the signal quality is less than the third preset threshold, the first terminal device can determine that the distance between the first terminal device and the network device is long, and determine that the first terminal device meets the perception configuration conditions.

[0100] In some embodiments, when the sensing configuration condition includes a first switching condition and a second switching condition, the first terminal device may determine whether the first terminal device satisfies the sensing configuration condition by performing the following steps: the first terminal device monitors a sensing target, determines the location information of the sensing target, and substitutes the location information of the sensing target and the location information of the first terminal device into a distance formula to obtain the distance between the first terminal device and the sensing target. If the distance between the first terminal device and the sensing target is greater than a first preset threshold, the first terminal device determines that the first terminal device satisfies the first switching condition. The first terminal device obtains the location information of a network device, and substitutes the location information of the network device and the location information of the first terminal device into a distance formula to obtain the distance between the first terminal device and the network device. If the distance between the first terminal device and the network device is greater than a second preset threshold, the first terminal device determines that the first terminal device satisfies the second switching condition. If the first terminal device determines that the first terminal device satisfies the first switching condition and the second switching condition, the first terminal device determines that the first terminal device satisfies the sensing configuration condition. Accordingly, if the first terminal device does not satisfy the first switching condition or the second switching condition, the first terminal device determines that the first terminal device does not satisfy the sensing configuration condition.

[0101] It should be noted that, when the perception configuration conditions include the first switching condition and the third switching condition, or the perception configuration conditions include the second switching condition and the third switching condition, the implementation process of the first terminal device determining whether the first terminal device meets the perception configuration conditions can be understood by referring to the description of the corresponding position above (that is, when the perception configuration conditions include the first switching condition and the second switching condition, the implementation process of the first terminal device determining whether the first terminal device meets the perception configuration conditions), which will not be repeated here.

[0102] In some embodiments, when the sensing configuration conditions include a first switching condition, a second switching condition, and a third switching condition, the first terminal device may determine whether the first terminal device satisfies the sensing configuration conditions by: the first terminal device monitors a sensing target, determines the location information of the sensing target, and substitutes the location information of the sensing target and the location information of the first terminal device into a distance formula to obtain the distance between the first terminal device and the sensing target. If the distance between the first terminal device and the sensing target is greater than a first preset threshold, the first terminal device determines that the first terminal device satisfies the first switching condition. The first terminal device obtains the location information of a network device, and substitutes the location information of the network device and the location information of the first terminal device into a distance formula to obtain the distance between the first terminal device and the network device. If the distance between the first terminal device and the network device is greater than a second preset threshold, the first terminal device determines that the first terminal device satisfies the second switching condition. The first terminal device determines the signal quality of the signal transmitted by the network device received by the first terminal device within a target time period. If the signal quality is less than a third preset threshold during the target time period, the first terminal device determines that the first terminal device satisfies the third switching condition. When the first terminal device determines that the first terminal device satisfies the first switching condition, the second switching condition, and the third switching condition, the first terminal device determines that the first terminal device satisfies the perception configuration condition. Correspondingly, when the first terminal device does not satisfy the first switching condition, or the first terminal device does not satisfy the second switching condition, or the first terminal device does not satisfy the third switching condition, the first terminal device determines that the first terminal device does not satisfy the perception configuration condition.

[0103] It can be understood that, when the perception configuration conditions include the first switching condition, the second switching condition, and the third switching condition, if the first terminal device determines that the first terminal device does not meet the first switching condition, but meets the second switching condition and the third switching condition, then the distance between the first terminal device and the perception target is far, and the distance between the first terminal device and the network device is close, so the first terminal device has a higher sensitivity to receiving the signal transmitted by the network device, and therefore the effect of the first terminal device and the network device in collaborative perception of the perception target may be better.

[0104] If the first terminal device determines that the first terminal device meets the first switching condition but does not meet the second switching condition and the third switching condition, the distance between the first terminal device and the network device is relatively far, and the distance between the first terminal device and the perception target is relatively close, so the effect of the first terminal device and the network device in collaborative perception of the perception target may be better.

[0105] If the first terminal device determines that the first terminal device satisfies the first switching condition, and satisfies the second switching condition and the third switching condition, then the distance between the first terminal device and the perception target, and the distance between the first terminal device and the network device are both far, so that the effect of the first terminal device and the network device performing collaborative perception of the perception target may be poor. Therefore, the first terminal device can send a first indication message to the network device when the effect of the first network device and the network device performing collaborative perception of the perception target may be poor, so that the network device can select the second terminal device to perform collaborative perception of the perception target with the network device, thereby reducing the number of times that the terminal device performs collaborative perception of the perception target with the network device, thereby saving network resources.

[0106] It is understood that the first terminal device receives the perception configuration conditions configured by the network device and determines whether the first terminal device meets the perception configuration conditions based on the perception configuration conditions. The first terminal device can also send first indication information to the network device if the first terminal device meets the perception configuration conditions. In this way, the network device does not need to determine the location of the first terminal device, which can reduce the resource overhead of the network device. Furthermore, when the first terminal device determines whether the first terminal device meets the perception configuration conditions, it can consider the mobility of the first terminal device, so that a more accurate judgment result can be obtained when the first terminal device moves.

[0107] In some embodiments, when the first terminal device determines that the first terminal device satisfies the perception configuration condition, the first terminal device may determine the start time when the first terminal device satisfies the perception configuration condition, and based on the start time when the first terminal device satisfies the perception configuration condition, determine the duration for which the first terminal device satisfies the perception configuration condition. When the duration for which the first terminal device satisfies the perception configuration condition is greater than or equal to a fourth preset threshold, the first terminal device may send first indication information to the network device, so that the network device determines that the second terminal device and the network device perform collaborative perception of the perception target.

[0108] It can be understood that when the first terminal device moves, the first terminal device can determine whether the movement of the first terminal device will affect the perception of the perception target, and when the movement of the first terminal device will not affect the perception of the perception target (that is, the duration for which the first terminal device meets the perception configuration conditions is less than the fourth preset threshold), the first indication information will not be sent to the network device, so that the network device does not switch the perception terminal, thereby avoiding frequent switching of terminal devices that perceive the perception target and thus avoiding waste of resources.

[0109] In some embodiments, after the first terminal device moves, if the first terminal device does not meet the perception configuration conditions, the first terminal device does not send the first indication information to the network device, and the first terminal device and the network device continue to collaboratively perceive the perception target. Furthermore, if the first terminal device does not meet the perception configuration conditions after moving, the network device does not need to re-request resources from the perception network element for the first terminal device to perceive the perception target, thereby saving communication overhead.

[0110] The following is a detailed description of the first indication information sent by the first terminal device to the network device.

[0111] In some embodiments, the above-mentioned first indication information may carry at least one of the following information: the signal quality of the measured network device reference signal (for example, RSRP, RSRQ, or SINR), the distance between the first terminal device and the perception target, and the position information of the perception target relative to the network device at the current moment (for example, longitude, latitude, and altitude).

[0112] In some embodiments, when the sensing target is in a moving state, the first indication information may also carry the current moving speed and moving direction of the sensing target. The moving direction may be represented by the angle of the sensing target relative to the normal of the network device at the current moment.

[0113] It can be understood that when the perception target is in a moving state, the first terminal device sends the moving speed and moving direction of the perception target to the network device, which can provide a data basis for the network device to predict the position of the perception target after movement. The network device can then determine the second terminal device based on the position of the perception target after movement, so as to avoid the situation where the determined preset range is inaccurate due to changes in the position of the perception target, and thus avoid the situation where the determined second terminal device and the network device have poor collaborative perception of the perception target.

[0114] In some embodiments, when the first terminal device determines that the first terminal device meets the perception configuration condition, the first indication information sent by the first terminal device to the network device may be:

[0115] SensingMeasureReport::=SEQUENCE{

[0116] MeasResultNR

[0117] SensingTargetDistance

[0118] SensingObjectRelativeGeodeticLocation

[0119] SensingObjectVelocity

[0120] SensingObjectAngle

[0121] },

[0122] SensingObjectRelativeGeodeticLocation::=SEQUENCE{

[0123] Delta Latitude

[0124] Delta Longitude

[0125] Delta Height

[0126] }

[0127] It can be understood that after the first terminal device sends the first indication information to the network device, the network device can determine that the first terminal device meets the perception configuration conditions, that is, the network device can determine that the effect of the first terminal device and the network device assisting in perceiving the perception target may be poor. Therefore, the network device can select the second terminal device, and the second terminal device and the network device can collaboratively perceive the perception target.

[0128] S502: The network device sends second indication information to the second terminal device. Correspondingly, the second terminal device receives the second indication information from the network device.

[0129] The second indication information is used to instruct the second terminal device and the network device to collaboratively perceive the perception target.

[0130] In some embodiments, the second indication information is further used to indicate the configuration parameters required by the second terminal device when the second terminal device and the network device collaborate to perceive the perception target.

[0131] In some embodiments, when the network device determines that the second terminal device and the network device are to perform collaborative perception of a perception target, the network device may send second indication information to the second terminal device so that the second terminal device perceives the perception target, and before sending the second indication information to the second terminal device, the network device may request the second terminal device from the perception network element for the resources required for the second terminal device to perceive the perception target, so that the perception network element configures the corresponding resources for the second terminal device. The network device sends the resources configured by the perception network element for the second terminal device to the second terminal device through the second indication information, so that the second terminal device can perceive the perception target.

[0132] In some embodiments, the network device configures resources for the second terminal device by: the network device sends a resource request message to a perception network element. The perception network element, in response, receives the resource request message and sends, to the network device, configuration parameters required for the second terminal device to perceive the perception target. In response, the network device receives the configuration parameters from the perception network element and sends, to the second terminal device, a second indication message carrying the configuration parameters.

[0133] In some embodiments, the configuration parameters are used to configure reference signals and measurement metrics. The reference signals include a channel state information reference signal (CSI-RS) and / or a positioning reference signal (PRS). The measurement metrics include at least one of the following: distance, angle, or speed.

[0134] It should be noted that, among the above configuration parameters, CSI-RS and PRS may be reference signals sent in downlink. The second terminal device may monitor and receive the reference signals according to the above configuration parameters.

[0135] In some embodiments, the configuration parameters required for the second terminal device to perceive the perception target and sent by the perception network element to the network device may include:

[0136] In some embodiments, the configuration parameters required for the second terminal device to perceive the perception target sent by the perception network element to the network device may also include:

[0137] In some implementations, the network device sends a second indication message carrying the configuration parameters to the second terminal device. Accordingly, the second terminal device receives the second indication message from the network device and senses the sensing target based on the configuration parameters carried in the second indication message.

[0138] It is understood that when a network device requests a second terminal device to collaborate with the network device on a perception target from a perception network element, it first sends resource request information to the perception network element, then receives configuration parameters required by the second terminal device from the perception network element, and sends the configuration parameters to the second terminal device. Based on the configuration parameters, the second terminal device can obtain resources for perceiving the perception target and can use the resources for perceiving the perception target to implement perception functions and perception of the perception target, thereby ensuring continuous perception of the perception target by the network device.

[0139] In some embodiments, after the network device sends the second indication information to the second terminal device, the implementation process of the second terminal device and the network device performing collaborative perception of the perception target can be: the network device sends a perception signal to the second terminal device, and after being scattered by the environment or the perception target, the second terminal device receives the echo signal corresponding to the above perception signal.

[0140] In some embodiments, when the first terminal device meets the perception configuration conditions, the network device can determine the second terminal device before sending the second indication information to the second terminal device, so that the network device can instruct the second terminal device to perceive the perception target. Based on the method embodiment shown in Figure 5, this embodiment provides an implementation method. In combination with Figure 5, as shown in Figure 6, the implementation process of the network device determining the second terminal device can be determined by the following S601 to S602.

[0141] S601. The network device determines, from multiple terminal devices, a terminal device with a preset perception capability as a third terminal device.

[0142] In some embodiments, the implementation process of the above S601 may be: each of the multiple terminal devices accessing the network device sends its own perception capability to the perception network element. The perception network element receives the perception capability of each of the above terminal devices and determines whether each terminal device can be used as a perception node for communication perception. In the case that a certain terminal device can be used as a perception node for communication perception, the perception network element determines that the terminal device has the preset perception capability and sends the eighth indication information to the network device. The network device receives the above eighth indication information and determines that the terminal device is a third terminal device. The eighth indication information is used to indicate that the terminal device has the preset perception capability.

[0143] It should be noted that the third terminal device may include one terminal device or multiple terminal devices, and this disclosure does not impose any limitation on this.

[0144] In some embodiments, if a terminal device cannot function as a sensing node for communication sensing, the sensing network element determines that the terminal device does not possess the preset sensing capability and sends ninth indication information to the network device. The network device receives the ninth indication information and determines that the terminal device is not a third terminal device. The ninth indication information indicates that the terminal device does not possess the preset sensing capability.

[0145] In some embodiments, if there is no terminal device with preset perception capabilities among the multiple terminal devices accessing the network device, the network device can instruct the perception network element to compare the perception capabilities of the above-mentioned multiple terminal devices and determine the terminal device with relatively better perception capabilities as the third terminal device.

[0146] S602. The network device determines a second terminal device from third terminal devices that do not meet the perception configuration condition.

[0147] In some embodiments, the implementation process of S602 may include: the network device obtains the location information of the third terminal device and the signal quality of the signal transmitted by the network device received by the third terminal device during the target time period, and determines whether the third terminal device meets the perception configuration condition based on the location information of the third terminal device and the signal quality of the signal transmitted by the network device received by the third terminal device during the target time period. The network device determines the second terminal device from the third terminal devices that do not meet the perception configuration condition.

[0148] In some implementations, the implementation process of the network device determining the second terminal device from the third terminal devices that do not meet the perception configuration condition may include operations i-iv.

[0149] i. The network device selects a fourth terminal device from the third terminal devices that do not meet the perception configuration conditions.

[0150] The fourth terminal device is any third terminal device among the third terminal devices that does not meet the perception configuration conditions.

[0151] In some embodiments, the implementation process of the above operation i may be: the network device obtains the location information of the third terminal device, the location information of the perception target, and the signal quality of the signal transmitted by the network device received by the third terminal device within the target time period, and determines the distance between the third terminal device and the network device, and the distance between the third terminal device and the perception target. The network device may determine whether the third terminal device meets the perception configuration condition based on the location information of the third terminal device, the location information of the perception target, or the signal quality of the signal transmitted by the network device received by the third terminal device within the target time period, and if the third terminal device does not meet the perception configuration condition, determine the third terminal device as the fourth terminal device.

[0152] In some embodiments, the implementation process of the network device determining whether the third terminal device meets the perception configuration conditions can be understood by referring to the description of the corresponding position above (i.e., the implementation process of the first terminal device determining whether the first terminal device meets the perception configuration conditions), which will not be repeated here.

[0153] ii. The network device sends the third indication information to the perception network element. Correspondingly, the perception network element receives the third indication information from the network device.

[0154] The third indication information is used to request the perception network element to determine whether the perception capability of the fourth terminal device meets the perception requirements.

[0155] In some embodiments, after receiving the third indication information, the perception network element may verify the perception capability of the fourth terminal device and determine whether the fourth terminal device can serve as a terminal device that assists the network device in perceiving the perception target. For example, if the perception capability of the fourth terminal device meets the perception requirements, the perception network element determines that the fourth terminal device can serve as a terminal device that perceives the perception target and collaborates with the network device to perceive the perception target. For another example, if the perception capability of the fourth terminal device does not meet the perception requirements, the perception network element determines that the fourth terminal device cannot serve as a terminal device that perceives the perception target and cannot collaborate with the network device to perceive the perception target.

[0156] In some implementations, the third indication information may be a sensing UE handover request (Sensing UE Handover Request) sent by the network device to the sensing network element.

[0157] For example, as shown in Table 1 below, Table 1 describes at least one of the information element / group name (IE / group name), presence, range, or IE type and reference of the sensing UE switching request. The above-mentioned sensing UE switching request may include: message type (Message Type), identification number of the old sensing terminal (Old Sensing UE ID), identification number of the new sensing terminal (New Sensing UE ID), and required sensing metrics (Sensing Metrics). The required sensing metrics may include distance (Distance), angle (Angle), and velocity (Velocity). The above is only an example of a sensing UE switching request. The above-mentioned sensing UE switching request may also include other information, and the present disclosure does not impose any restrictions on this.

[0158] In some embodiments, the Old Sensing UE ID may be the ID of the first terminal device, and the New Sensing UE ID may be the ID of the fourth terminal device.

[0159] Table 1

[0160] It should be noted that Sensing Metrics can be used as sensing requirements. Angle in Sensing Metrics can be used to indicate direction. M stands for mandatory and can be used to indicate a required option.

[0161] iii. Upon receiving the fourth indication information from the perception network element, the network device determines that the fourth terminal device is the second terminal device.

[0162] The fourth indication information is triggered when the perception capability of the fourth terminal device meets the perception requirements.

[0163] In some embodiments, when the sensing capability of the fourth terminal device meets the sensing requirement, the sensing network element sends fourth indication information to the network device. Accordingly, the network device receives the fourth indication information from the sensing network element. The fourth indication information can be a sensing UE handover response (Sensing UE Handover Response) sent by the sensing network element to the network device.

[0164] For example, as shown in Table 2 below, Table 2 describes at least one of the IE / group name, Presence, Range, or IE type and reference of the sensing UE handover response. The above-mentioned sensing UE handover response may include: Message Type, Old Sensing UE ID, New Sensing UE ID, and confirmation information of the new sensing terminal (New Sensing UE Confirm). The above is only an example of a sensing UE handover response. The above-mentioned sensing UE handover response may also include other information, and the present disclosure does not impose any restrictions on this.

[0165] In some embodiments, New Sensing UE Confirm may be confirmation information of the fourth terminal device.

[0166] Table 2

[0167] It should be noted that when the perception capability of the fourth terminal device meets the perception requirements, the New Sensing UE Confirm in the Sensing UE Handover Response sent by the perception network element to the network device is confirmed (Yes), indicating that the fourth terminal device can be used to assist the network device in perceiving the perception target and determining that the fourth terminal device is the second terminal device.

[0168] iv. Upon receiving the fifth indication information from the perception network element: the network device reselects from the third terminal device that does not meet the perception configuration conditions to obtain an updated fourth terminal device, and the fifth indication information is triggered when the perception capability of the fourth terminal device does not meet the perception requirements; and operations ii-iv are repeated based on the updated fourth terminal device until the second terminal device is determined.

[0169] In some embodiments, if the perception capability of the fourth terminal device does not meet the perception requirements, the network device may reselect from third terminal devices that do not meet the perception configuration conditions to obtain an updated fourth terminal device. The network device may verify the perception capability of the updated fourth terminal device based on operations ii-iv above, and if the perception capability of the updated fourth terminal device meets the perception requirements, determine that the updated fourth terminal device is the second terminal device.

[0170] In some embodiments, after the network device determines that the updated fourth terminal device is the second terminal device, the network device instructs the updated fourth terminal device to assist the network device in perceiving the perception target, and sends a perception signal to the updated fourth terminal device. After being scattered by the environment or the perception target, the updated fourth terminal device receives the echo signal corresponding to the above perception signal.

[0171] In some embodiments, when the sensing capability of the fourth terminal device meets the non-sensing requirement, the sensing network element sends fifth indication information to the network device. Accordingly, the network device receives the fifth indication information from the sensing network element. The fifth indication information may also be a Sensing UE Handover Response sent by the sensing network element to the network device.

[0172] In combination with Table 2 above, when the perception capability of the fourth terminal device does not meet the perception requirements, the New Sensing UE Confirm in the Sensing UE Handover Response sent by the perception network element to the network device is unconfirmed (No), indicating that the fourth terminal device cannot be used to assist the network device in perceiving the perception target.

[0173] It can be understood that when the perception capability of the fourth terminal device does not meet the perception requirements, the network device reselects a terminal device (i.e., the second terminal device) that meets the perception requirements and does not meet the perception configuration conditions to assist the network device in perceiving the perception target. This can achieve continuous perception of the perception target, thereby ensuring the continuity of the perception performance of the network device.

[0174] In some embodiments, the perception requirement may include at least one of the following: a perception service type required by the network device when perceiving a perception target, an angle required by the network device when perceiving a perception target, a speed required by the network device when perceiving a perception target, or a distance required by the network device when perceiving a perception target. The above is merely an exemplary description of the perception requirement, and this disclosure does not impose any limitation thereto.

[0175] In some embodiments, the implementation process of the perception network element determining whether the perception capability of the fourth terminal device meets the perception requirements can be as follows: the perception network element can obtain the service type that the fourth terminal device can support, and the perception service type required by the network device when perceiving the perception target, and determine that the perception capability of the fourth terminal device meets the perception requirements when the supportable service type is the same as the perception service type required by the above-mentioned network device when perceiving the perception target.

[0176] In some embodiments, the implementation process of the perception network element determining whether the perception capability of the fourth terminal device meets the perception requirements can also be as follows: the perception network element can obtain the angles supportable by the fourth terminal device and the angles required when the network device perceives the perception target, and when the above-mentioned supportable angles include the angles required when the network device perceives the perception target, determine that the perception capability of the fourth terminal device meets the perception requirements.

[0177] In some embodiments, the process of the perception network element determining whether the perception capability of the fourth terminal device meets the perception requirements may also be as follows: the perception network element may obtain a speed that the fourth terminal device can support, and a speed that the network device requires when perceiving the perception target, and determine that the perception capability of the fourth terminal device meets the perception requirements when the above-mentioned supportable speed includes the speed required when the network device perceives the perception target. The perception network element may obtain a distance that the fourth terminal device can support, and a distance required when the network device perceives the perception target, and determine that the perception capability of the fourth terminal device meets the perception requirements when the above-mentioned supportable distance includes the distance required when the network device perceives the perception target.

[0178] In some embodiments, the implementation process of the perception network element determining whether the perception capability of the fourth terminal device meets the perception requirements can also be: the perception network element can obtain the service type supportable by the fourth terminal device, the angle supportable by the fourth terminal device, the perception service type required by the network device when perceiving the perception target, and the angle required by the network device when perceiving the perception target, and determine that the perception capability of the fourth terminal device meets the perception requirements when the supportable service type is the same as the perception service type required by the above-mentioned network device when perceiving the perception target, and the supportable angle includes the angle required by the network device when perceiving the perception target.

[0179] It should be noted that the implementation process of the above-mentioned perception network element determining whether the perception capability of the fourth terminal device meets the perception requirements can be combined at will, and this disclosure does not impose any restrictions on this.

[0180] It can be understood that in this embodiment, before the network device determines the second terminal device from the third terminal device that does not meet the perception configuration conditions, the network device can instruct the perception network element to further verify the perception capability of the third terminal device, and can select a terminal device whose perception capability meets the perception requirements from the third terminal devices, further ensuring the perception capability of the terminal device that perceives the perception target, so as to ensure that the determined second terminal device meets the requirements of assisting the network device in perceiving the perception target, thereby avoiding the determined second terminal device from being unable to perceive the perception target, and thus achieving continuous perception of the perception target.

[0181] In the perception terminal switching method provided in the embodiments of the present disclosure, since the third terminal device is a terminal device with preset perception capabilities, the network device selects the second terminal device from the third terminal device, thereby ensuring that the second terminal device also has the preset perception capabilities, thereby ensuring that the second terminal device can perform communication perception. Furthermore, the network device determines the second terminal device from the third terminal devices that do not meet the perception configuration conditions, thereby avoiding the situation where the determined second terminal device has poor perception of the perception target, resulting in the need to reselect a new terminal device to perceive the perception target, thereby effectively reducing the number of terminal device switches and reducing resource waste.

[0182] It is understandable that the above-mentioned perception terminal switching method can be implemented by a perception terminal switching device. In order to realize the above-mentioned functions, the perception terminal switching device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the modules and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present disclosure.

[0183] The embodiments of the present disclosure can divide the functional modules of the perception terminal switching device generated by the above-mentioned method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0184] Figure 7 is a structural diagram of a perception terminal switching device provided by an embodiment of the present invention. As shown in Figure 7, the perception terminal switching device 70 can be used to execute the perception terminal switching method shown in Figures 5 and 6. The perception terminal switching device 70 includes: a communication unit 701 and a processing unit 702. The processing unit 702 is used to instruct the communication unit 701 to receive a first indication message from a first terminal device; the first terminal device is a terminal device that currently performs collaborative perception of a perception target with a network device; the first indication message is triggered when the first terminal device meets the perception configuration condition; the communication unit 701 is also used to send a second indication message to the second terminal device; the second indication message is used to instruct the second terminal device to perform collaborative perception of the perception target with the network device.

[0185] In some embodiments, the perception configuration condition includes at least one of the following: a first switching condition, a second switching condition, or a third switching condition; the first switching condition is that the distance between the first terminal device and the perception target is greater than a first preset threshold; the second switching condition is that the distance between the first terminal device and the network device is greater than a second preset threshold; the third switching condition is that the signal quality of the signal transmitted by the network device within the target time period is less than a third preset threshold.

[0186] In some embodiments, the processing unit 702 is further used to determine a terminal device with preset perception capabilities from multiple terminal devices as a third terminal device; the processing unit 702 is further used to determine a second terminal device from the third terminal devices that do not meet the perception configuration conditions.

[0187] In some embodiments, i. the processing unit 702 is further used to select a fourth terminal device from the third terminal devices that do not meet the perception configuration conditions, and the fourth terminal device is any third terminal device among the third terminal devices that do not meet the perception configuration conditions; ii. the communication unit 701 is further used to send a third indication message to the perception network element, and the third indication message is used to request the perception network element to determine whether the perception capability of the fourth terminal device meets the perception requirements; iii. the processing unit 702 is further used to, upon receiving the fourth indication message from the perception network element: determine that the fourth terminal device is the second terminal device, and the fourth indication message is triggered when the perception capability of the fourth terminal device meets the perception requirements; iv. the processing unit 702 is further used to, upon receiving the fifth indication message from the perception network element: reselect from the third terminal devices that do not meet the perception configuration conditions to obtain an updated fourth terminal device, wherein the fifth indication message is triggered when the perception capability of the fourth terminal device does not meet the perception requirements; and repeat operations ii-iv based on the updated fourth terminal device until the second terminal device is determined.

[0188] In some embodiments, the second indication information is further used to indicate the configuration parameters required by the second terminal device when the second terminal device and the network device collaborate to perceive the perception target.

[0189] In some embodiments, the configuration parameters are used to configure reference signals and measurement indicators, the reference signals include channel state information reference signals CSI-RS and / or positioning reference signals PRS, and the measurement indicators include at least one of the following: distance, angle, or speed.

[0190] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and brevity of description, only the above functional modules are used as examples. In actual applications, the above functions or operations can be distributed as needed and completed by different functional modules, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0191] The present disclosure also provides a computer-readable storage medium having instructions stored thereon. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the sensing terminal switching method provided in the above-mentioned embodiments of the present disclosure. The above-mentioned computer-readable storage medium includes a non-transitory computer-readable storage medium.

[0192] The embodiments of the present disclosure also provide a computer program product containing instructions, which, when executed on an electronic device, enables the electronic device to execute the perception terminal switching method provided by the embodiments of the present disclosure.

[0193] Computer-readable storage media, for example, can be, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. Computer-readable storage media can include (a non-exhaustive list) for example: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). In the embodiments of the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0194] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or replacements within the technical scope disclosed in the present disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A perception terminal switching method, applied to a network device, wherein, The method includes: Receiving first indication information from a first terminal device, where the first terminal device is a terminal device currently collaborating with the network device for sensing a sensing target, and the first indication information is triggered when the first terminal device meets the sensing configuration condition; Sending second indication information to a second terminal device, where the second indication information is used to instruct the second terminal device to collaborate with the network device for sensing the sensing target.

2. The method according to claim 1, wherein The sensing configuration condition includes at least one of the following: a first switching condition, a second switching condition, or a third switching condition; where the first switching condition is that the distance between the first terminal device and the sensing target is greater than a first preset threshold, the second switching condition is that the distance between the first terminal device and the network device is greater than a second preset threshold, and the third switching condition is that the signal quality of the signal received from the network device by the first terminal device within a target time period is less than a third preset threshold.

3. The method according to claim 2, further comprising: Determining, from multiple terminal devices, a terminal device with a preset sensing ability as a third terminal device; Determining the second terminal device from the third terminal devices that do not meet the sensing configuration condition.

4. The method according to claim 3, wherein The determining the second terminal device from the third terminal devices that do not meet the sensing configuration condition includes: i. Selecting a fourth terminal device from the third terminal devices that do not meet the sensing configuration condition, where the fourth terminal device is any one of the third terminal devices that do not meet the sensing configuration condition; ii. Sending third indication information to a sensing network element, where the third indication information is used to request the sensing network element to determine whether the sensing ability of the fourth terminal device meets the sensing requirements; iii. In the case of receiving fourth indication information from the sensing network element: Determining the fourth terminal device as the second terminal device, where the fourth indication information is triggered when the sensing ability of the fourth terminal device meets the sensing requirements; iv. In the case of receiving fifth indication information from the sensing network element: Re-selecting from the third terminal devices that do not meet the sensing configuration condition to obtain an updated fourth terminal device, where the fifth indication information is triggered when the sensing ability of the fourth terminal device does not meet the sensing requirements; and Repeating operations ii-iv based on the updated fourth terminal device until the second terminal device is determined.

5. The method according to any one of claims 1 to 4, wherein The second indication information is further used to indicate the configuration parameters required by the second terminal device when the second terminal device collaborates with the network device for sensing the sensing target.

6. The method according to claim 5, wherein The configuration parameters are used to configure reference signals and measurement metrics, the reference signals include a channel state information reference signal CSI-RS and / or a positioning reference signal PRS, and the measurement metrics include at least one of the following: distance, angle, or speed.

7. A perception terminal switching device is applied to a network device, wherein, The apparatus includes: a communication unit and a processing unit; The processing unit is configured to instruct the communication unit to receive first indication information from a first terminal device, where the first terminal device is a terminal device currently collaborating with the network device for sensing a sensing target, and the first indication information is triggered when the first terminal device meets the sensing configuration conditions; The communication unit is further configured to send second indication information to a second terminal device, where the second indication information is used to instruct the second terminal device to collaborate with the network device for sensing the sensing target.

8. The apparatus according to claim 7, wherein The sensing configuration conditions include at least one of the following: a first switching condition, a second switching condition, or a third switching condition; the first switching condition is that the distance between the first terminal device and the sensing target is greater than a first preset threshold, the second switching condition is that the distance between the first terminal device and the network device is greater than a second preset threshold, and the third switching condition is that the signal quality of the signal received from the network device by the first terminal device within a target time period is less than a third preset threshold.

9. The apparatus according to claim 8, wherein, The processing unit is further configured to determine, from multiple terminal devices, a terminal device with a preset sensing ability as a third terminal device; The processing unit is further configured to determine the second terminal device from the third terminal devices that do not meet the sensing configuration conditions.

10. The apparatus according to claim 9, wherein, i. The processing unit is further configured to select a fourth terminal device from the third terminal devices that do not meet the sensing configuration conditions, where the fourth terminal device is any one of the third terminal devices that do not meet the sensing configuration conditions; ii. The communication unit is further configured to send third indication information to a sensing network element, where the third indication information is used to request the sensing network element to determine whether the sensing ability of the fourth terminal device meets the sensing requirements; iii. The processing unit is further configured to, when receiving fourth indication information from the sensing network element: Determine the fourth terminal device as the second terminal device, where the fourth indication information is triggered when the sensing ability of the fourth terminal device meets the sensing requirements; iv. The processing unit is further configured to, when receiving fifth indication information from the sensing network element: Re-select from the third terminal devices that do not meet the sensing configuration conditions to obtain an updated fourth terminal device, where the fifth indication information is triggered when the sensing ability of the fourth terminal device does not meet the sensing requirements; and Repeat operations ii-iv based on the updated fourth terminal device until the second terminal device is determined.

11. The apparatus according to any one of claims 7-10, wherein, The second indication information is further used to indicate the configuration parameters required by the second terminal device when the second terminal device collaborates with the network device for sensing the sensing target.

12. The device according to claim 11, wherein, The configuration parameters are used to configure reference signals and measurement metrics. The reference signals include channel state information reference signal CSI-RS and / or positioning reference signal PRS. The measurement metrics include at least one of the following: distance, angle, or speed.

13. A perception terminal switching device, comprising: A processor and a communication interface; wherein, the communication interface is coupled to the processor, and the processor is configured to run a computer program or instructions to implement the sensing terminal switching method according to any one of claims 1-6.

14. A computer-readable storage medium, wherein, Instructions are stored in the computer-readable storage medium, and when the computer executes the instructions, the computer executes the sensing terminal switching method according to any one of claims 1-6.

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