Communication method and apparatus

Abstract

Provided in the embodiments of the present application are a communication method and apparatus. The method comprises: acquiring sensing data of a target object, which sensing data comprises first sensing data and / or second sensing data, wherein the first sensing data is obtained by a first sensing device performing sensing, and the second sensing data is obtained by a second sensing device performing sensing; on the basis of the sensing data, acquiring a sensing switching reference quantity, which comprises at least one of the position of the target object, a sensing measurement quantity, and sensing performance; and on the basis of the sensing switching reference quantity, determining whether to perform sensing switching on the target object. The embodiments of the present application can better ensure the service continuity.

Description

A communication method and apparatus

[0001] The present application claims priority to the Chinese patent application No. 202411120401.0, filed on August 14, 2024, with the State Intellectual Property Office of China, and the Chinese patent application No. 202411120401.0 has the title of “A communication method and apparatus”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication technology, in particular to a communication method and apparatus. BACKGROUND

[0003] When a network device or a terminal device has the sensing capability brought by a wireless frequency band (such as a millimeter wave frequency band, a terahertz frequency band, etc.), a wireless communication system can sense a specific area / object / event / environment, etc.

[0004] The core network device selects a suitable sensing device (such as a base station and / or a terminal device) based on the sensing service request of the service requester, and sends sensing control information to the selected sensing device. The selected sensing device performs sensing based on the sensing control information to obtain sensing data, and reports the sensing data to the core network device. Thus, the core network device can open the sensing result generated based on the sensing data to the service requester, and the service requester applies the sensing result to a related application.

[0005] Wherein, when the target object being sensed moves, how to better guarantee service continuity is a problem to be solved. SUMMARY

[0006] The embodiments of the present application provide a communication method and apparatus, which can better guarantee service continuity.

[0007] In a first aspect, the embodiments of the present application provide a communication method, which can be executed by a first sensing device, a module (such as a processor, a chip, or a chip system, etc.) applied to the first sensing device, a logic node, a logic module, or software capable of realizing all or part of the functions of the first sensing device. The method can include: obtaining sensing data of a target object, the sensing data including first sensing data and / or second sensing data; wherein the first sensing data is obtained by the first sensing device, and the second sensing data is obtained by a second sensing device; obtaining a sensing switching reference quantity according to the sensing data, the sensing switching reference quantity including at least one of a target object position, a sensing measurement quantity, and a sensing performance; and determining whether to perform sensing switching on the target object according to the sensing switching reference quantity.

[0008] The perception data can be any one of in-phase and quadrature component (IQ) data, range-velocity spectrum, velocity-range-angle spectrum, or point cloud data, the perception measurement quantity can be perception signal strength (for example, reference signal receiving power (RSRP)) or perception signal quality (for example, signal to interference plus noise ratio (SNR)) or radar cross section (RCS), and the perception performance can be at least one of accuracy, resolution, detection rate, false detection rate, false alarm rate, and confidence corresponding to a perception result obtained based on the perception data.

[0009] The perception switching in the embodiments of the present application can be understood as reporting perception data of a target object by a source perception device (original perception device) or a target perception device (new perception device). Specifically, if the perception data of the target object perceived (or final perception data after fusing multi-station perception data) is still reported by the source perception device, it can be indicated that no perception switching is performed. Otherwise, if the perception data of the target object perceived (or final perception data after fusing multi-station perception data) is reported by the target perception device, it can be indicated that the perception switching is successfully performed.

[0010] It can be understood that determining that the target object meets the switching condition can be understood as determining that a new perception device needs to be selected (or said to be introduced) for the target object, and determining that the new perception device is the second perception device. Selecting a new perception device includes adding a perception device (i.e., the source perception device and the added perception device jointly perform perception on the target object) or switching the perception device (the added perception device performs perception on the target object, and the source perception device no longer performs perception on the target object).

[0011] For example, in the embodiments of the present application, the source awareness device can be a first awareness device, and the target awareness device can be a second awareness device. When the target object is within the sensing range of the first awareness device, the first awareness device can report the sensing data of the target object sensed by itself. When the target object is within the sensing range of the sensing coverage area of the first awareness device and the second awareness device, if the sensing data of the target object continues to be reported by the first awareness device (or the final sensing data fused by the first awareness device and the second awareness device), it indicates that no sensing switching is performed. If the sensing data of the target object is reported by the second awareness device (or the final sensing data fused by the first awareness device and the second awareness device), it indicates that sensing switching is performed, i.e., the sensing of the target object is switched from the first awareness device to the second awareness device. When the target object is within the sensing range of the second awareness device, the second awareness device reports the sensing data of the target object sensed by itself.

[0012] The awareness in the embodiments of the present application can also be referred to as awareness identification, awareness measurement, etc.

[0013] Based on the above, the first awareness device can obtain the awareness switching reference quantity through the sensing data, and then determine in time whether to introduce the adjacent awareness device as a new awareness device for the target object according to the awareness switching reference quantity, i.e., to perform sensing switching, thereby avoiding the problems such as service interruption or sensing data quality degradation caused by the mobility of the target object or the awareness device (e.g., only when the target object moves out of the sensing range of the current awareness device) initiating the switching of the awareness device, and ensuring the continuity of the awareness service.

[0014] In a possible implementation, the awareness switching reference quantity includes the target object position, the sensing data includes first sensing data, and the awareness switching reference quantity is obtained according to the sensing data, including: obtaining the target object position according to the first sensing data; and determining whether to perform sensing switching on the target object according to the awareness switching reference quantity, including: obtaining the sensing coverage area information and the switching boundary of the sensing range of the first awareness device and one or more adjacent awareness devices; and in the case that the target object position is located in the sensing coverage area of the sensing range of the first awareness device and the second awareness device but does not cross the switching boundary between the first awareness device and the second awareness device, determining not to perform sensing switching on the target object, and the one or more adjacent awareness devices include the second awareness device.

[0015] The meaning of the perception same coverage area in the embodiment can be understood as that the target object is in the area, and the perception function processes the perception data of the target object perceived by the source perception device, and also needs to consider the perception data of the target object perceived by other adjacent perception devices of the source perception device. For example, when the perception function processes the perception data of the target object in the perception same coverage area of the perception ranges of the first perception device and the second perception device, the target object is in the perception same coverage area of the perception ranges of the first perception device and the second perception device, and the perception function needs to consider not only the first perception data of the target object perceived by the first perception device, but also the second perception data of the target object perceived by the second perception device.

[0016] The perception same coverage area can be understood as an area in which the perception ranges overlap, or can be understood as a perception handover area (for example, the target object position is in the perception same coverage area of the perception ranges of the first perception device and the second perception device, but does not cross the handover boundary between the first perception device and the second perception device), or can be understood as a perception handover area (for example, the target object position is in the perception same coverage area of the perception ranges of the first perception device and the second perception device, and crosses the handover boundary between the first perception device and the second perception device).

[0017] Based on the above, whether to perform the perception handover of the target object can be determined according to the target object position. When the target object position is in the perception same coverage area of the perception ranges of the first perception device and the second perception device, but does not cross the handover boundary between the first perception device and the second perception device, it can be determined that the perception handover of the target object is not performed. That is, the first perception device can continue to report the perception data of the target object (that is, the final perception data obtained by fusing the first perception data of the target object perceived by the first perception device and the second perception data of the target object perceived by the second perception device). Through the embodiment, it can be determined what the condition for performing the perception handover of the target object is, that is, whether the adjacent perception device needs to be introduced as a new perception device for the target object according to the target object position, that is, to perform the perception handover, thereby avoiding problems such as service interruption or perception data quality degradation caused by the mobility of the target object or the perception device, and ensuring the continuity of the perception service.

[0018] In a possible implementation manner, the method can further include: in a case where the target object position is in the perception same coverage area of the perception ranges of the first perception device and the second perception device, and crosses the handover boundary between the first perception device and the second perception device, sending a perception handover request to the second perception device, the perception handover request being used to request to perform the perception handover of the target object to the second perception device.

[0019] By the embodiment, whether to perform the sensing switching on the target object can be determined according to the target object position. When the target object position is located in the sensing coverage area of the sensing ranges of the first sensing device and the second sensing device, and does not cross the switching boundary between the first sensing device and the second sensing device, it is determined that the sensing switching is not performed on the target object. When the target object position crosses the switching boundary between the first sensing device and the second sensing device, it is determined that the sensing switching is performed on the target object. The embodiment can determine the condition of performing the sensing switching on the target object according to the change of the target object position in real time, that is, whether to introduce the adjacent sensing device as the new sensing device for the target object, that is, to perform the sensing switching, can be determined according to the target object position in time, the accuracy of the sensing switching is improved, and problems such as service interruption or sensing data quality decline caused by the mobility of the target object or the sensing device are avoided, and the sensing service continuity is ensured.

[0020] In a possible implementation, the sensing switching reference quantity includes the target object position, the sensing data includes first sensing data, and the sensing switching reference quantity is acquired according to the sensing data, including: acquiring the target object position according to the first sensing data; and determining whether to perform the sensing switching on the target object according to the sensing switching reference quantity, including: acquiring the sensing coverage area information and the switching boundary of the sensing ranges of the first sensing device and one or more adjacent sensing devices; in a case where the target object position is located in the sensing coverage area of the sensing ranges of the first sensing device and the second sensing device and crosses the switching boundary between the first sensing device and the second sensing device, sending a sensing switching request to the second sensing device, the sensing switching request being used to request to switch the sensing on the target object to the second sensing device, and the one or more adjacent sensing devices including the second sensing device.

[0021] By the embodiment, whether to perform the sensing switching on the target object can be determined according to the target object position. When the target object position is located in the sensing coverage area of the sensing ranges of the first sensing device and the second sensing device, and does not cross the switching boundary between the first sensing device and the second sensing device, it is determined that the sensing switching is not performed on the target object. When the target object position crosses the switching boundary between the first sensing device and the second sensing device, it is determined that the sensing switching is performed on the target object. The embodiment can determine the condition of performing the sensing switching on the target object according to the change of the target object position in real time, that is, whether to introduce the adjacent sensing device as the new sensing device for the target object, that is, to perform the sensing switching, can be determined according to the target object position in time, the accuracy of the sensing switching is improved, and problems such as service interruption or sensing data quality decline caused by the mobility of the target object or the sensing device are avoided, and the sensing service continuity is ensured.

[0022] In a possible implementation, the determining that the target object position is located in the sensing same coverage area of the sensing ranges of the first sensing device and the second sensing device comprises: determining, according to the second sensing data, that the target object position is located in the sensing same coverage area of the sensing ranges of the first sensing device and the second sensing device.

[0023] According to the embodiment, since the target object position moves into the sensing same coverage area of the sensing ranges of the first sensing device and the second sensing device, the target object position can be determined to be located in the sensing same coverage area of the sensing ranges of the first sensing device and the second sensing device according to the first sensing data, and the target object position can also be determined to be located in the sensing same coverage area of the sensing ranges of the first sensing device and the second sensing device according to the first sensing data and the second sensing data. Compared with determining the target object position according to only the first sensing data, determining the target object position according to the first sensing data and the second sensing data makes the determination of the target object position more accurate.

[0024] In a possible implementation, the obtaining of the sensing same coverage area information and the switching boundary of the sensing ranges of the first sensing device and the one or more adjacent sensing devices comprises: obtaining sensing configuration information of the first sensing device and / or the one or more adjacent sensing devices, and determining the sensing same coverage area information and the switching boundary according to the sensing configuration information; wherein the sensing configuration information comprises one or more of the following: a sensing coverage range, a sensing same coverage area of the sensing range of the sensing device and the adjacent sensing device, a switching boundary between the sensing device and the adjacent sensing device, a supported sensing target type, and a supported sensing requirement.

[0025] The sensing requirement can also be referred to as a sensing capability. The sensing capability can specifically include a sensing target type supported by the corresponding sensing device, or a sensing key performance indicator (KPI) or a sensing quality of service (QoS) supported by the corresponding sensing device, for example, distance / angle / speed accuracy, distance / angle / speed resolution, detection rate / false detection rate, false alarm rate, confidence, refresh rate, and the like.

[0026] By the embodiment, the sensing coverage area information and the switching boundary of the sensing range of the first sensing device and the one or more adjacent sensing devices can be obtained, for example, the first sensing device can determine the sensing coverage area information and the switching boundary through the sensing configuration information, so that the condition for switching the sensing of the target object can be obtained, that is, whether the adjacent sensing device needs to be introduced as a new sensing device for the target object according to the condition for switching the sensing, that is, switching the sensing, so as to avoid the problems such as service interruption or sensing data quality degradation caused by the mobility of the target object or the sensing device, and ensure the continuity of the sensing service.

[0027] In a possible implementation, the method can further include: in a case where the target object leaves the sensing coverage area of the sensing range of the first sensing device and the second sensing device, determining that the sensing data from the second sensing device is not needed, and sending information indicating termination of acquisition of the sensing data to the second sensing device. By the embodiment, the termination indication sent to the second sensing device can make the second sensing device terminate the useless sensing in time, so that the network resources can be saved.

[0028] In a possible implementation, the sensing switching reference quantity includes a sensing measurement quantity and / or a sensing performance, the sensing data includes first sensing data, the sensing measurement quantity is a sensing signal strength or a sensing signal quality or a radar cross section corresponding to the first sensing data, and the sensing performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence corresponding to a sensing result obtained based on the first sensing data; and determining whether to switch the sensing of the target object according to the sensing switching reference quantity includes: obtaining a sensing measurement quantity threshold and / or a sensing performance threshold for sensing switching of the first sensing device and / or the one or more adjacent sensing devices; and determining not to switch the sensing of the target object according to the sensing measurement quantity and / or the sensing performance and the sensing measurement quantity threshold and / or the sensing performance threshold for sensing switching of the first sensing device and / or the one or more adjacent sensing devices, the one or more adjacent sensing devices including the second sensing device.

[0029] By the embodiment, whether to switch the sensing of the target object can be determined according to the sensing measurement quantity and / or the sensing performance, that is, the switching condition met by the target object can be related to the sensing measurement quantity (for example, a signal strength RSRP or a signal quality SNR or a radar cross section RCS) and / or the sensing performance (for example, an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence corresponding to a sensing result obtained based on the sensing data) of the source sensing device and / or the adjacent sensing device.

[0030] Specifically, for example, if it is determined that the target object satisfies the switching condition according to the sensing measurement of the source sensing device and / or the adjacent sensing device, the switching condition may, for example, be that the sensing measurement of the source sensing device is lower than a threshold, the sensing measurement of the adjacent sensing device is higher than a threshold, or the sensing measurement of the source sensing device is lower than the sensing measurement of the adjacent sensing device, such as that the RSRP of the source sensing device is lower than a threshold, the RSRP of the adjacent sensing device is higher than a threshold, the RSRP of the adjacent sensing device is higher than the RSRP of the source sensing device, the SNR of the source sensing device is lower than a threshold, the SNR of the adjacent sensing device is higher than a threshold, or the SNR of the adjacent sensing device is higher than the SNR of the source sensing device, the RCS of the source sensing device is lower than a threshold, the RCS of the adjacent sensing device is higher than a threshold, or the RCS of the adjacent sensing device is higher than the RCS of the source sensing device. Alternatively, for example, if it is determined that the target object satisfies the switching condition according to the sensing performance of the source sensing device and / or the adjacent sensing device, the switching condition may, for example, be that the accuracy of the source sensing device in obtaining a sensing result is lower than a threshold, the accuracy of the adjacent sensing device in obtaining a sensing result is higher than a threshold, the accuracy of the adjacent sensing device in obtaining a sensing result is higher than the accuracy of the source sensing device in obtaining a sensing result, the false alarm rate of the source sensing device exceeds a threshold, the false alarm rate of the adjacent sensing device is lower than a threshold, or the false alarm rate of the adjacent sensing device is lower than the false alarm rate of the source sensing device, the resolution of the source sensing device is lower than a threshold, the resolution of the adjacent sensing device is higher than a threshold, or the resolution of the adjacent sensing device is higher than the resolution of the source sensing device, the detection rate of the source sensing device is lower than a threshold, the detection rate of the adjacent sensing device is higher than a threshold, or the detection rate of the adjacent sensing device is higher than the detection rate of the source sensing device, the false detection rate of the source sensing device is higher than a threshold, the false detection rate of the adjacent sensing device is lower than a threshold, or the false detection rate of the adjacent sensing device is lower than the false detection rate of the source sensing device, the confidence of the source sensing device is lower than a threshold, the confidence of the adjacent sensing device is higher than a threshold, or the confidence of the adjacent sensing device is higher than the confidence of the source sensing device.

[0031] If the target object does not satisfy the switching condition described above, it can be determined that no sensing switching is performed on the target object. That is, the sensing data of the target object reported by the first sensing device (i.e., the final sensing data obtained by fusing the first sensing data of the target object sensed by the first sensing device and the second sensing data of the target object sensed by the second sensing device) can be continued. Through the present embodiment, it can be determined what the switching condition for performing sensing switching on the target object is, i.e., whether the adjacent sensing device needs to be introduced as a new sensing device for the target object according to the sensing measurement and / or the sensing performance, i.e., whether sensing switching is performed, thereby avoiding problems such as service interruption or sensing data quality degradation caused by the mobility of the target object or the sensing device, and ensuring the continuity of the sensing service.

[0032] In a possible implementation, the method can further include: sending, according to the perception measurement and / or the perception performance and the perception measurement threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the one or more adjacent perception devices, a perception switching request to the second perception device, the perception switching request being used to request switching the perception of the target object to the second perception device.

[0033] According to the perception measurement and / or the perception performance, whether to switch the perception of the target object can be determined, that is, the switching condition met by the target object can be related to the perception measurement (for example, the signal strength RSRP or the signal quality SNR or the radar cross section RCS) and / or the perception performance (for example, the accuracy, the resolution, the detection rate, the false detection rate, the false alarm rate, the confidence, and the like corresponding to the perception result obtained based on the perception data) of the source perception device and / or the adjacent perception device.

[0034] If the target object meets the switching condition (the switching condition can be seen from the above description), it is determined to switch the perception of the target object. That is, the perception data of the target object reported by the first perception device (that is, the final perception data obtained by fusing the first perception data of the target object perceived by the first perception device and the second perception data of the target object perceived by the second perception device) can be switched to the second perception device. According to the embodiment, the switching condition for switching the perception of the target object can be determined, that is, whether to introduce the adjacent perception device as a new perception device for the target object (that is, to switch the perception) can be determined according to the perception measurement and / or the perception performance, so as to avoid the problems such as service interruption or perception data quality degradation caused by the mobility of the target object or the perception device, and ensure the continuity of the perception service.

[0035] In a possible implementation, the perception switching reference quantity includes the perception measurement and / or the perception performance, the perception data includes the first perception data, the perception measurement is the perception signal strength or the perception signal quality or the radar cross section area corresponding to the first perception data, and the perception performance is at least one of the accuracy, the resolution, the detection rate, the false detection rate, the false alarm rate, and the confidence corresponding to the perception result obtained based on the first perception data. Whether to switch the perception of the target object according to the perception switching reference quantity includes: obtaining the perception measurement threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the one or more adjacent perception devices; and sending, according to the perception measurement and / or the perception performance and the perception measurement threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the one or more adjacent perception devices, a perception switching request to the second perception device, the perception switching request being used to request switching the perception of the target object to the second perception device.

[0036] By the embodiment, whether to perform the perception switching on the target object can be determined according to the perception measurement and / or the perception performance, that is, the switching condition met by the target object can be related to the perception measurement (for example, the signal strength RSRP or the signal quality SNR or the RCS) and / or the perception performance (for example, the accuracy, the resolution, the detection rate, the false detection rate, the false alarm rate, the confidence and the like corresponding to the perception result obtained based on the perception data) of the source perception device and / or the adjacent perception device. If the target object meets the switching condition (the switching condition can be seen from the above description), it is determined to perform the perception switching on the target object. That is, the perception data of the target object reported by the second perception device can be switched from the first perception device (that is, the final perception data obtained after the fusion of the first perception data of the target object perceived by the first perception device and the second perception data of the target object perceived by the second perception device). By the embodiment, the condition of performing the perception switching on the target object can be determined, that is, whether to introduce the adjacent perception device as the new perception device for the target object (that is, to perform the perception switching) can be determined according to the perception measurement and / or the perception performance, so as to avoid the problems such as the service interruption or the perception data quality decline caused by the mobility of the target object or the perception device, and ensure the continuity of the perception service.

[0037] In a possible implementation, the perception measurement and / or the perception performance is determined according to the second perception data.

[0038] By the embodiment, the perception measurement and / or the perception performance can be determined not only according to the first perception data, but also according to the second perception data, or the perception measurement and / or the perception performance can be determined according to the first perception data and the second perception data together. Compared with determining the perception measurement and / or the perception performance only according to the first perception data, the determination of the perception measurement and / or the perception performance is more accurate according to the first perception data and the second perception data.

[0039] In a possible implementation, the perception measurement threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the one or more adjacent perception devices are obtained, including: obtaining the perception configuration information of the first perception device and / or the one or more adjacent perception devices, and the perception configuration information includes the perception measurement threshold and / or the perception performance threshold for the perception switching.

[0040] By the embodiment, the first sensing device can obtain the sensing measurement threshold and / or the sensing performance threshold for the sensing switching through the sensing configuration information, so that the condition for the sensing switching of the target object can be obtained, i.e., whether the adjacent sensing device needs to be introduced as the new sensing device for the target object according to the condition for the sensing switching, i.e., the sensing switching is performed, so that the problems such as service interruption or sensing data quality degradation caused by the mobility of the target object or the sensing device are avoided, and the sensing service continuity is ensured.

[0041] In a possible implementation, the method can further include: determining that the sensing data from the second sensing device is not needed according to the sensing measurement and / or the sensing performance, and the sensing measurement threshold and / or the sensing performance threshold for the sensing switching of the first sensing device and / or the one or more adjacent sensing devices, and sending information indicating termination of acquisition of the sensing data to the second sensing device. By the embodiment, the termination indication sent to the second sensing device can make the second sensing device terminate the useless sensing in time, so that the network resource can be saved.

[0042] In a possible implementation, the sensing switching request includes one or more of the following: information of the target object, sensing requirement, service continuity indication, first sensing data, sensing data processing information of the target object.

[0043] In a possible implementation, the information of the target object includes one or more of the following: object type, object contour, object size, object material, object speed, object position.

[0044] In a possible implementation, the sensing data includes any of the following: in-phase and quadrature components (IQ) data, distance-speed spectrum, speed-distance-angle spectrum, point cloud data.

[0045] In a possible implementation, the sensing result includes one or more of the following: target object position, target object trace, target object speed, target object reflected signal strength, target object reflected signal quality, sensing performance of the target object.

[0046] In a possible implementation, the method can further include: receiving a first sensing request from a sensing function; and acquiring sensing data of the target object, including: in response to the first sensing request, performing sensing and acquiring first sensing data and / or receiving second sensing data from a second sensing device. By the embodiment, the first sensing device can acquire the sensing data of the target object according to the first sensing request from the sensing function.

[0047] In a possible implementation, the method further includes: obtaining a perception result of the target object according to the perception data, and sending the perception result to the perception function. Through this embodiment, after the first perception device obtains the perception data of the target object, the perception result of the target object is obtained according to the perception data and sent to the perception function.

[0048] In a possible implementation, the method further includes: sending the perception data to the perception function; or, in a case where the perception data includes the first perception data and the second perception data, obtaining first fused perception data according to the first perception data and the second perception data, and sending the first fused perception data to the perception function. Through this embodiment, after the first perception device obtains the perception data of the target object, the perception data is sent to the perception function, and the perception function obtains the perception result of the target object according to the perception data, which can save the computing overhead of the perception device; or the first perception device fuses the first perception data and the second perception data, and sends the fused perception data to the perception function, and the perception function obtains the perception result of the target object according to the fused perception data, and the perception result of the target object obtained according to the fused perception data can be more accurate.

[0049] In a possible implementation, the method further includes: receiving the perception result of the target object from the perception function, the perception result being obtained by the perception function according to the first fused perception data, or the perception result being obtained by the perception function according to the perception data.

[0050] In a possible implementation, the method further includes: sending a subscription request to the perception function, the subscription request being used to request to subscribe to the perception switching assistance information of the target object; and receiving a subscription response from the perception function, the subscription response including the perception switching assistance information of the target object. Through this embodiment, the first perception device can subscribe to the perception switching assistance information of the target object from the perception function, so as to determine whether to perform perception switching on the target object according to the perception switching assistance information. The perception switching assistance information of the target object is obtained by the perception function according to the perception data reported by the first perception device, and therefore the overhead of the first perception device in obtaining the perception switching assistance information of the target object can be saved.

[0051] In a possible implementation, the subscription request comprises one or more of the following: a perception coverage area of a perception range of the first perception device and the one or more neighboring perception devices, a handover boundary of the first perception device and the one or more neighboring perception devices, and a region replacement event notification indication; wherein the region replacement event notification indication is used to indicate that the relationship between the target object and the perception coverage area and / or the handover boundary is sent to the first perception device when the target object moves in and out of the perception coverage area and / or moves left and right of the handover boundary.

[0052] In a possible implementation, the perception handover assistance information comprises the relationship between the target object and the perception coverage area and / or the handover boundary.

[0053] In this embodiment, if the perception handover reference quantity comprises the target object position, the first perception device can include the region replacement event notification in the request sent to the perception function, which is used to indicate that the relationship between the target object and the perception coverage area and / or the handover boundary is sent to the first perception device when the target object moves in and out of the perception coverage area and / or moves left and right of the handover boundary, so that the first perception device can determine whether to perform the perception handover according to the target object position. In this embodiment, it is the perception function that judges and sends the relationship between the target object and the perception coverage area and / or the handover boundary to the first perception device, and the first perception device does not need to judge the relationship between the target object and the perception coverage area and / or the handover boundary, so the overhead of the first perception device can be saved.

[0054] In a possible implementation, the subscription request comprises one or more of the following: a predefined area, a predefined area identifier, an area change event notification indication; wherein the area change event notification indication is used to indicate that the predefined area where the target object is located is sent to the first perception device when the target object moves between the predefined areas; wherein the predefined area comprises one or more of the following: a non-perception co-coverage area of the perception range of the first perception device and one or more adjacent perception devices and the perception range of the first perception device, a perception co-coverage area of the perception range of the first perception device and one or more adjacent perception devices and the first perception device does not cross the switching boundary between the first perception device and the one or more adjacent perception devices, a perception co-coverage area of the perception range of the first perception device and one or more adjacent perception devices and the first perception device crosses the switching boundary between the first perception device and the one or more adjacent perception devices, a non-perception co-coverage area of the perception range of the first perception device and one or more adjacent perception devices and the perception range of the one or more adjacent perception devices. Through the embodiment, the predefined area and / or the predefined area identifier can be included in the subscription request, wherein the predefined area can be complete characterization information (i.e., specific area information), in which case the information of the perception co-coverage area and the switching boundary does not need to be carried in the subscription request, thereby saving signaling overhead.

[0055] In a possible implementation, the perception switching assistance information comprises a predefined area and / or a predefined area identifier.

[0056] In a possible implementation, the subscription request comprises one or more of the following: a perception measurement quantity threshold and / or a perception performance threshold for perception switching, and an event notification indication; wherein the event notification indication is used to indicate whether the result that the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold for perception switching is sent to the first perception device.

[0057] In a possible implementation, the perception switching assistance information comprises the result that the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold for perception switching.

[0058] If the perception switching reference quantity includes the perception measurement quantity and / or the perception performance, the first perception device can include an event notification indication in the request sent to the perception function, to indicate whether the result of whether the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold for the perception switching is sent to the first perception device, so that the first perception device can determine whether to perform the perception switching according to the perception measurement quantity and / or the perception performance. In this embodiment, it is the perception function that judges and sends the result of whether the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold for the perception switching to the first perception device, without the first perception device judging the result of whether the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold for the perception switching, so that the overhead of the first perception device can be saved.

[0059] In a possible implementation, the subscription request includes one or more of the following: a predefined threshold range, a predefined threshold range identifier, a threshold range change event notification indication; wherein the threshold range change event notification indication is used to indicate that, when the perception measurement quantity and / or the perception performance changes between the predefined threshold ranges, the predefined threshold range in which the perception measurement quantity and / or the perception performance is located is sent to the first perception device.

[0060] In a possible implementation, the perception switching assistance information includes a predefined threshold range and / or a predefined threshold range identifier.

[0061] In a second aspect, the embodiments of the present application provide a communication method, which can be executed by a perception function, or a module (for example, a processor, a chip, or a chip system) applied to the perception function, or a logic node, a logic module, or software capable of implementing all or part of the perception function. The method can include: obtaining perception data of a target object, the perception data including first perception data and / or second perception data; wherein the first perception data is obtained by a first perception device, and the second perception data is obtained by a second perception device; obtaining a perception switching reference quantity according to the perception data, the perception switching reference quantity including at least one of a target object position, a perception measurement quantity, and a perception performance; and determining whether to perform perception switching on the target object according to the perception switching reference quantity.

[0062] In the embodiments of the present application, the perception function can acquire the perception switching reference quantity through the perception data, and then determine in time whether to introduce the adjacent perception device as a new perception device for the target object according to the perception switching reference quantity, i.e., to perform the perception switching, thereby avoiding the problems such as service interruption or perception data quality degradation caused by the mobility of the target object or the perception device (e.g., only when the target object moves out of the perception range of the current perception device) initiating the switching of the perception device, and ensuring the continuity of the perception service. Further, compared with the first aspect, since the perception function has stronger capability, determining whether to perform the perception switching for the target object by the perception function can save the overhead of the first perception device.

[0063] It should be understood that the execution subject of the second aspect can be the perception function, the specific content of the second aspect corresponds to the content of the first aspect, and the corresponding features and beneficial effects of the second aspect can be referred to the description of the first aspect. To avoid repetition, the detailed description is appropriately omitted here.

[0064] In a possible implementation, the perception switching reference quantity includes the target object position, the perception data includes the first perception data, and the acquiring the perception switching reference quantity according to the perception data includes: acquiring the target object position according to the first perception data. The determining whether to perform the perception switching for the target object according to the perception switching reference quantity includes: acquiring the perception same coverage area information and the switching boundary of the perception ranges of the first perception device and one or more adjacent perception devices; and in a case where the target object position is located in the perception same coverage area of the perception ranges of the first perception device and the second perception device but does not cross the switching boundary between the first perception device and the second perception device, determining not to perform the perception switching for the target object, and the one or more adjacent perception devices include the second perception device.

[0065] In a possible implementation, the method can further include: in a case where the target object position is located in the perception same coverage area of the perception ranges of the first perception device and the second perception device and crosses the switching boundary between the first perception device and the second perception device, sending a perception switching request to the second perception device, the perception switching request being used to request to switch the perception for the target object to the second perception device.

[0066] In a possible implementation, the perception switching reference quantity comprises a target object position, the perception data comprises first perception data, and the obtaining the perception switching reference quantity according to the perception data comprises: obtaining the target object position according to the first perception data; and determining whether to perform perception switching on the target object according to the perception switching reference quantity comprises: obtaining perception coverage area information and a switching boundary of the perception range of the first perception device and one or more adjacent perception devices; and in a case where the target object position is located in the perception coverage area of the perception range of the first perception device and the second perception device and crosses the switching boundary between the first perception device and the second perception device, sending a perception switching request to the second perception device, the perception switching request being used to request to switch the perception of the target object to the second perception device, and the one or more adjacent perception devices comprising the second perception device.

[0067] In a possible implementation, the determining that the target object position is located in the perception coverage area of the perception range of the first perception device and the second perception device comprises: determining, according to the second perception data, that the target object position is located in the perception coverage area of the perception range of the first perception device and the second perception device.

[0068] In a possible implementation, the obtaining the perception coverage area information and the switching boundary of the perception range of the first perception device and the one or more adjacent perception devices comprises: obtaining perception configuration information of the first perception device and / or the one or more adjacent perception devices, and determining the perception coverage area information and the switching boundary according to the perception configuration information; wherein the perception configuration information comprises one or more of the following: a perception coverage range, a perception coverage area of the perception range of a perception device and an adjacent perception device, a switching boundary between the perception device and the adjacent perception device, a supported perception target type, and a supported perception requirement.

[0069] In a possible implementation, the method can further comprise: in a case where the target object leaves the perception coverage area of the perception range of the first perception device and the second perception device, determining that it is unnecessary to obtain the perception data from the second perception device, and sending, to the second perception device, information used to indicate termination of obtaining the perception data.

[0070] In a possible implementation, the perception switching reference quantity comprises a perception measurement quantity and / or a perception performance, the perception data comprises first perception data, the perception measurement quantity is a perception signal strength or a perception signal quality or a radar cross section corresponding to the first perception data, and the perception performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence corresponding to a perception result obtained based on the first perception data; and determining whether to perform the perception switching on the target object according to the perception switching reference quantity comprises: obtaining a perception measurement quantity threshold and / or a perception performance threshold for the perception switching of the first perception device and / or one or more neighboring perception devices; and determining not to perform the perception switching on the target object according to the perception measurement quantity and / or the perception performance and the perception measurement quantity threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the one or more neighboring perception devices, the one or more neighboring perception devices comprising a second perception device.

[0071] In a possible implementation, the method further comprises: sending, to the second perception device, a perception switching request for requesting to switch the perception on the target object to the second perception device according to the perception measurement quantity and / or the perception performance and the perception measurement quantity threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the one or more neighboring perception devices.

[0072] In a possible implementation, the perception switching reference quantity comprises a perception measurement quantity and / or a perception performance, the perception data comprises first perception data, the perception measurement quantity is a perception signal strength or a perception signal quality or a radar cross section corresponding to the first perception data, and the perception performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence corresponding to a perception result obtained based on the first perception data; and determining whether to perform the perception switching on the target object according to the perception switching reference quantity comprises: obtaining a perception measurement quantity threshold and / or a perception performance threshold for the perception switching of the first perception device and / or one or more neighboring perception devices; and sending, to the second perception device, a perception switching request for requesting to switch the perception on the target object to the second perception device according to the perception measurement quantity and / or the perception performance and the perception measurement quantity threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the one or more neighboring perception devices.

[0073] In a possible implementation, the perception measurement quantity and / or the perception performance are determined according to the second perception data.

[0074] In a possible implementation, the acquiring of the sensing measurement quantity threshold and / or the sensing performance threshold for the sensing switching of the first sensing device and / or the one or more neighboring sensing devices comprises: acquiring sensing configuration information of the first sensing device and / or the one or more neighboring sensing devices, the sensing configuration information comprising the sensing measurement quantity threshold and / or the sensing performance threshold for the sensing switching.

[0075] In a possible implementation, the method can further comprise: determining, according to the sensing measurement quantity and / or the sensing performance and the sensing measurement quantity threshold and / or the sensing performance threshold for the sensing switching of the first sensing device and / or the one or more neighboring sensing devices, that the sensing data from the second sensing device is not needed, and sending, to the second sensing device, information for indicating termination of the acquiring of the sensing data.

[0076] In a possible implementation, the sensing switching request comprises one or more of the following: information of the target object, sensing requirement, service continuity indication, first sensing data, sensing data processing information of the target object.

[0077] In a possible implementation, the information of the target object comprises one or more of the following: object type, object contour, object size, object material, object speed, object position.

[0078] In a possible implementation, the sensing data comprises any of the following: in-phase and quadrature component (IQ) data, range-speed spectrum, speed-range-angle spectrum, point cloud data.

[0079] In a possible implementation, the sensing result comprises one or more of the following: target object position, target object trace, target object speed, signal strength reflected by the target object, signal quality reflected by the target object, sensing performance of the target object.

[0080] In a possible implementation, the method can further comprise: sending, to the first sensing device, a first sensing request; and acquiring the sensing data of the target object, comprising: receiving the sensing data of the target object from the first sensing device, or receiving first fusion sensing data from the first sensing device, the first fusion sensing data being obtained by the first sensing device according to the first sensing data and the second sensing data.

[0081] In a possible implementation, the method can further comprise: acquiring the sensing result of the target object according to the sensing data or the first fusion sensing data.

[0082] In a possible implementation, the method can further comprise: receiving a subscription request from the first sensing device, the subscription request being used to request subscription of sensing switching assistance information of the target object; and sending, to the first sensing device, a subscription response, the subscription response comprising the sensing switching assistance information of the target object.

[0083] In a possible implementation, the subscription request comprises one or more of: a perception coverage area of a perception range of the first perception device and one or more neighboring perception devices, a handover boundary of the first perception device and the one or more neighboring perception devices, a region change event notification indication; wherein the region change event notification indication is used to indicate that a relationship of the target object with the perception coverage area and / or the handover boundary is sent to the first perception device when the target object changes within and / or outside the perception coverage area and / or changes left and right of the handover boundary.

[0084] In a possible implementation, the perception handover assistance information comprises the relationship of the target object with the perception coverage area and / or the handover boundary.

[0085] In a possible implementation, the subscription request comprises one or more of: a perception coverage area of a perception range of the first perception device and one or more neighboring perception devices, a predefined region, a predefined region identifier, a region change event notification indication; wherein the region change event notification indication is used to indicate that a predefined region in which the target object is located is sent to the first perception device when the target object changes between the predefined regions; wherein the predefined region comprises one or more of: a non-perception coverage area of the perception range of the first perception device and the one or more neighboring perception devices and the perception range of the first perception device, the perception coverage area of the perception range of the first perception device and the one or more neighboring perception devices and the first perception device not crossing the handover boundary between the first perception device and the one or more neighboring perception devices, the perception coverage area of the perception range of the first perception device and the one or more neighboring perception devices and the first perception device crossing the handover boundary between the first perception device and the one or more neighboring perception devices, a non-perception coverage area of the perception range of the first perception device and the one or more neighboring perception devices.

[0086] In a possible implementation, the perception handover assistance information comprises the predefined region and / or the predefined region identifier.

[0087] In a possible implementation, the subscription request comprises one or more of: a perception measurement quantity threshold and / or a perception performance threshold for perception handover, an event notification indication; wherein the event notification indication is used to indicate that a result of whether the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold for perception handover is sent to the first perception device.

[0088] In a possible implementation, the perception handover assistance information comprises the result of whether the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold for perception handover.

[0089] In a possible implementation, the subscription request comprises one or more of the following: a predefined threshold range, a predefined threshold range identifier, a threshold range change event notification indication; wherein the threshold range change event notification indication is used to indicate that when the perception measurement quantity and / or the perception performance varies between the predefined threshold ranges, the predefined threshold range in which the perception measurement quantity and / or the perception performance is located is sent to the first perception device.

[0090] In a possible implementation, the perception switching assistance information comprises a predefined threshold range and / or a predefined threshold range identifier.

[0091] In a possible implementation, the method can further comprise: sending, to the first perception device, a second perception request, the second perception request being used to request the first perception device to trigger the second perception device to perform perception on the target object, the second perception request comprising an identifier of the second perception device.

[0092] In a possible implementation, the method can further comprise: sending, to the second perception device, a third perception request, the third perception request being used to request the second perception device to perform perception on the target object.

[0093] In a possible implementation, the first perception request comprises one or more of the following: information of the target object, a perception requirement, a service continuity indication.

[0094] In a possible implementation, the second perception request comprises one or more of the following: area information, information of the target object, first perception data, perception data processing information of the target object; wherein the area indicated by the area information covers the target object.

[0095] In a third aspect, an embodiment of the present application provides a communication method, which can be executed by a first perception device, a module (for example, a processor, a chip, or a chip system) applied to the first perception device, or a logic node, a logic module, or software capable of realizing all or part of the functions of the first perception device. The method can comprise: performing, by the first perception device, perception on a target object to obtain first perception data; receiving a second perception request from a perception function, the second perception request being used to request the first perception device to trigger a second perception device to perform perception on the target object, the second perception request comprising an identifier of the second perception device; and triggering, according to the second perception request, the second perception device to perform perception on the target object.

[0096] In the embodiment, the first perception device can perceive the target object to obtain first perception data. In a case where it is determined that the perception function needs to initiate switching of the perception device, the first perception device can trigger the second perception device to perform perception on the target object according to a second perception request from the perception function, so as to avoid problems such as service interruption or perception data quality decline caused by mobility of the target object or the perception device, and ensure continuity of the perception service.

[0097] In a possible implementation, triggering the second perception device to perform perception on the target object includes: sending a fourth perception request to the second perception device, where the fourth perception request is used to request perception data from the second perception device.

[0098] In the embodiment, the first perception device triggers the second perception device to perform perception on the target object, and can also request perception data from the second perception device, so that the first perception device can report the first perception data and the second perception data to the perception function, so that the perception function can determine a perception result of the target object according to the first perception data and the second perception data. The perception function determines the perception result of the target object according to perception data of the target object obtained by multiple perception devices, which can improve accuracy of the perception result of the target object.

[0099] In a possible implementation, the method can further include: receiving second perception data from the second perception device; and fusing the first perception data and the second perception data.

[0100] In the embodiment, the first perception device triggers the second perception device to perform perception on the target object, and can also request perception data from the second perception device, so that the first perception data and the second perception data can be fused, and the fused perception data can be sent to the perception function, so that the perception function can determine a perception result of the target object according to perception data of the target object obtained by multiple perception devices, which can improve accuracy of the perception result of the target object.

[0101] In a possible implementation, the method can further include: sending a perception switching request to the second perception device, where the perception switching request is used to request switching of perception on the target object to the second perception device. In the embodiment, switching of perception on the target object can be implemented, and specifically, the perception device for the target object can be switched from the first perception device to the second perception device.

[0102] In a possible implementation, the second perception request includes one or more of the following: region information, information of the target object, the first perception data, and perception data processing information of the target object; and the region indicated by the region information covers the target object.

[0103] In a possible implementation, the perception switching request comprises one or more of the following: information of the target object, perception requirement, service continuity indication, first perception data, perception data processing information of the target object.

[0104] In a possible implementation, the information of the target object comprises one or more of the following: object type, object contour, object size, object material, object speed, object position.

[0105] In a fourth aspect, an embodiment of the present application provides a communication method, which can be executed by a second perception device, a module (for example, a processor, a chip, or a chip system) applied to the second perception device, or a logic node, a logic module, or software capable of realizing all or part of the function of the second perception device. The method can comprise: receiving, by the second perception device, a perception switching request from a first perception device, the perception switching request being used to request switching of perception of a target object to the second perception device; and sending, to the first perception device, a perception switching response, the perception switching response being used to respond to the perception switching request.

[0106] In the embodiment of the present application, in the case where it is necessary to initiate switching of the perception device, switching of the perception of the target object can be realized, and specifically, the second perception device can receive request information (for example, a perception switching request) from the first perception device for requesting switching of the perception of the target object to the second perception device, and switching of the perception device of the target object from the first perception device to the second perception device can be realized. Thus, problems such as service interruption or perception data quality decline caused by mobility of the target object or the perception device can be avoided, and service continuity of the perception can be ensured.

[0107] In a possible implementation, the method can further comprise: sending, to the first perception device, a perception data request, the perception data request being used to request obtaining of first perception data of the target object from the first perception device.

[0108] According to the embodiment, after switching of the perception of the target object from the first perception device to the second perception device, the second perception device performs perception of the target object, and can also continue to obtain perception data of the target object from other adjacent perception devices (for example, the first perception device), so as to determine a perception result of the target object according to the perception data of the target object perceived by the plurality of perception devices, and thus the accuracy of the perception result of the target object can be improved.

[0109] In a fifth aspect, the present application provides a communication apparatus, which comprises modules / units for performing the method of any one of the first aspect and its possible implementation, the third aspect and its possible implementation. The apparatus can be the first sensing device, or a module (e.g. a chip, a chip system, or a processor) applied to the first sensing device, or a logic node, a logic module or software capable of realizing all or part of the functions of the first sensing device.

[0110] In a sixth aspect, the present application provides a communication apparatus, which comprises modules / units for performing the method of any one of the second aspect and its possible implementation. The apparatus can be the sensing function, or a module (e.g. a chip, a chip system, or a processor) applied to the sensing function, or a logic node, a logic module or software capable of realizing all or part of the functions of the sensing function.

[0111] In a seventh aspect, the present application provides a communication apparatus, which comprises modules / units for performing the method of any one of the fourth aspect and its possible implementation. The apparatus can be the second sensing device, or a module (e.g. a chip, a chip system, or a processor) applied to the second sensing device, or a logic node, a logic module or software capable of realizing all or part of the functions of the second sensing device.

[0112] In an eighth aspect, the present application provides a communication apparatus, which can be the first sensing device, or a chip, a chip system, or a processor supporting the first sensing device to implement the above method, or a logic node, a logic module or software capable of realizing all or part of the functions of the first sensing device. The communication apparatus can also be a chip system. The communication apparatus can perform the method of the first aspect or the third aspect. The functions of the communication apparatus can be realized by hardware, or by hardware executing corresponding software. The hardware or software comprises one or more units corresponding to the above functions. The unit can be software and / or hardware. The operations and advantages of the communication apparatus can be found in the method of the first aspect or the third aspect, and will not be repeated here.

[0113] In a ninth aspect, the present application provides a communication device, which can be a sensing function, a chip, a chip system, or a processor, etc. supporting the sensing function to implement the method, and can also be a logic node, a logic module, or software, etc. capable of implementing all or part of the sensing function. The communication device can also be a chip system. The communication device can execute the method of the second aspect. The functions of the communication device can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units corresponding to the functions. The units can be software and / or hardware. The operations and advantages of the communication device can be found in the method of the second aspect and the advantages, and the repeated parts will not be described.

[0114] In a tenth aspect, the present application provides a communication device, which can be a second sensing device, a chip, a chip system, or a processor, etc. supporting the second sensing device to implement the method, and can also be a logic node, a logic module, or software, etc. capable of implementing all or part of the second sensing device. The communication device can also be a chip system. The communication device can execute the method of the fourth aspect. The functions of the communication device can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units corresponding to the functions. The units can be software and / or hardware. The operations and advantages of the communication device can be found in the method of the fourth aspect and the advantages, and the repeated parts will not be described.

[0115] In an eleventh aspect, the present application provides a computer readable storage medium for storing computer execution instructions, when the computer execution instructions are executed, the method executed by the first sensing device in the method of the first aspect or the third aspect is implemented; or the method executed by the sensing function in the method of the second aspect is implemented; or the method executed by the second sensing device in the method of the fourth aspect is implemented.

[0116] In a twelfth aspect, the present application provides a computer program product including a computer program, when the computer program is executed, the method executed by the first sensing device in the method of the first aspect or the third aspect is implemented; or the method executed by the sensing function in the method of the second aspect is implemented; or the method executed by the second sensing device in the method of the fourth aspect is implemented.

[0117] In a thirteenth aspect, the present application provides a communication system, which includes a communication device (such as a first sensing device) for executing the method of the first aspect or the third aspect, a communication device (such as a sensing function) for executing the method of the second aspect, and a communication device (such as a second sensing device) for executing the method of the fourth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0118] FIG. 1 is a schematic diagram of a system architecture according to an embodiment of the present application;

[0119] FIG. 2 is a schematic diagram of a perception process according to an embodiment of the present application;

[0120] FIG. 3 is a schematic flowchart of a communication method according to an embodiment of the present application;

[0121] FIG. 4 is a schematic diagram of a scenario of target object movement according to an embodiment of the present application;

[0122] FIGS. 5-11 are schematic flowcharts of a communication method according to an embodiment of the present application;

[0123] FIGS. 12 and 13 are schematic diagrams of possible communication devices according to embodiments of the present application. DETAILED DESCRIPTION

[0124] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0125] The terms “first” and “second” and the like in the specification of the present application, claims, and drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device including a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or device.

[0126] Reference to “an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessary that every embodiment include the same features, structures, or characteristics. It is explicitly and implicitly understood that embodiments described herein can be combined with other embodiments.

[0127] In the present application, "at least one" means one or more, "multiple" means two or more, "at least two" means two or three and three or more, and "and / or" is used to describe the relationship between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c, can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0128] In the present application, "sending information" can be understood as one device sending information to another device, or also can be understood as one logical module in a device sending information to another logical module. For example, "the access network device sending information" can be understood as the access network device sending information to another device (such as a terminal), or can be understood as a logical module 1 in the access network device sending information to a logical module 2 in the access network device.

[0129] In the present application, "receiving information" can be understood as one device receiving information from another device, or also can be understood as one logical module in a device receiving information from another logical module. For example, "the access network device receiving information" can be understood as the access network device receiving information from another device (such as a terminal), or can be understood as a logical module 1 in the access network device receiving information from a logical module 2 in the access network device.

[0130] In the present application, "sending information to (for example, a terminal)" can be understood as the destination of the information being the terminal. It can include directly or indirectly sending information to the terminal. "Receiving information from (for example, a terminal)" or "receiving information from (for example, a terminal)" can be understood as the source of the information being the terminal, which can include directly or indirectly receiving information from the terminal. The information between the source and the destination of the information sending can be processed as necessary, such as format change, etc., but the destination can understand the valid information from the source. Similar expressions in the present application can be understood similarly, and will not be repeated here.

[0131] In order to better understand the embodiments of the present application, first, the system architecture related to the embodiments of the present application will be introduced as follows:

[0132] The embodiments of the present application can be applied to a long term evolution (LTE) system, a communication system evolved after the 5th generation mobile communication (5G) system, a satellite communication system, and a short-range wireless communication system. Among them, the wireless communication system mentioned in the embodiments of the present application includes but is not limited to three application scenarios of the 5G / 6G mobile communication system: enhanced mobile broadband (eMBB), ultra-reliable low latency communication (URLLC), and massive machine type of communication (mMTC), a long range (LoRa) system or a vehicle-to-everything (V2X) system. The wireless communication system can include one or more access network devices and one or more terminal devices.

[0133] Please refer to FIG. 1, which is a schematic diagram of a system architecture provided by the embodiments of the present application. As shown in FIG. 1, the communication system 1000 includes a (radio) access network ((R)AN), a core network (CN) 200 and an Internet 300. The RAN 100 includes at least one access network device (such as 110a and 110b in FIG. 1, collectively referred to as 110) and at least one terminal (such as 120a-120j in FIG. 1, collectively referred to as 120). The RAN 100 can also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in FIG. 1), etc. The terminal 120 is connected to the access network device 110 in a wireless manner. The access network device 110 is connected to the core network 200 in a wireless or wired manner. The core network device in the core network 200 and the access network device 110 in the RAN 100 can be different physical devices respectively, or can be the same physical device integrated with the core network logic function and the wireless access network logic function. The core network 200 can include user plane function (UPF), data network (DN), access and mobility management function (AMF), and other network function entities. The terminal device can access the wireless network to obtain services of an external network (such as a data network (DN)) through the wireless network, or communicate with other devices through the wireless network, such as communicate with other terminal devices.

[0134] It should be noted that the RAN 100 can be a 3rd generation partnership project (3GPP) related cellular system, for example, a 4G, 5G mobile communication system, or an evolved system after 5G. The RAN 100 can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), and the like. The RAN 100 can also be a communication system in which two or more of the above systems are fused. It should be stated that the number of access network devices and terminal devices in FIG. 1 is only illustrative and should not be considered as a specific limitation of the present application. The terminal device and network device involved in the system architecture will be described in detail below.

[0135] The terminal device can include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to wireless modems with wireless communication functions. The terminal device can also be referred to as a terminal. The terminal device can also refer to a user equipment (UE), an access terminal, a subscriber unit, a user agent, a cellular phone, a smart phone, a wireless data card, a personal digital assistant (PDA) computer, a tablet computer, a wireless modem, a handset, a laptop computer, a point of sale (POS) machine, a customer-premises equipment (CPE), a machine type communication (MTC) terminal, a communication device on an unmanned aerial vehicle, a wearable device, a drone, a robot, a terminal in device to device (D2D), a terminal in vehicle to everything (V2X), a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, or a terminal device in future communication networks, etc., without limitation.

[0136] The access network device is a node in the RAN, which can also be referred to as a network device, and can also be referred to as a RAN node (or device). The access network device is used to help the terminal to realize wireless access. The plurality of access network devices 110 in the communication system 1000 can be nodes of the same type or nodes of different types. In some scenarios, the roles of the access network devices 110 and the terminals 120 are relative, for example, the network element 120i in FIG. 1 can be a helicopter or a drone, which can be configured as a mobile base station. For a terminal 120j that accesses the RAN 100 through the network element 120i, the network element 120i is a base station; but for the base station 110a, the network element 120i is a terminal. The access network device 110 and the terminal 120 are sometimes both referred to as a communication apparatus, for example, the network elements 110a and 110b in FIG. 1 can be understood as communication apparatuses with base station functions, and the network elements 120a-120j can be understood as communication apparatuses with terminal functions.

[0137] In a possible scenario, the access network device can be a base station, an evolved NodeB (eNodeB), a transmitting and receiving point (TRP), a transmitting point (TP), a next generation NodeB (gNB), a base station in a future mobile communication system, a satellite, an integrated access and backhaul (IAB) node, an access network device in a non-terrestrial network (NTN) communication system, i.e., can be deployed on a high-altitude platform or a satellite, etc. The access network device can be a macro base station (such as 110a in FIG. 1), a micro base station or an indoor station (such as 110b in FIG. 1), a relay node or a donor node, or a wireless controller in a CRAN scenario. The access network device can also be a device assuming a base station function in device to device (D2D) communication, vehicle-to-everything (V2X) communication, drone communication, or machine communication. Optionally, the access network device can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in the vehicle-to-everything (V2X) technology can be a road side unit (RSU).

[0138] All or part of the functions of the access network device in the present application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform, such as a cloud platform. The access network device in the present application can also be a logical node, a logical module or software that can implement all or part of the functions of the access network device.

[0139] In another possible scenario, multiple access network devices cooperate to assist a terminal to implement wireless access, and different access network devices respectively implement part of the functions of a base station. For example, the access network device can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. The CU and the DU can be separately arranged, or can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna processing unit (AAU) or a remote radio head (RRH). It can be understood that the access network device can be a CU node, or a DU node, or a device including a CU node and a DU node. In addition, the CU can be divided into an access network device in the access network RAN, or the CU can be divided into an access network device in the core network CN, which is not limited here.

[0140] In different systems, the CU (or CU-CP and CU-UP), DU or RU can also have different names, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, and the RU can also be referred to as an O-RU. For the convenience of description, the present application is described by taking the CU, the CU-CP, the CU-UP, the DU and the RU as examples. Any one of the CU (or the CU-CP, the CU-UP), the DU and the RU in the present application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0141] In the embodiments of the present application, the form of the access network device is not limited, and the device for implementing the functions of the access network device can be the access network device; or can be a device capable of supporting the access network device to implement the functions, such as a chip system. The device can be installed in the access network device or used in combination with the access network device.

[0142] The RAN is a network composed of multiple 5G-RAN nodes, which implements the functions of wireless physical layer, resource scheduling and radio resource management, radio access control and mobility management. The 5G-RAN is connected with the UPF through the user plane interface N3 for transmitting data of the terminal device; the 5G-RAN establishes a control plane signaling connection with the AMF through the control plane interface N2 for realizing functions such as radio access bearer control.

[0143] The following network function entities can be understood as core network devices:

[0144] The AMF network element is mainly responsible for UE authentication, UE mobility management, network slice selection, session management function (SMF) selection and other functions; the AMF network element is the anchor point of N1 and N2 signaling connection and provides routing of N1 / N2 SM messages for the SMF network element; the AMF network element maintains and manages the state information of the UE.

[0145] The SMF network element is mainly responsible for all control plane functions of UE session management, including UPF selection, internet protocol (IP) address allocation, session quality of service (QoS) management, (from the policy control function (PCF)) obtaining policy and charging control (PCC) policy and other functions.

[0146] The UPF network element is the anchor point of the protocol data unit (PDU) session connection, which is responsible for filtering, transmitting / forwarding data packets of the user equipment, rate control, generating charging information and other functions.

[0147] The unified data management function (UDM) network element is mainly used to manage user data, such as management of subscription information, including obtaining subscription information from the unified data repository function (UDR) network element and providing it to other network elements (such as the AMF network element); generating 3rd generation partnership project (3GPP) authentication credentials for the UE; registering and maintaining the network element currently serving the UE (for example, the AMF represented by AMF ID1 is the current serving AMF of the UE).

[0148] The UDR network element is mainly used for storing user data, including subscription data called by the UDM network element, policy information called by the PCF network element, structured data used for capability exposure, and application data called by the NEF network element.

[0149] The NEF network element is a network capability exposure network element, used for interaction between other internal network elements of the core network and external application servers of the core network, to provide network capability information to external application servers, or provide information of external application servers to core network elements.

[0150] The application function (AF) network element interacts with core network elements to provide some services, for example, interacts with the PCF network element to perform service policy control, interacts with the NEF network element to obtain some network capability information or provides some application information to the network, and provides some data network access point information to the PCF network element to generate corresponding data service routing information.

[0151] The authentication service function (AUSF) network element is used for security authentication of the UE when the UE accesses the network.

[0152] The network slice selection function (NSSF) network element selects a slice instance set for the UE, and determines an AMF set and allowed network slice selection assistance information (NSSAI) for the UE.

[0153] The PCF network element provides configuration policy information for the UE, and provides policy information for controlling the UE to the control plane network elements (such as the AMF network element and the SMF network element) of the network.

[0154] It can be understood that when the scheme of the embodiments of the present application is applied to 6G or future communication systems, the corresponding network function entity name can change, and the present application does not limit this.

[0155] The wireless frequency band (such as a 4G frequency band, a 5G frequency band, a millimeter wave frequency band, a terahertz frequency band, and the like) used by the network device or the terminal device has a perception capability, so that the wireless communication system can perform perception identification on a specific area, a specific object, or an event, and can solve the perception requirements in many scenarios. For example, for intelligent transportation and unmanned aerial vehicles (UAVs), the perception distance of the vehicle or the unmanned aerial vehicle itself is short or non-line-of-sight (NLOS) and cannot be perceived, and the wireless communication system can generate a large range of multi-view perception information based on the perception of the base station and the terminal device, which is used for route planning, collision avoidance, automatic driving assistance, and the like. For another example, during the driving of the vehicle or the unmanned aerial vehicle, for a dangerous event such as the sudden appearance of a person or an object, the wireless communication system can identify the dangerous event based on the perception and notify the terminal device to perform an emergency operation. For another example, for the perception of illegal driving behavior, such as a vehicle occupying an emergency lane, an unmanned aerial vehicle deviating from a flight path, the wireless communication system can identify the illegal driving behavior of the vehicle based on the perception and perform real-time warning / post-penalty. For another example, for the invasion of foreign objects (people, animals, falling rocks, and the like) into a high-speed railway track, or the invasion of an unmanned aerial vehicle into a forbidden flight area (for example, an airport), the wireless communication system can identify the foreign object based on the perception and perform real-time emergency processing. For another example, for a home health detection scenario, such as abnormal posture detection of a person falling, the wireless communication system can identify the abnormal posture based on the perception and give an alarm. For another example, for health detection of human respiration / heartbeat, the wireless communication system can identify abnormal indicators based on the perception and give an alarm. For another example, for a meteorological monitoring scenario, the wireless communication system can perform perception detection or prediction on the environment, climate, and weather changes.

[0156] Please refer to FIG. 2, which is a schematic diagram of a sensing process provided by an embodiment of the present application. As shown in FIG. 2, the AF network element sends a sensing service request to a sensing function (SF) network element through a NEF network element. The SF network element sends a sensing control command to a RAN and / or a UE through a UPF or AMF network element; or the SF network element directly sends a sensing control command to the RAN and / or the UE. The RAN and / or the UE perform sensing based on the sensing requirement in the sensing control command, and report the acquired sensing data to the SF network element, for example, the RAN or the UE sends the sensing data to the SF network element through a UPF network element; or the RAN or the UE directly sends the sensing data to the SF network element. The SF network element performs data calculation on the received sensing data to obtain a sensing result. The SF network element sends a sensing service response to the AF network element through a NEF network element, and the sensing service response includes the sensing result. It can be understood that the SF can be a network element independently deployed in a core network or a network element combined with other core network devices.

[0157] The process of performing sensing measurement by the sensing device (i.e. the above-mentioned RAN and / or UE) includes: sending a sensing signal to a sensing area, receiving a reflection signal reflected by a sensing target in the sensing area, and processing the reflection signal to obtain sensing data. The sensing area is the sensing coverage or sensing coverage area of the sensing device.

[0158] The sensing data obtained by the sensing device, from the data processing stage, includes raw data, spectrum information, point cloud information and sensing results. The raw data can be in-phase / orthogonal (I / Q) data of a radio frequency signal, which can also be understood as a time domain digital signal obtained by the sensing device after analogue-to-digital (A / D) conversion of the received reflection signal (or echo signal). The spectrum information includes range velocity (RV) spectrum, range Doppler (RD) spectrum, range velocity angle (RVA) spectrum and range Doppler angle (RDA) spectrum. The point cloud information can be understood as a corresponding scattering point data set detected by the sensing device, and the information of each point can include three-dimensional coordinates, position information, velocity (including velocity value and direction) and reflection intensity, etc.

[0159] The perception result can be understood as position information and speed information of a target after a plurality of scattering points are aggregated into the target. Alternatively, the perception result can include target object position, target object trace, target size, contour, and the like. The perception result can also include at least one of target object speed, target object reflected signal strength, target object reflected signal quality, and target object perception performance. The spectrum information and / or the point cloud information can also be referred to as intermediate information, or intermediate processing information, or pre-processing information. In addition, if the perception device uses a non-radar perception principle to perform perception detection, the perception data obtained by the perception device can be non-point cloud information, for example, in rain monitoring, the perception data is the reference signal receiving power (RSRP) of the reflected signal corresponding to the detection area information.

[0160] It can be seen that the raw data, the spectrum information, the point cloud information, and the perception result are obtained when the perception device uses a radar perception principle to perform perception. Specifically, the raw data is obtained by processing the received reflected signal when the perception device uses a radar perception principle to perform perception; the spectrum information is obtained by processing the obtained raw data when the perception device uses a radar perception principle to perform perception; the point cloud information is obtained by processing the obtained spectrum information when the perception device uses a radar perception principle to perform perception; and the perception result is obtained by processing the obtained point cloud information when the perception device uses a radar perception principle to perform perception. The non-point cloud information is obtained when the perception device uses a non-radar perception principle to perform perception.

[0161] In the embodiments of the present application, the perception mode can be self-transmission and self-reception, or can be self-transmission and other-reception, such as A-transmission and A-reception, or A-transmission and B-reception. For example, the perception mode is at least one of the following: base station A self-transmission and self-reception, base station A transmission and base station B reception, base station A transmission and terminal device A reception, terminal device A self-transmission and self-reception, terminal device A transmission and base station A reception, and terminal device A transmission and terminal device B reception. Wherein, A-transmission and A-reception can be understood as: A transmits a perception signal to a perception area, and A receives reflected signals reflected by perception objects in the perception area to the perception signal, so that A performs perception identification based on the received reflected signals, or in other words, based on the received reflected signals and the transmitted perception signal. A-transmission and B-reception can be understood as: A transmits a perception signal to a perception area, and B receives reflected signals reflected by perception objects in the perception area to the perception signal, and A or B performs perception identification based on the reflected signals, or in other words, based on the received reflected signals and the transmitted perception signal. The reflected signal can also be referred to as a scattering signal.

[0162] For example, in the perception mode of base station A self-sending and self-receiving, the base station A sends a perception signal to the perception area, the base station A receives the reflection signal reflected by the perception object in the perception area to the perception signal, and the base station A identifies the perception object based on the received reflection signal. For another example, in the perception mode of base station A sending and terminal device A receiving, the base station A sends a perception signal to the perception area, the terminal device A receives the reflection signal reflected by the perception object in the perception area to the perception signal, the terminal device A identifies the perception object based on the received reflection signal, or the terminal device A sends the perception data obtained by processing the reflection signal to the base station A, and the base station A identifies the perception object based on the perception data.

[0163] In the embodiments of the present application, the target object is an object to be identified / perceived in the perception area, such as a vehicle / person / obstacle to be identified in the perception area, and the specific form of the target object is not limited in the embodiments of the present application.

[0164] In the embodiments of the present application, the service requestor can be an AF network element, or can be a UE, or can be a client, and the specific form of the service requestor is not limited in the embodiments of the present application.

[0165] In the embodiments of the present application, the SF network element can be separated in control plane and user plane, that is, the SF control plane (SF-C) function and the SF user plane (SF-U) function are separated. The SF-C can send a control command to the perception device through the control plane; the SF-U can receive the perception data from the perception device through the data plane, and can optionally process the perception data to obtain the perception result. The SF-C can control the SF-U, for example, the SF-C can select a suitable SF-U, and configure one or more of the identification rule, the processing rule, or the routing rule of the perception data to the SF-U. The perception device can be the RAN described above, or can be a terminal device.

[0166] Optionally, the SF network element can be a location management function (LMF) network element, or the SF network element can be part of the LMF; or the SF network element and the LMF network element are combined, which is not limited.

[0167] Optionally, in the present application, the SF and the perception device can interact through a direct interface, or can interact through the mediation of the UPF or the AMF. The perception devices can interact through a direct interface, or can interact through the mediation of the AMF or the UPF or the SF network element. The present application does not limit this.

[0168] FIG. 3 shows a schematic flowchart of a communication method according to an embodiment of the present application. Specifically, the method comprises the following steps.

[0169] S301: The first device obtains perception data of the target object.

[0170] The perception data comprises first perception data obtained by the first perception device and / or second perception data obtained by the second perception device.

[0171] In one possible scenario, the perception of the target object is independently completed by the first perception device (i.e., a self-initiated and self-received mode), in which the first perception device receives the first perception request from the SF and performs the perception of the target object, thereby obtaining the perception data of the target object.

[0172] In another possible scenario, the perception of the target object is cooperatively completed by multiple perception devices (i.e., a cooperative perception mode), in which at least one perception device transmits a probe signal, and at least one other perception device receives a reflected echo signal of the target object and obtains the perception data of the target object; the perception device transmitting the probe signal and / or the perception device receiving the echo signal can receive the first perception request and forward the first perception request to other cooperative perception devices; the first perception device can be the perception device transmitting the probe signal or the perception device receiving the echo signal.

[0173] The first perception request is used to request the perception of the target object, or the first perception request is used to trigger the perception, or the first perception request is used to request the perception data of the target object. The name of the first perception request is not limited in the present application.

[0174] The first perception request can specifically include target object information, perception KPI requirements, and / or a business continuity indication.

[0175] The target object information can include at least one of an object type, an object outline, an object size, an object material, an object speed, an object position, and an object region. Alternatively, the target object information can also be point cloud information of the target object, which can specifically include at least one of an object type, a point cloud outline of the object, a point cloud size of the object, an object material, a point cloud signal strength of the object, a point cloud current speed of the object, a point cloud current position of the object, and a point cloud current region of the object.

[0176] The business continuity indication is used to indicate whether continuous perception is needed, i.e., whether the target object needs to be continuously perceived. It can be understood that the perception device determines the corresponding target object based on the target object information in the perception request and the perception result of the perception device on the covered region, and continuously perceives the target object.

[0177] The first perception request is sent by the SF directly to the perception device or indirectly to the perception device (e.g., forwarded by a network element such as a UPF or AMF, or forwarded by another perception device). The perception data is sent by the first perception device directly to the SF or indirectly to the SF (e.g., forwarded by another perception device, or forwarded by a network element such as a UPF or AMF). It can be understood that when the SF adopts the control plane user plane separation architecture, the perception request can be sent by the SF-C, and the first perception data can be received by the SF-U.

[0178] In summary, it can be understood that the first device obtaining the perception data of the target object can also be the first device obtaining the perception data of the target object to which the first perception request is directed. The target object to which the first perception request is directed can be understood as the object described by the target object information carried in the first perception request. The first perception data obtained by the first perception device can be understood as the corresponding perception data obtained by the first perception device using the self-generation and self-collection mode to perceive the target object, and the second perception data obtained by the second perception device can be understood as the corresponding perception data obtained by the second perception device receiving the perception data request from the first perception device to perceive the target object. The perception data including the first perception data and the second perception data can be understood as the corresponding perception data obtained by the first perception device perceiving the target object to obtain the first perception data and collecting and / or fusing the second perception data.

[0179] When the first device is the first perception device, the obtaining of the perception data in S301 can be understood as the process of the first perception device obtaining the first perception data by perception, and / or the process of the first perception device receiving the second perception data from the second perception device, and the first perception request is the perception request received by the first device directly or indirectly from the SF. When the first device is the SF, the obtaining of the perception data in S301 can be understood as the process of the SF receiving the perception data sent by the first perception device and / or the second perception device, and the first perception request is the perception request sent by the SF directly or indirectly to the first perception device and / or the second perception device.

[0180] The second perception device represents one or more new perception devices selected by the first device for the target object, and the one or more new perception devices are adjacent to the first perception device.

[0181] S302: The first device obtains a perception handover reference quantity according to the perception data.

[0182] The perception handover reference quantity includes at least one of a target object position, a perception measurement quantity, and a perception performance.

[0183] The target object position can be described by different information, such as coordinate information or new area information (for example, area identifier) of the target object, and the application does not limit this.

[0184] The perception measurement quantity can be a perception signal strength (for example, RSRP) or a perception signal quality (for example, SNR) or RCS corresponding to the perception data.

[0185] The perception performance can be at least one of accuracy, resolution, detection rate, false detection rate, false alarm rate, and confidence of the perception result of the target object obtained based on the perception data, wherein the detection rate + false detection rate can be equal to 100%. The perception result can also include at least one of the speed of the target object, the signal strength reflected by the target object, and the signal quality reflected by the target object. The perception result can also refer to the introduction of the perception result above. The perception result of the target object obtained based on the perception data can be understood as analyzing or processing the perception data to obtain the perception result of the target object. When the first device is the first perception device, after the first perception device obtains the first perception data and / or receives the second perception data from the second perception device, the first perception device can locally analyze or process the first perception data and / or the second perception data to obtain the perception result of the target object; or the first perception device can send the first perception data and / or the second perception data to the SF, and the SF analyzes or processes the first perception data and / or the second perception data to obtain the perception result of the target object, and the SF sends the perception result obtained by processing to the first perception device; the two ways can coexist, for example, the first perception device or the SF has different processing methods for the data, or has different processing accuracies or different types of results obtained by processing, so as to obtain more abundant and reliable perception results through the coexistence of the two ways. When the first device is the SF, the SF can receive the first perception data and / or the second perception data from the first perception device, analyze or process the first perception data and / or the second perception data to obtain the perception result of the target object; or the first perception device locally analyzes or processes the first perception data and / or the second perception data to obtain the perception result of the target object, and sends the perception result to the SF; the two ways can coexist.

[0186] The obtaining of the perception switching reference quantity according to the perception data can be understood as analyzing or processing the perception data to obtain the perception switching reference quantity. When the first device is the first perception device, after the first perception device obtains the first perception data and / or receives the second perception data from the second perception device, the first perception device can locally analyze or process the first perception data and / or the second perception data to obtain the perception switching reference quantity; or the first perception device can send the first perception data and / or the second perception data to the SF, and the SF analyzes or processes the first perception data and / or the second perception data to obtain the perception switching reference quantity, and the SF sends the obtained perception switching reference quantity to the first perception device; the two modes can coexist, for example, the first perception device obtains the data in different ways, or the processing accuracy is different, or the types of the processing results are different, so that more accurate perception switching reference quantities are obtained through the coexistence of the two modes. When the first device is the SF, the SF can receive the first perception data and / or the second perception data from the first perception device, analyze or process the first perception data and / or the second perception data to obtain the perception switching reference quantity; or the first perception device locally analyzes or processes the first perception data and / or the second perception data to obtain the perception switching reference quantity, and sends the perception switching reference quantity to the SF; the two modes can coexist.

[0187] S303: The first device determines whether to perform perception switching on the target object according to the perception switching reference quantity.

[0188] It can be understood that determining whether to perform perception switching on the target object, that is, determining whether the target object meets the switching condition can be understood as determining whether to select (or introduce) a new perception device for the target object, and determining that the new perception device is the second perception device. Selecting a new perception device includes adding a perception device (that is, the source perception device and the added perception device jointly perform perception on the target object) or switching a perception device (the added perception device performs perception on the target object, and the source perception device no longer performs perception on the target object).

[0189] S303 can be replaced by determining whether to select a second perception device for the target object according to the perception switching reference quantity, and triggering the second perception device to perform perception.

[0190] The movement of the target object can cause the following scenarios to occur:

[0191] Scenario 1: The target object moves to a perception and coverage overlap region (hereinafter referred to as a perception and coverage overlap region #12, as shown by the shaded part in FIG. 4) of the first perception device and the second perception device, but does not cross a switching boundary (hereinafter referred to as a switching boundary #12) between the first perception device and the second perception device. For example, as shown in position #1 in FIG. 4.

[0192] Scenario 2: The target object moves into the perception and coverage region #12 and crosses the switching boundary #12. For example, as shown in position #2 in FIG. 4.

[0193] Scenario 3: The target object leaves the perception and coverage region #12. For example, as shown in position #3 or position #4 in FIG. 4.

[0194] It can be understood that the occurrence order of the above scenarios can be scenario 1→ scenario 2→ scenario 3, or scenario 1→ scenario 3, or scenario 2→ scenario 3, or scenario 1→ scenario 2→ scenario 1→ scenario 3, and the like, that is, before scenario 3 occurs, scenario 1 or scenario 2 can appear alternatively, or appear in any order or repeatedly, which is not limited in the present application.

[0195] According to different scenarios caused by the movement of the target object, the triggering of the second perception device is also different. The following describes various implementation manners of S303 through scenario 1 to scenario 4.

[0196] Scenario 1: When the first device is the first perception device, a fourth perception request is sent to the second perception device according to the perception switching reference quantity, that is, the target object moves into the perception and coverage region #12 but does not cross the switching boundary #12. This scenario can be briefly described as: the first perception device sends a fourth perception request to the second perception device according to the target object moving into the perception and coverage region #12 but not crossing the switching boundary #12. The fourth perception request can be understood as a request of the first perception device to the second perception device for obtaining perception data, or a request of the first perception device to the second perception device for triggering the second perception device to perform perception.

[0197] It can be understood that in this scenario, since the target object has not crossed the switching boundary, the switching of perception is not initiated. That is, scenario 1 can be understood as a scenario in which the second perception device is added but the perception device has not been switched.

[0198] Optionally, the above fourth perception request can include a perception region indication. The perception region indication is used to indicate the request of the perception data of the region, and the perception region indication can indicate the perception and coverage region #12 or a part of the region. If the fourth perception request does not carry the indication, and the second perception device knows the perception and coverage region #12 or a part of the region, the second perception device can perform perception on the perception and coverage region #12 or a part of the region, and send the corresponding perception data to the first perception device; if the fourth perception request does not carry the indication, and the second perception device does not obtain the information of the perception and coverage region #12 or a part of the region, the second perception device can send all the perception data of its perception coverage region to the first perception device.

[0199] Optionally, the fourth perception request can include target object information. The target object information is used to indicate the request for the perception data of the target object; the second perception device can determine the target object according to the received target object information and the object information perceived by itself, and then obtain the perception data of the target object. The content of the target object information can be referred to the description in S301, which will not be repeated here. The fourth perception request can also carry historical perception data (i.e. the perception data of the target object obtained by the first perception device, such as object trace information and speed information 30 seconds before the fourth perception request is sent) for the second perception device to determine the target object; the fourth perception request can also carry perception data processing information (such as processing algorithm and AI inference model) for the target object, so that the second perception device can process to obtain better perception data of the target object.

[0200] Optionally, the fourth perception request can carry the perception area indication and the target object information at the same time; the second perception device can feed back the perception data corresponding to the perception area, and also feed back the perception data corresponding to the target object.

[0201] Optionally, the fourth perception request can also include perception KPI requirements, and / or business continuity indication, and perception data processing information. The specific content can be referred to the description of the information carried by the perception switching request below.

[0202] Optionally, the second perception device perceives the target object and feeds back the obtained second perception data to the first perception device, so that the first perception device can better judge or predict the state of the target object according to the first perception data and the second perception data, or the first perception device can fuse the first perception data and the second perception data to obtain more accurate perception result of the target object.

[0203] In another possible implementation, the first perception device determines that the movement of the target object causes scenario 1 to occur, but does not send a fourth perception request to the second perception device. The first perception device can wait until scenario 2 occurs to trigger the second perception device to perform perception. The specific content can be referred to the case 2 below.

[0204] Case 2: When the first device is the first perception device, a perception switching request is sent to the second perception device according to that the target object moves to the perception and coverage area #12 and crosses the switching boundary #12. The perception switching request can be understood as a request to switch the perception task of the target object from the first perception device to the second perception device, or a request to report the perception data of the target object from the second perception device to the SF, or a request to obtain the perception data from the second perception device, or a request to trigger the second perception device to perform perception.

[0205] The perception switching request can include target object information, perception KPI requirements, and / or service continuity indications, etc. Optionally, the perception switching request can include first perception data (i.e., perception data obtained by the first perception device performing perception on the target object, such as object trace information, speed information, etc. in the last 30 seconds before switching, which can be used by the second perception device to determine the target object), perception data processing information (such as processing algorithms, AI inference models, etc., which can be used by the second perception device to better process perception data obtained by performing perception on the target object). The perception switching request can include a perception area indication, which can be specifically referred to the introduction of the fourth perception request in case 1 above. Optionally, the perception switching request can include all or part of the information carried in the fourth perception request described above. All or part of the above information included in the perception switching request can be used as perception context information.

[0206] In case 1 or case 2 above, the first perception device can transmit the fourth perception request or the perception switching request through a direct interface between the first perception device and the second perception device, or can forward the fourth perception request or the perception switching request through other devices (such as UPF or AMF).

[0207] When the first device is an SF, the SF can directly trigger the second perception device to perform perception, i.e., the SF directly sends a third perception request and / or a perception switching request to the second perception device; or the SF can indirectly trigger the second perception device to perform perception, in which case the SF can send the third perception request and / or the perception switching request to the second perception device through other devices (e.g., through the first perception device), for example, in which case the SF can send a second perception request to the first perception device, the second perception request including an identifier of the second perception device, the first perception device sending the fourth perception request described above to the second perception device in response to the second perception request, and / or the SF can send a fifth perception request to the first perception device, the fifth perception request including an identifier of the second perception device, the first perception device sending the perception switching request to the second perception device in response to the fifth perception request.

[0208] Specifically, case 3 and case 4 below correspond to the case where the SF directly triggers the second perception device to perform perception, and case 5 and case 6 correspond to the case where the SF indirectly triggers the second perception device to perform perception.

[0209] Case 3: When the first device is the SF, a third sensing request is sent to the second sensing device according to the sensing switching reference quantity determining that the target object moves to the sensing same coverage area #12 but does not cross the switching boundary #12. This case can be briefly described as the SF sending a third sensing request to the second sensing device according to the target object moving to the sensing same coverage area #12 but not crossing the switching boundary #12. The third sensing request can be understood as a request of the SF to obtain sensing data from the second sensing device, or a request of the SF to trigger the second sensing device to perform sensing.

[0210] It can be understood that in this case, since the target object has not crossed the switching boundary, the switching of sensing is not initiated. That is, case 3 can be understood as a scenario in which the second sensing device is added, but the sensing device has not been switched.

[0211] The third sensing request can refer to the description of the fourth sensing request in case 1 described above, and will not be described here again.

[0212] Optionally, the second sensing device senses the target object and feeds back the obtained second sensing data to the SF, so that the SF can better judge or predict the state of the target object according to the first sensing data and the second sensing data, or the SF can fuse the first sensing data and the second sensing data to obtain a more accurate sensing result of the target object.

[0213] In another possible implementation, the SF determines that the movement of the target object causes scenario 1 to occur, but does not send a third sensing request to the second sensing device. The SF can wait until scenario 2 occurs before triggering the second sensing device to perform sensing. For details, refer to case 4 below.

[0214] Case 4: When the first device is the SF, a sensing switching request is sent to the second sensing device according to the target object moving to the sensing same coverage area #12 and crossing the switching boundary #12. The sensing switching request can be understood as a request to switch the sensing task of the target object from the first sensing device to the second sensing device, or a request to obtain sensing data from the second sensing device, or a request to trigger the second sensing device to perform sensing. The sensing switching request can refer to the description of the sensing switching request in case 2 described above, and will not be described here again.

[0215] In cases 3 and 4 described above, the SF can transmit the third sensing request or the sensing switching request through a direct interface with the second sensing device, or can forward the third sensing request or the sensing switching request through other devices (such as UPF or AMF).

[0216] Case 5: When the first device is the SF, according to the target object moving to the sensing and coverage area #12, but not crossing the switching boundary #12, a second sensing request is sent to the first sensing device to trigger the first sensing device to send the fourth sensing request described above to the second sensing device.

[0217] The second sensing request sent by the SF to the first sensing device can refer to the description of S906a below.

[0218] Case 6: When the first device is the SF, according to the target object moving to the sensing and coverage area #12, and crossing the switching boundary #12, a fifth sensing request is sent to the first sensing device to trigger the first sensing device to send the sensing switching request described above to the second sensing device.

[0219] The fifth sensing request sent by the SF to the first sensing device can refer to the description of S909a below.

[0220] The above-mentioned case 5 and case 6 can be understood as the SF triggering the second sensing device to perform sensing through the first sensing device.

[0221] Based on the above process, the first device determines whether to introduce the adjacent sensing device as a new sensing device for the target object in time through the target object position and the sensing and coverage area and / or the switching boundary of the source sensing device and the adjacent sensing device, avoiding the problems of service interruption or sensing data quality degradation caused by initiating the switching of the sensing device when the target object moves out of the sensing range of the current sensing device, and ensuring the continuity of the sensing service.

[0222] It can be understood that case 2 can occur after case 1, or case 1 can occur after case 2, which is not limited in the present application. When case 2 occurs after case 1, and the information (such as target object information, sensing KPI requirement, and / or service continuity indication) that can be carried in the above-mentioned sensing switching request has been carried in the fourth sensing request, the sensing switching request can not repeat carrying the corresponding information or only carry part of the information that can be carried, and carry the information for indicating the sensing task or for indicating the target object. When case 1 occurs after case 2, and the information that can be carried in the above-mentioned fourth sensing request has been carried in the sensing switching request, the fourth sensing request can not repeat carrying the corresponding information or only carry part of the information that can be carried, and carry the information for indicating the sensing task or for indicating the target object.

[0223] Similarly, case 4 can occur after case 3, or case 3 can occur after case 4, which is not limited in the present application. When case 4 occurs after case 3, and the information that can be carried in the above perception switching request has been carried in the third perception request, the perception switching request can not repeat the corresponding information or only carry part of the information that can be carried, and carry information for indicating the perception task or for indicating the target object. When case 1 occurs after case 2, and the information that can be carried in the above third perception request has been carried in the perception switching request, the third perception request can not repeat the corresponding information or only carry part of the information that can be carried, and carry information for indicating the perception task or for indicating the target object.

[0224] Similarly, case 6 can occur after case 5, or case 5 can occur after case 6, which is not limited in the present application. When case 6 occurs after case 5, and the information that can be carried in the above perception switching request has been carried in the fourth perception request, the perception switching request can not repeat the corresponding information or only carry part of the information that can be carried, and carry information for indicating the perception task or for indicating the target object; the information that can be carried in the above fifth perception request has been carried in the second perception request, and the fifth perception request can not repeat the corresponding information or only carry part of the information that can be carried. When case 5 occurs after case 6, and the information that can be carried in the above fourth perception request has been carried in the perception switching request, the fourth perception request can not repeat the corresponding information or only carry part of the information that can be carried, and carry information for indicating the perception task or for indicating the target object; the information that can be carried in the above second perception request has been carried in the fifth perception request, and the second perception request can not repeat the corresponding information or only carry part of the information that can be carried.

[0225] Optionally, after the above cases occur, case 7 can also occur.

[0226] Case 7: The first perception device or the SF sends information for indicating termination of acquiring perception data to the second perception device according to the target object moving out of the perception same coverage area #12. The information can be carried in a perception request or a termination request, or can be carried in other information or messages, which is not limited in the present application. Among them, the SF sending information for indicating termination of acquiring perception data to the second perception device can be realized by forwarding through the first perception device.

[0227] Based on the above cases 1-6, the switching condition can be understood as including the target object moving to the perception same coverage area #12 but not crossing the switching boundary #12, or including the target object moving to the perception same coverage area #12 and crossing the switching boundary #12.

[0228] Optionally, the handover condition can further comprise whether the moving speed, direction, etc. of the target object reaches a certain requirement (wherein the certain requirement can be network configured or predefined). At this time, the first device can further combine other information of the target object (e.g. the moving speed, direction, etc. of the target object) to determine whether the corresponding handover condition is satisfied. The other information of the target object can be obtained from the perception data of the target object.

[0229] Optionally, the handover condition can further comprise whether the second perception device reaches a certain requirement. At this time, the first device can further combine other information of the second perception device to determine whether the corresponding handover condition is satisfied, or to determine whether to select the second perception device. The other information of the second perception device comprises, for example, the perception detection rate, false detection rate, false alarm rate, accuracy, trace integrity, etc. The above information can be carried in the perception capability of the second perception device; or the other information of the second perception device comprises, for example, the perception detection rate, false detection rate, false alarm rate, accuracy, trace integrity, etc. for the target object, and the above information can be carried in the second perception data, or can be obtained by processing the second perception data.

[0230] The following describes that the first device determines that the target object satisfies the handover condition according to the target object position included in the perception handover reference quantity:

[0231] Implementation 1: The information of the perception same coverage area #12 and the handover boundary #12 can be directly included in the perception capability or configuration information of the first perception device and / or the second perception device (e.g. as part of the information of the perception range). Then the first device can directly determine that the target object satisfies the handover condition according to the target object position and the perception capability of the perception device. It can be understood that when it is determined that the handover condition is satisfied, it is determined that the new perception device is the second perception device (since the target object moves to the perception same coverage area of the perception range of the first perception device and the second perception device, obviously the second perception device should be the new perception device, and optionally the determination of whether the second perception device reaches a certain requirement can be combined).

[0232] In implementation 2, the information of the sensing same coverage area #12 and the switching boundary #12 can be obtained according to the sensing capability of the first sensing device and the sensing capability of the second sensing device (for example, the sensing range information in the sensing capability only includes the sensing area covered by the sensing device, and the processing can be understood as determining the sensing same coverage area between two or more sensing devices and dividing the switching boundary according to the sensing range information of the two or more sensing devices). Then, the sensing same coverage area and the switching boundary information between the sensing devices can be determined according to the sensing capability of the sensing devices, and then the target object meeting the switching condition can be determined according to the sensing same coverage area and the switching boundary information and the sensing result of the target object. Similar to implementation 1, when the target object meeting the switching condition is determined, that is, the new sensing device is determined as the second sensing device.

[0233] Optionally, the above-mentioned implementation 1 and implementation 2 can be combined. For example, the information of the sensing same coverage area #12 is directly included in the sensing capability or configuration information of the first sensing device and / or the second sensing device, but the sensing capability of the first sensing device or the second sensing device does not include the information of the switching boundary. At this time, the first device can set the middle line of the sensing same coverage area as the switching boundary, or set the connecting line of the intersection point of the coverage range of the first sensing device and the second sensing device as the switching boundary.

[0234] Based on the implementation 1 or the implementation 2, it can be understood that the S303 can be replaced by the first device determining whether the target object meets the switching condition according to the position of the target object and the information of the sensing same coverage area and / or the information of the switching boundary, and triggering the second sensing device to perform sensing. The first device can obtain the sensing capability of the sensing device as introduced in the implementation 1, and then directly obtain the information of the sensing same coverage area from the sensing capability of the sensing device. Alternatively, the first device can obtain the sensing capability of the sensing device and process the sensing capability of the sensing device to obtain the information of the sensing same coverage area as introduced in the implementation 2.

[0235] Implementation Method 3: The sensing capability of the sensing device includes its sensing coverage area. Based on the target object's location and the sensing capability of the first sensing device, the sensing coverage area of ​​the first sensing device can be determined (i.e., the target object enters a switching buffer area) where the target object has moved out or is about to move out (e.g., the target object enters a switching buffer area). Then, based on the sensing capabilities of other sensing devices, the sensing coverage area of ​​the target object entering or about to enter an adjacent sensing device can be determined (i.e., the target object meets the condition for moving into a second sensing device). In other words, when determining whether a target object has moved out or is about to move out of the sensing coverage area of ​​the first sensing device, a new sensing device can be selected. Optionally, the first sensing device can be pre-configured with or obtain information from other network elements indicating that an object is about to move out of the first sensing device's sensing coverage area. This information could be, for example, buffer area information at the edge of the sensing coverage area.

[0236] The above describes a scheme for determining whether to perform a sensing switch on a target object based on the target object's position, which includes sensing switching reference quantities. Alternatively, the sensing switching reference quantities may include sensing measurements and / or sensing performance, meaning that the switching conditions satisfied by the target object may be related to the sensing measurements (e.g., signal strength RSRP or signal quality SNR or RCS) and / or sensing performance (e.g., accuracy, resolution, detection rate, false detection rate, false alarm rate, confidence level, etc.) of the sensing results obtained based on sensing data from the source sensing device and / or adjacent sensing devices.

[0237] Specifically, for example, the switching condition is that the source sensing device RSRP is lower than a threshold, the adjacent sensing device RSRP is higher than a threshold, the adjacent sensing device RSRP is higher than the source sensing device RSRP, the source sensing device SNR is lower than a threshold, the adjacent sensing device SNR is higher than a threshold, or the adjacent sensing device SNR is higher than the source sensing device SNR, the source sensing device RCS is lower than a threshold, the adjacent sensing device RCS is higher than a threshold, or the adjacent sensing device RCS is higher than the source sensing device RCS. At this time, the first device can determine that the target object meets the switching condition according to the sensing measurement quantity of the source sensing device and / or the adjacent sensing device. Alternatively, the switching condition can be related to the sensing performance, for example, the switching condition is that the accuracy of the source sensing device obtaining the sensing result is lower than a threshold, the accuracy of the adjacent sensing device obtaining the sensing result is higher than a threshold, the accuracy of the adjacent sensing device obtaining the sensing result is higher than the accuracy of the source sensing device obtaining the sensing result, the false alarm rate of the source sensing device is higher than a threshold, the false alarm rate of the adjacent sensing device is lower than a threshold, or the false alarm rate of the adjacent sensing device is lower than the false alarm rate of the source sensing device, the resolution of the source sensing device is lower than a threshold, the resolution of the adjacent sensing device is higher than a threshold, or the resolution of the adjacent sensing device is higher than the resolution of the source sensing device, the detection rate of the source sensing device is lower than a threshold, the detection rate of the adjacent sensing device is higher than a threshold, or the detection rate of the adjacent sensing device is higher than the detection rate of the source sensing device, the false detection rate of the source sensing device is higher than a threshold, the false detection rate of the adjacent sensing device is lower than a threshold, or the false detection rate of the adjacent sensing device is lower than the false detection rate of the source sensing device, the confidence of the source sensing device is lower than a threshold, the confidence of the adjacent sensing device is higher than a threshold, or the confidence of the adjacent sensing device is higher than the confidence of the source sensing device. At this time, the first device can determine that the target object meets the switching condition according to the sensing performance of the source sensing device and / or the adjacent sensing device. Wherein, the accuracy of the sensing device obtaining the sensing result can refer to at least one of distance / angle / speed accuracy, and the resolution can refer to at least one of distance / angle / speed resolution.

[0238] Optionally, the first device can determine that the target object satisfies the switching condition according to the sensing measurement of the source sensing device and / or the adjacent sensing device, for example, the switching condition can further comprise: the RSRP of the source sensing device is lower than a threshold, the RSRP of the adjacent sensing device is also lower than the threshold, but the RSRP of the source sensing device is lower than the RSRP of the adjacent sensing device; the SNR of the source sensing device is lower than a threshold, the SNR of the adjacent sensing device is also lower than the threshold, but the SNR of the source sensing device is lower than the SNR of the adjacent sensing device; the RCS of the source sensing device is lower than a threshold, the RCS of the adjacent sensing device is also lower than the threshold, but the RCS of the source sensing device is lower than the RCS of the adjacent sensing device. Alternatively, the first device can determine that the target object satisfies the switching condition according to the sensing performance of the source sensing device and / or the adjacent sensing device, for example, the switching condition can further comprise: the accuracy of the source sensing device in obtaining a sensing result is lower than a threshold, the accuracy of the adjacent sensing device in obtaining a sensing result is also lower than the threshold, but the accuracy of the source sensing device in obtaining a sensing result is lower than the accuracy of the adjacent sensing device in obtaining a sensing result; the false alarm rate of the source sensing device is higher than a threshold, the false alarm rate of the adjacent sensing device is also higher than the threshold, but the false alarm rate of the source sensing device is higher than the false alarm rate of the adjacent sensing device; the resolution of the source sensing device is lower than a threshold, the resolution of the adjacent sensing device is also lower than the threshold, but the resolution of the source sensing device is lower than the resolution of the adjacent sensing device; the detection rate of the source sensing device is lower than a threshold, the detection rate of the adjacent sensing device is also lower than the threshold, but the detection rate of the source sensing device is lower than the detection rate of the adjacent sensing device; the false detection rate of the source sensing device is higher than a threshold, the false detection rate of the adjacent sensing device is also higher than the threshold, but the false detection rate of the source sensing device is higher than the false detection rate of the adjacent sensing device; the confidence of the source sensing device is lower than a threshold, the confidence of the adjacent sensing device is also lower than the threshold, but the confidence of the source sensing device is lower than the confidence of the adjacent sensing device.

[0239] Similarly, the non-switching condition satisfied by the target object can specifically be that the source sensing device RSRP is higher than a threshold, the neighboring sensing device RSRP is lower than a threshold, the neighboring sensing device RSRP is lower than the source sensing device RSRP, the source sensing device SNR is higher than a threshold, the neighboring sensing device SNR is lower than a threshold, or the neighboring sensing device SNR is lower than the source sensing device SNR, the source sensing device RCS is higher than a threshold, the neighboring sensing device RCS is lower than a threshold, or the neighboring sensing device RCS is lower than the source sensing device RCS. In this case, the first device can determine that the target object satisfies the non-switching condition according to the sensing measurement quantity of the source sensing device and / or the neighboring sensing device. Alternatively, the switching condition can be related to sensing performance, for example, the switching condition is that the accuracy of the source sensing device obtaining a sensing result is higher than a threshold, the accuracy of the neighboring sensing device obtaining a sensing result is lower than a threshold, the accuracy of the neighboring sensing device obtaining a sensing result is lower than the accuracy of the source sensing device obtaining a sensing result, the false alarm rate of the source sensing device is lower than a threshold, the false alarm rate of the neighboring sensing device is higher than a threshold, or the false alarm rate of the neighboring sensing device is higher than the false alarm rate of the source sensing device, the resolution of the source sensing device is higher than a threshold, the resolution of the neighboring sensing device is lower than a threshold, or the resolution of the neighboring sensing device is lower than the resolution of the source sensing device, the detection rate of the source sensing device is higher than a threshold, the detection rate of the neighboring sensing device is lower than a threshold, or the detection rate of the neighboring sensing device is lower than the detection rate of the source sensing device, the false detection rate of the source sensing device is lower than a threshold, the false detection rate of the neighboring sensing device is higher than a threshold, or the false detection rate of the neighboring sensing device is higher than the false detection rate of the source sensing device, the confidence of the source sensing device is higher than a threshold, the confidence of the neighboring sensing device is lower than a threshold, or the confidence of the neighboring sensing device is lower than the confidence of the source sensing device. In this case, the first device can determine that the target object satisfies the non-switching condition according to the sensing performance of the source sensing device and / or the neighboring sensing device.

[0240] Optionally, the first device can determine that the target object satisfies the no-switching condition according to the sensing measurement of the source sensing device and / or the neighboring sensing device, for example, the no-switching condition can further include: the source sensing device RSRP is higher than a threshold, the neighboring sensing device RSRP is also higher than the threshold, but the source sensing device RSRP is higher than the neighboring sensing device RSRP; the source sensing device SNR is higher than a threshold, the neighboring sensing device SNR is also higher than the threshold, but the source sensing device SNR is higher than the neighboring sensing device SNR; the source sensing device RCS is higher than a threshold, the neighboring sensing device RCS is also higher than the threshold, but the source sensing device RCS is higher than the neighboring sensing device RCS. Alternatively, the first device can determine that the target object satisfies the no-switching condition according to the sensing performance of the source sensing device and / or the neighboring sensing device, for example, the no-switching condition can further include: the accuracy of the source sensing device obtaining the sensing result is higher than a threshold, the accuracy of the neighboring sensing device obtaining the sensing result is also higher than the threshold, but the accuracy of the source sensing device obtaining the sensing result is higher than the accuracy of the neighboring sensing device obtaining the sensing result; the false alarm rate of the source sensing device is lower than a threshold, the false alarm rate of the neighboring sensing device is also lower than the threshold, but the false alarm rate of the source sensing device is lower than the false alarm rate of the neighboring sensing device; the resolution of the source sensing device is higher than a threshold, the resolution of the neighboring sensing device is also higher than the threshold, but the resolution of the source sensing device is higher than the resolution of the neighboring sensing device; the detection rate of the source sensing device is higher than a threshold, the detection rate of the neighboring sensing device is also higher than the threshold, but the detection rate of the source sensing device is higher than the detection rate of the neighboring sensing device; the false detection rate of the source sensing device is lower than a threshold, the false detection rate of the neighboring sensing device is also lower than the threshold, but the false detection rate of the source sensing device is lower than the false detection rate of the neighboring sensing device; the confidence of the source sensing device is higher than a threshold, the confidence of the neighboring sensing device is also higher than the threshold, but the confidence of the source sensing device is higher than the confidence of the neighboring sensing device.

[0241] The above describes a scheme for determining whether to perform sensing switching on the target object based on the target object position included in the sensing switching reference quantity or based on the sensing measurement quantity and / or the sensing performance included in the sensing switching reference quantity. Alternatively, the sensing switching reference quantity can include the target object position, the sensing measurement quantity, and / or the sensing performance, that is, the switching condition satisfied by the target object can be related to the target object position, the sensing measurement quantity (such as signal strength RSRP or signal quality SNR or RCS) of the source sensing device and / or the neighboring sensing device, and / or the sensing performance (such as the accuracy, resolution, detection rate, false detection rate, false alarm rate, confidence, etc. corresponding to the sensing result obtained based on the sensing data).

[0242] Specifically, if the target object position, the perception measurement quantity and / or the perception performance satisfy the switching condition at the same time, it can be determined to switch the perception for the target object. Alternatively, if the target object position, the perception measurement quantity and / or the perception performance satisfy the switching condition, it can be determined to switch the perception for the target object. If the target object position, the perception measurement quantity and / or the perception performance do not satisfy the switching condition, it can be determined not to switch the perception for the target object. Wherein, the target object position satisfies the switching condition, the perception measurement quantity and / or the perception performance satisfy the switching condition can refer to the specific description above.

[0243] Based on the process shown in FIG. 3 above, the first device obtains the perception switching reference quantity through the perception data, and then determines in time whether the adjacent perception device needs to be introduced as the new perception device for the target object according to the perception switching reference quantity, i.e. to switch the perception. For example, according to the target object position and the perception coverage area information and / or the switching boundary of the source perception device and the adjacent perception device, it is determined in time whether the adjacent perception device needs to be introduced as the new perception device for the target object; or for example, according to the perception measurement quantity and / or the perception performance, and the perception measurement quantity threshold and / or the perception performance threshold of the source perception device and / or the adjacent perception device for the perception switching, it is determined in time whether the adjacent perception device needs to be introduced as the new perception device for the target object. The problems such as service interruption or perception data quality decline caused by the mobility of the target object or the perception device (e.g. moving out of the perception range of the current perception device) initiating the switching of the perception device are avoided, and the continuity of the perception service is ensured.

[0244] Based on the above FIG. 3, the scheme of the embodiments of the present application is further introduced in combination with FIG. 5-FIG. 11 below. In the embodiments shown in FIG. 5-FIG. 11 below, the first perception device is the source perception device for the target object before the target object moves, and the second perception device is one or more perception devices newly introduced for the target object as the target object moves.

[0245] FIG. 5 shows a schematic flowchart of a communication method according to an embodiment of the present application. Specifically, it includes the following steps:

[0246] S501: The first perception device obtains the perception capability of the adjacent perception device.

[0247] Wherein, the adjacent perception device includes one or more perception devices adjacent to the first perception device. The one or more perception devices adjacent to the first perception device include the second perception device.

[0248] The perception capability includes perception range information. The perception range information is used to describe a range in which the corresponding perception device is able to (or suitable for) perform perception. The perception range information can be used to decide whether a target object located at a specific position is perceived by the perception device or is no longer suitable for being perceived by the perception device. The perception range information can include a perception area (i.e., a perception coverage range) covered by the corresponding perception device, a perception overlap area of the corresponding perception device and a neighboring perception device, and / or a handover position boundary between the perception device and the neighboring perception device. The perception overlap area can be understood as an area simultaneously covered by the perception coverage ranges of the perception device and the neighboring perception device, as an area overlapped by the perception coverage ranges of the perception device and the neighboring perception device, or as a perception handover area (e.g., case 1 in step S303 described above), or as a perception switching area (e.g., case 2 in step S303 described above). The handover position boundary can be understood as a boundary for triggering a handover of the perception device, or a boundary at which a change of a suitable perception device occurs, and the boundary is located in the perception overlap area.

[0249] As shown in FIG. 4, for example, the perception capability of the perception device #1 is acquired, and the perception capability specifically includes the perception area #1 covered by the perception device #1, the perception overlap area #12 of the perception device #1 and the perception device #2, and / or the handover position boundary #12 between the perception device #1 and the perception device #2. It can be understood that the above-mentioned perception area, perception overlap area or handover boundary can be described by different information, for example, the information of the area can be area identification or area description information, and the information of the boundary can be boundary identification or boundary description information, which are not limited in the present application.

[0250] Optionally, in the embodiments of the present application, the perception overlap area can be replaced by an overlap area of the perception device, or can be replaced by a handover buffer area or a pre-handover area of the perception device, and the buffer area or the pre-handover area is used to introduce a new perception device for a target object when the target object enters the area. The handover buffer area or the pre-handover area can be determined according to the above-mentioned perception overlap area, or can be determined according to the coverage range of the perception device (for example, a distance within a specific distance from the edge of the coverage range is the handover buffer area). Different areas of the handover buffer area or the pre-handover area can be associated with one or more neighboring perception devices.

[0251] The perception capability can specifically further include a perception target type supported by the corresponding perception device, or a perception KPI or a perception QoS supported by the corresponding perception device. The perception KPI or the perception QoS can include, for example, distance / angle / speed accuracy, distance / angle / speed resolution, detection rate / false detection rate, false alarm rate, confidence, refresh rate.

[0252] The manner in which the first sensing device obtains the sensing capability of the sensing device can be that the first sensing device is preconfigured with the sensing capability of itself and / or the neighboring sensing device, or the first sensing device can receive the sensing capability from the neighboring sensing device (through direct interface interaction or through interaction of other devices as an intermediary), or the first sensing device can receive the sensing capability of the sensing device from the SF or other core network element (through direct interface interaction or through interaction of other devices as an intermediary). It can be understood that the first sensing device can obtain the sensing capability of different sensing devices in different manners.

[0253] It can be understood that the first sensing device can be preconfigured with or obtain the sensing capability of the first sensing device itself from other devices (such as the SF).

[0254] Correspondingly, one or more sensing devices adjacent to the first sensing device can obtain the sensing capability of the sensing device adjacent thereto.

[0255] S501 can also be replaced by: the first sensing device obtains information of the sensing and coverage area of the first sensing device and one or more neighboring sensing devices and / or information of the handover boundary.

[0256] Specifically, the first sensing device obtains the sensing capability of the first sensing device and / or the neighboring sensing device, and then determines the information of the sensing and coverage area and / or the information of the handover boundary from the obtained sensing capability, or processes the obtained sensing capability to obtain the information of the sensing and coverage area and / or the information of the handover boundary. The process can be specifically referred to the related introduction of implementation mode 1 and implementation mode 2 in S303.

[0257] Optionally, the first sensing device obtains the sensing configuration information of the first sensing device and / or the neighboring sensing device, and then determines the information of the sensing and coverage area and / or the information of the handover boundary from the obtained sensing configuration information, wherein the sensing configuration information includes one or more of the following: sensing coverage, sensing and coverage area of the sensing range of the sensing device and the neighboring sensing device, handover boundary between the sensing device and the neighboring sensing device, supported sensing target type, supported sensing requirement (or can be referred to as sensing QoS, sensing capability).

[0258] For example, as shown in FIG. 4, the first sensing device acquires sensing configuration information of the first sensing device and the second sensing device, which specifically includes the sensing area #1 covered by the sensing device #1, the sensing overlap area #12 between the sensing device #1 and the sensing device #2, and / or the switching position boundary #12 between the sensing device #1 and the sensing device #2. For another example, the information of the sensing overlap area #12 and the switching boundary #12 can be obtained by processing the sensing configuration information of the first sensing device and the sensing configuration information of the second sensing device (for example, the sensing configuration information includes the sensing area covered by the sensing device, and the processing can be understood as determining the overlap area and dividing the switching boundary according to the sensing areas covered by two or more sensing devices). It can be understood that the information of the sensing overlap area and / or the information of the switching boundary determined from the acquired sensing configuration information can also refer to the implementation manner of the information of the sensing overlap area and / or the information of the switching boundary determined from the acquired sensing capability. Alternatively, the sensing capability can be replaced by the sensing configuration information.

[0259] S502: The SF sends a sensing control request to the first sensing device. Correspondingly, the first sensing device receives the sensing control request from the SF.

[0260] The SF can send the sensing control request to the first sensing device in response to the sensing request from the service requester. The SF can select the first sensing device satisfying the sensing request to perform the sensing task corresponding to the sensing request according to the sensing request and the capability of the sensing device.

[0261] The sensing control request can refer to the introduction of the first sensing request in S301, which will not be described here.

[0262] S503: The first sensing device acquires the first sensing data of the target object.

[0263] After receiving the sensing control request from the SF, the first sensing device can perform sensing according to the sensing control request.

[0264] Alternatively, the first sensing device can perform sensing on the position or area where the target object is located according to the target object information in the sensing control request to obtain the first sensing data of the target object; or the first sensing device can perform sensing on the sensing coverage range of the first sensing device to obtain the corresponding sensing data, take the data as the first sensing data of the target object, or process the data (for example, extract a part of the data according to the target object information in the sensing control request) to obtain the first sensing data of the target object.

[0265] S504: The first sensing device acquires the sensing switching reference quantity according to the first sensing data.

[0266] The perception switching reference quantity includes the target object position.

[0267] The first perception device obtains the target object position according to the first perception data. Specifically, the first perception device can obtain the target object position by locally analyzing or processing the first perception data. Alternatively, the first perception device can provide the first perception data to the SF and obtain the target object position from the SF, as shown in S504a-S504c or S504d-S504g in FIG. 6.

[0268] S504a: The first perception device sends the first perception data to the SF.

[0269] Alternatively, the first perception device can send the first perception data to the SF directly or through the UPF or AMF and the like. When the SF adopts the separated architecture of SF-C and SF-U, the first perception device sends the first perception data to the SF-U.

[0270] S504b: The SF processes the first perception data to obtain the target object position.

[0271] When the SF adopts the separated architecture of SF-C and SF-U, the SF-U can process the first perception data to obtain the target object position after receiving the first perception data.

[0272] S504c: The SF sends the perception switching reference quantity to the first perception device, and the perception switching reference quantity includes the target object position.

[0273] Alternatively, the SF can send the perception switching reference quantity to the first perception device directly or through the UPF or AMF and the like. When the SF adopts the separated architecture of SF-C and SF-U, the SF-U can send the processed perception switching reference quantity to the SF-C, and the SF-C sends the perception switching reference quantity to the first perception device, or the SF-U can send the perception switching reference quantity to the first perception device directly.

[0274] Alternatively, the SF can perform S504c when the target object changes the area it is in (for example, the target object moves into or is about to move into the perception coverage area #12), or the SF can perform S504c periodically.

[0275] Optionally, the target object position in the perception switching reference quantity can be described in different ways, for example, the target object position can be described by the coordinates of the target object or the new area information (for example, area identifier) in which the target object is located. The SF can send a perception control request to the first perception device, and the request carries the target object position. At this time, the information used to describe the target object position can also be understood as the position or area information that needs to be perceived by the first perception device.

[0276] The above S504a-S504c can also be replaced by the following S504d-S504g:

[0277] S504d: The first perception device sends a subscription request to the SF.

[0278] The subscription request is used to request to subscribe to the perception switching assistance information of the target object from the SF.

[0279] In one possible implementation, the subscription request can include one or more of the following: a perception and coverage area of the perception range of the first perception device and one or more adjacent perception devices, a switching boundary of the first perception device and the one or more adjacent perception devices, and an area replacement event notification indication. The area replacement event notification indication is used to indicate that when the target object moves in and out of the perception and coverage area and / or moves left and right of the switching boundary, the relationship between the target object and the perception and coverage area and / or the switching boundary is sent to the first perception device.

[0280] In another possible implementation, the subscription request can include one or more of the following: a predefined area, a predefined area identifier, and an area replacement event notification indication. The area replacement event notification indication is used to indicate that when the target object moves between the predefined areas, the predefined area and / or the predefined area identifier in which the target object is located is sent to the first perception device. The predefined area can be used to indicate one or more of the following areas: a non-perception and coverage area of the perception range of the first perception device and one or more adjacent perception devices, a perception and coverage area of the perception range of the first perception device and one or more adjacent perception devices and the first perception device does not cross the switching boundary between the first perception device and the one or more adjacent perception devices, a perception and coverage area of the perception range of the first perception device and one or more adjacent perception devices and the first perception device crosses the switching boundary between the first perception device and the one or more adjacent perception devices, and a non-perception and coverage area of the perception range of the first perception device and one or more adjacent perception devices.

[0281] The following interaction between the first perception device and the SF can adopt direct interface interaction or indirect interaction through the UPF or the AMF, which will not be described here.

[0282] S504e: The first perception device sends the first perception data to the SF.

[0283] Optionally, the timing relationship between S504d and S504e is not limited in the present application.

[0284] S504f: The SF processes the first perception data to obtain the relationship between the target object and the perception same coverage area and / or the switching boundary, or the predefined area and / or the predefined area identifier.

[0285] S504g: The SF sends a subscription response to the first perception device, the subscription response including the perception switching assistance information of the target object, the perception switching assistance information including the relationship between the target object and the perception same coverage area and / or the switching boundary, or including the predefined area and / or the predefined area identifier.

[0286] Optionally, the SF can perform S504g when the area where the target object is located changes (for example, when the target object moves in and out of the perception same coverage area #12 and / or when the target object moves left and right of the switching boundary #12).

[0287] The subscription response can also be a subscription notification or a subscription event notification, and the message name of the subscription response is not limited in the present application. The full text is uniformly described here and will not be described in detail later.

[0288] S505: The first perception device triggers S506 according to the target object entering the perception same coverage area #12 without crossing the switching boundary #12.

[0289] The first perception device can determine that the target object enters the perception same coverage area #12 without crossing the switching boundary #12 according to the perception switching reference quantity, i.e., it is determined that the second perception device needs to be selected, but the target object does not need to be switched for perception.

[0290] Optionally, the first perception device triggers S506 according to the target object entering the perception same coverage area #12 without crossing the switching boundary #12, and the perception result of the target object (for example, considering the speed information, direction information, signal strength of target reflection, signal quality of target reflection, etc.) and the perception capability of the adjacent perception device.

[0291] S505 can also be replaced by: The first perception device determines whether to switch the perception of the target object according to the target object position. When it is determined that the second perception device needs to be selected but the target object does not need to be switched for perception, S506 can be performed; when it is determined that the target object needs to be switched for perception, S513 can be performed.

[0292] Based on the S505, the first sensing device can timely determine whether the adjacent sensing device needs to be introduced as a new sensing device for the target object based on the target object position and the sensing coverage and / or switching boundary of the source sensing device and the adjacent sensing device, thereby avoiding problems such as service interruption or sensing data quality degradation caused by initiating switching of the sensing device only when the target object moves out of the sensing range of the current sensing device, and ensuring sensing service continuity.

[0293] S506: The first sensing device sends a sensing data request to the second sensing device. Correspondingly, the second sensing device receives the sensing data request from the first sensing device.

[0294] The sensing data request can be specifically understood with reference to the introduction of the fourth sensing request in the above S303.

[0295] S507: The second sensing device acquires second sensing data of the target object.

[0296] After receiving the sensing data request from the first sensing device, the second sensing device can perform sensing according to the sensing data request to acquire the second sensing data of the target object.

[0297] When the sensing data request received by the second sensing device carries the sensing area indication, the second sensing device can perform sensing on the area indicated by the sensing area indication to obtain the corresponding sensing data. It can be understood that the target object is covered by the area. When the sensing data request received by the second sensing device does not carry the sensing area indication, but the second sensing device knows the sensing coverage area #12 or part of the area of the first sensing device, the second sensing device can perform sensing on the sensing coverage area #12 or part of the area to obtain the corresponding sensing data. When the request received by the second sensing device does not carry the sensing area indication, and the second sensing device does not know the sensing coverage area #12 or part of the area, the second sensing device can perform sensing on its sensing coverage area to obtain the corresponding sensing data.

[0298] When the sensing data request received by the second sensing device carries the target object information, the second sensing device can determine the target object according to the target object information and the sensed object information, and acquire the sensing data of the target object. For example, the second sensing device performs sensing on its sensing coverage area to obtain sensing data, and then identifies the target object from the data according to the target object information, and extracts the sensing data related to the target object.

[0299] The various sensing data acquired by the second sensing device as described above all contain feature information of the target object, and thus can all be understood as the second sensing data of the target object.

[0300] S508: The second perception device sends the second perception data to the first perception device. Correspondingly, the first perception device receives the second perception data from the second perception device.

[0301] S509: The first perception device sends the fused perception data to the SF. Correspondingly, the SF receives the fused perception data from the first perception device.

[0302] The first perception device fuses the second perception data and the first perception data obtained by itself for perceiving the target object, and sends the fused perception data to the SF.

[0303] S506-S509 are optional steps. That is, when the first perception device determines not to switch the perception of the target object according to the position of the target object in S505, the first perception device can not obtain the second perception data from the second perception device. In this case, the first perception device only needs to report its first perception data to the SF.

[0304] S510: The first perception device triggers S511 according to that the target object moves out of the perception same coverage area #12.

[0305] The first perception device can determine that the target object moves out of the perception same coverage area #12 according to the perception switching reference quantity, that is, the target object only needs to be perceived by the first perception device or only needs to be perceived by the adjacent perception device.

[0306] Optionally, the first perception device triggers S511 according to that the target object moves out of the perception same coverage area #12, and the perception result (such as speed information, direction information, target reflected signal strength, target reflected signal quality, etc.) of the target object and the perception capability of the adjacent perception device.

[0307] When S510 occurs after S508 or S509, the first perception device can obtain the position of the target object according to the first perception data or the fused perception data. In this case, S511: The first perception device sends information for indicating termination of obtaining perception data to the second perception device.

[0308] When S510 occurs after S514, S511: The first perception device stops perceiving the target object.

[0309] The above S510 and S511 are optional actions. The above S510 and S511 can refer to the introduction of case 7 in S303.

[0310] S512: The first perception device triggers S513 according to that the target object enters the perception same coverage area #12 and crosses the switching boundary #12.

[0311] The first perception device can determine that the target object enters the perception and coverage area #12 and crosses the switching boundary #12 according to the perception switching reference quantity, i.e., determine that the second perception device needs to be selected and the target object needs to be switched.

[0312] Optionally, the first perception device triggers S513 according to the target object entering the perception and coverage area #12 and crossing the switching boundary #12, and the perception result (such as speed information, direction information, target reflection signal strength, target reflection signal quality, etc.) of the target object and the perception capability of the adjacent perception device.

[0313] Optionally, S512 can occur directly after S504; or S512 can occur after S508 or S509, at this time, the first perception device can obtain the target object position according to the second perception data or obtain the target object position according to the fused perception data. The process of obtaining the target object position according to the perception data can refer to the introduction of S504, which will not be described here.

[0314] Based on S512, the first perception device can timely determine whether the adjacent perception device needs to be introduced as a new perception device for the target object according to the target object position and the perception and coverage area and / or switching boundary of the source perception device and the adjacent perception device, thereby avoiding the problems of service interruption or perception data quality degradation caused by initiating the switching of the perception device when the target object moves out of the perception range of the current perception device, and ensuring the continuity of the perception service.

[0315] S513: The first perception device sends a perception switching request to the second perception device. Correspondingly, the second perception device receives the perception switching request from the first perception device.

[0316] The perception switching request can refer to the introduction of the perception switching request in S303.

[0317] Optionally, when S513 occurs after S508 or S509, and the perception data request has carried the perception context information, the perception switching request can not carry the perception context information.

[0318] Optionally, when S513 is implemented through a direct interface between the first sensing device and the second sensing device, the second sensing device can send a message for requesting switching of the sensing control path to the SF or the UPF or the AMF, so that the SF or the UPF or the AMF learns that the corresponding sensing task is switched from the first sensing device to the second sensing device, and the SF or the UPF or the AMF can subsequently send the control message of the sensing task to the second sensing device; when S511 is implemented through the UPF or the AMF or the SF as an intermediate forwarding device, the second sensing device can not send the above-mentioned message for requesting switching of the sensing control path to the SF or the UPF or the AMF, and the SF or the UPF or the AMF can learn that the corresponding sensing task is switched through forwarding of the sensing task switching request. The second sensing device can send the message for requesting switching of the sensing control path to the SF or the UPF or the AMF after S513 or after S514.

[0319] After receiving the sensing switching request, the second sensing device can perform sensing, and details can refer to the process of performing sensing by the first sensing device in S503 or the process of performing sensing by the second sensing device in S507. The second sensing device can send the sensing data obtained by performing sensing to the SF. When the sensing data of the first sensing device is carried in the sensing task switching request, the second sensing device can fuse the received sensing data and the sensing data obtained by performing sensing by itself, and report the fused sensing data to the SF.

[0320] S514: The second sensing device sends a sensing switching response to the first sensing device.

[0321] Optionally, the sensing switching response can carry a sensing data request indication, and the indication is used to request the sensing data from the first sensing device. At this time, the response can also carry part or all of the information carried in the second sensing request in S303.

[0322] It can be understood that in the process of S512-S514, the first sensing device can maintain sensing of the target object and continuously report the corresponding sensing data to the SF. When the first sensing device receives the sensing task switching response carrying the sensing data request indication, the first sensing device can stop reporting the sensing data of the target object to the SF, and only send the sensing data to the second sensing device; or the first sensing device can continue to send the sensing data of the target object to the SF, and also send the sensing data to the second sensing device.

[0323] In the above process, S505-S509 can occur first, and then S512-S514 can occur; or S512-S514 can occur first, and then S505-S509 can occur; or only S505-S509 can occur; or only S512-S514 can occur, which is not limited by the present application.

[0324] The S505-S506 can be understood as a specific implementation of case 1 of S303 in the embodiment shown in FIG. 3. The S512-S514 can be understood as a specific implementation of case 2 of S303 in the embodiment shown in FIG. 3.

[0325] Optionally, after S514, the second sensing device performs sensing on the target object as a new sensing device, and the method shown in FIG. 5 can further include the following processes:

[0326] S515: The second sensing device triggers S516 according to that the target object enters the sensing coverage area #12 and does not cross the switching boundary #12.

[0327] It can be understood in combination with S505 that whether crossing the switching boundary #12 depends on which sensing device the switching boundary belongs to. For the first sensing device, the target object has crossed the switching boundary #12 at this time, but for the second sensing device, the target object has not crossed the switching boundary #12. In other words, in the embodiment shown in FIG. 5, whether crossing the switching boundary #12 in the S501-S514 steps is for the first sensing device; after S515, whether crossing the switching boundary #12 is for the second sensing device.

[0328] S516: The second sensing device sends a sensing data request to the first sensing device.

[0329] S517: The first sensing device acquires the first sensing data of the target object.

[0330] S518: The first sensing device sends the first sensing data to the second sensing device. Correspondingly, the second sensing device receives the first sensing data from the first sensing device.

[0331] The first sensing device can continuously perform sensing on the target object and send the first sensing data of the target object to the second sensing device after receiving the sensing data request; or the first sensing device can stop performing sensing on the target object after S513 or S514, and start performing sensing on the target object after receiving the sensing data request, and send the first sensing data acquired according to the sensing data request to the second sensing device.

[0332] S519: The second sensing device sends the fused sensing data to the SF.

[0333] The second sensing device fuses the sensing data from the first sensing device and the sensing data obtained by itself performing sensing on the target object, and sends the fused sensing data to the SF.

[0334] For details of the process in S515-S519, please refer to the content of S505-S509 above. Only the first sensing device and the second sensing device need to be replaced with each other.

[0335] S515-S519 can be understood as follows: for the first sensing device, although the target object has crossed the switching boundary #12, since the target object is still within the sensing coverage area #12, the sensing effect of the target object can be enhanced by simultaneously performing sensing on the target object by the first sensing device and the second sensing device, which can improve the problem of decreased sensing quality when the target object is at the edge of the sensing device.

[0336] Optionally, after S519, the method shown in Figure 5 may also include the following process:

[0337] S520: The second sensing device triggers S521 when the target object moves out of the sensing coverage area #12.

[0338] S521: The second sensing device sends information to the first sensing device to indicate the termination of acquiring sensing data.

[0339] After receiving the information, the first sensing device stops sending sensing data of the target object to the second sensing device, and can send a response to the second sensing device to stop sending sensing data.

[0340] For details of the processes in S520 and S521, please refer to the content of S510 and S511 above.

[0341] S520 and S521 can be understood as scenarios that occur when the target object moves out of the sensing coverage area #12 and out of the sensing coverage of the first sensing device.

[0342] Based on the process shown in Figure 5 above, the first device can promptly determine whether it is necessary to introduce an adjacent sensing device as a new sensing device for the target object by using the location of the target object and the capabilities of the sensing device (mainly based on the sensing coverage area and / or switching boundary of the source sensing device and adjacent sensing devices). This avoids problems such as service interruption or degradation of sensing data quality caused by only initiating the switching of sensing devices when the target object moves out of the sensing range of the current sensing device, thus ensuring the continuity of sensing services.

[0343] The method shown in Figure 5 above describes a scheme for determining whether to perform a perception switch on a target object based on the target object's position, which is included in the perception switching reference quantity (such as in S505 and S512 above, where the first sensing device determines whether the target object has entered the perception coverage area #12 and whether it has crossed the switching boundary #12). The method shown in Figure 7 describes a scheme for determining whether to perform a perception switch on a target object based on the perception measurement quantity and / or perception performance included in the perception switching reference quantity.

[0344] FIG. 7 shows a schematic flow chart of a communication method according to an embodiment of the present application. Specifically, the method comprises the following steps:

[0345] S701: The first sensing device acquires sensing capability of the neighboring sensing device.

[0346] The neighboring sensing device includes one or more sensing devices adjacent to the first sensing device. The one or more sensing devices adjacent to the first sensing device include the second sensing device.

[0347] The sensing capability can include sensing measurement threshold and / or sensing performance threshold of the sensing device for sensing switching. The sensing measurement and the sensing performance can refer to the corresponding description in FIG. 3 above, and will not be repeated here.

[0348] Optionally, the sensing capability includes the sensing range information on the basis of the sensing measurement threshold and / or the sensing performance threshold of the sensing device for sensing switching. The process can be specifically adapted with reference to the introduction of S501.

[0349] S701 can also be replaced by: The first sensing device acquires sensing measurement threshold and / or sensing performance threshold of the first sensing device and / or one or more neighboring sensing devices for sensing switching.

[0350] Specifically, the first sensing device acquires the sensing capability of the sensing device, and then determines the sensing measurement threshold and / or the sensing performance threshold of the sensing device for sensing switching from the acquired sensing capability, or processes the acquired sensing capability to obtain the sensing measurement threshold and / or the sensing performance threshold for sensing switching.

[0351] Optionally, the first sensing device acquires sensing configuration information of the sensing device, and then determines the sensing measurement threshold and / or the sensing performance threshold of the sensing device for sensing switching from the acquired sensing configuration information. The specific sensing configuration information can refer to the description in S501 above.

[0352] Optionally, S701 can also be replaced by: The first sensing device acquires sensing measurement threshold and / or sensing performance threshold of the first sensing device and / or one or more neighboring sensing devices for sensing switching, and acquires information of the sensing and coverage area and / or information of the switching boundary of the first sensing device and the one or more neighboring sensing devices.

[0353] S702: The SF sends a sensing control request to the first sensing device. Correspondingly, the first sensing device receives the sensing control request from the SF.

[0354] The process can be specifically referred to the introduction of S502.

[0355] S703: The first perception device obtains first perception data of the target object.

[0356] The process can be specifically referred to the introduction of S503.

[0357] S704: The first perception device obtains a perception switching reference quantity according to the first perception data.

[0358] The perception switching reference quantity includes a perception measurement quantity and / or a perception performance. The perception measurement quantity and / or the perception performance can be specifically referred to the introduction in S303, and will not be described here.

[0359] The first perception device obtains a perception measurement quantity and / or a perception performance according to the first perception data, that is, the perception measurement quantity is a perception signal strength or a perception signal quality or a radar cross section corresponding to the first perception data, and the perception performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence level corresponding to a perception result obtained based on the first perception data. The first perception data is the perception data obtained by the first perception device perceiving the target object, and thus the perception signal strength or the perception signal quality or the radar cross section corresponding to the first perception data can also be understood as the perception measurement quantity of the first perception device, and at least one of the accuracy, the resolution, the detection rate, the false detection rate, the false alarm rate, and the confidence level corresponding to the perception result obtained based on the first perception data can also be understood as the perception performance of the first perception device.

[0360] The first perception device obtains a perception measurement quantity and / or a perception performance according to the first perception data. Specifically, the first perception device can obtain the perception measurement quantity and / or the perception performance by locally analyzing or processing the first perception data. Alternatively, the first perception device can provide the first perception data to the SF, and obtain the perception measurement quantity and / or the perception performance from the SF, which is specifically shown in S704a-S704c or S704d-S704g in FIG. 8.

[0361] S704a: The first perception device sends the first perception data to the SF.

[0362] The process can be specifically referred to the introduction of S504a.

[0363] S704b: The SF processes the first perception data to obtain the perception measurement quantity and / or the perception performance.

[0364] When the SF adopts the SF-C and SF-U separated architecture, the SF-U can process the first perception data to obtain the perception measurement quantity and / or the perception performance after receiving the first perception data.

[0365] S704c: The SF sends the perception switching reference quantity including the perception measurement quantity and / or the perception performance to the first perception device.

[0366] Optionally, the SF can send the perception handover reference quantity to the first perception device directly or through the intermediation of a device such as the UPF or the AMF. When the SF adopts the SF-C and SF-U separated architecture, the SF-U can send the processed perception handover reference quantity to the SF-C, and the SF-C sends the perception handover reference quantity to the first perception device, or the SF-U can send the perception handover reference quantity to the first perception device directly.

[0367] Optionally, the SF can perform S704c when the perception measurement quantity and / or the perception performance change (for example, when the perception measurement quantity and / or the perception performance increase or decrease), or the SF can perform S704c periodically.

[0368] The above S704a-S704c can also be replaced by the following S704d-S704g:

[0369] S704d: The first perception device sends a subscription request to the SF.

[0370] The subscription request is used to request to subscribe to the perception handover assistance information of the target object from the SF.

[0371] In one possible implementation, the subscription request can include one or more of the following: a perception measurement quantity threshold and / or a perception performance threshold for perception handover, and an event notification indication; wherein the event notification indication is used to indicate whether the result that the perception measurement quantity and / or the perception performance meet the perception measurement quantity threshold and / or the perception performance threshold for perception handover is sent to the first perception device.

[0372] In another possible implementation, the subscription request can include one or more of the following: a predefined threshold range, a predefined threshold range identifier, and a threshold range change event notification indication; wherein the threshold range change event notification indication is used to indicate that when the perception measurement quantity and / or the perception performance change between the predefined threshold ranges, the predefined threshold range in which the perception measurement quantity and / or the perception performance is located is sent to the first perception device.

[0373] S704e: The first perception device sends first perception data to the SF.

[0374] Optionally, the timing relationship between S704d and S704e is not limited in the present application.

[0375] S704f: The SF processes the first perception data to obtain the result that whether the perception measurement quantity and / or the perception performance meet the perception measurement quantity threshold and / or the perception performance threshold, or the predefined threshold range and / or the predefined threshold range identifier.

[0376] S704g: The SF sends a subscription response to the first perception device, the subscription response comprising the perception switching assistance information of the target object, the perception switching assistance information comprising the perception measurement quantity and / or the result of whether the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold, or the perception switching assistance information comprising the predefined threshold range and / or the predefined threshold range identifier.

[0377] Optionally, the SF can perform S704g when the perception measurement quantity and / or the perception performance changes (e.g., when the perception measurement quantity and / or the perception performance increases or decreases). The subscription response can also be a subscription notification or a subscription event notification, and the message name of the subscription response is not limited in the present application.

[0378] Optionally, the perception switching reference quantity comprises the target object position and the perception measurement quantity and / or the perception performance.

[0379] The first perception device obtains the target object position and the perception measurement quantity and / or the perception performance according to the first perception data. Specifically, the first perception device can obtain the target object position and the perception measurement quantity and / or the perception performance by locally analyzing or processing the first perception data. Alternatively, the first perception device can provide the first perception data to the SF and obtain the target object position and the perception measurement quantity and / or the perception performance from the SF. Specifically, S704a-S704c or S704d-S704g in FIG. 8 can be replaced by:

[0380] S704a: The first perception device sends the first perception data to the SF.

[0381] S704b: The SF processes the first perception data to obtain the target object position and the perception measurement quantity and / or the perception performance.

[0382] S704c: The SF sends the perception switching reference quantity to the first perception device, the perception switching reference quantity comprising the target object position and the perception measurement quantity and / or the perception performance.

[0383] The above S704a-S704c can also be replaced by the following S704d-S704g:

[0384] S704d: The first perception device sends a subscription request to the SF.

[0385] The subscription request is used to request to subscribe to the perception switching assistance information of the target object from the SF.

[0386] In one possible implementation, the subscription request can include one or more of: a perception coverage area of a perception range of the first perception device and one or more neighboring perception devices, a handoff boundary of the first perception device and the one or more neighboring perception devices, a region change event notification indication, a perception measurement quantity threshold and / or a perception performance threshold for a perception handoff, and an event notification indication. The region change event notification indication can be configured to indicate that a relationship of the target object to the perception coverage area and / or the handoff boundary is to be sent to the first perception device when the target object moves in and / or out of the perception coverage area and / or moves across the handoff boundary. The event notification indication can be configured to indicate that a result of whether the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold for the perception handoff is to be sent to the first perception device.

[0387] In another possible implementation, the subscription request can include one or more of: a predefined region, a predefined region identification, a region change event notification indication, a perception measurement quantity threshold and / or a perception performance threshold for a perception handoff, and an event notification indication. The region change event notification indication can be configured to indicate that a predefined region and / or a predefined region identification in which the target object is located is to be sent to the first perception device when the target object moves between the predefined regions. The predefined region can be configured to indicate one or more of: a non-perception coverage area of a perception range of the first perception device and one or more neighboring perception devices and the perception range of the first perception device, a perception coverage area of the perception range of the first perception device and the one or more neighboring perception devices and the first perception device not crossing a handoff boundary between the first perception device and the one or more neighboring perception devices, the perception coverage area of the perception range of the first perception device and the one or more neighboring perception devices and the first perception device crossing the handoff boundary between the first perception device and the one or more neighboring perception devices, and a non-perception coverage area of the perception range of the first perception device and one or more neighboring perception devices and the perception range of the one or more neighboring perception devices.

[0388] In yet another possible implementation, the subscription request can include one or more of: a perception coverage area of a perception range of the first perception device and one or more neighboring perception devices, a handoff boundary of the first perception device and the one or more neighboring perception devices, a region change event notification indication, a predefined threshold range, a predefined threshold range identification, and a threshold range change event notification indication. The threshold range change event notification indication can be configured to indicate that a predefined threshold range in which the perception measurement quantity and / or the perception performance is located is to be sent to the first perception device when the perception measurement quantity and / or the perception performance moves between the predefined threshold ranges.

[0389] In another possible implementation, the subscription request can include one or more of the following: a predefined area, a predefined area identifier, an area change event notification indication, a predefined threshold range, a predefined threshold range identifier, a threshold range change event notification indication.

[0390] S704e: The first perception device sends the first perception data to the SF.

[0391] S704f: The SF processes the first perception data to obtain the relationship between the target object and the perception and the coverage area and / or the switching boundary, or the predefined area and / or the predefined area identifier, and the result of whether the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold, or the predefined threshold range and / or the predefined threshold range identifier.

[0392] S704g: The SF sends a subscription response to the first perception device, the subscription response including perception switching assistance information of the target object, the perception switching assistance information including the relationship between the target object and the perception and the coverage area and / or the switching boundary, or the predefined area and / or the predefined area identifier, and the result of whether the perception measurement quantity and / or the perception performance meets the perception measurement quantity threshold and / or the perception performance threshold, or the predefined threshold range and / or the predefined threshold range identifier.

[0393] Optionally, the SF can perform S504g when the area where the target object is located changes (for example, when the target object moves in and / or out of the perception coverage area #12 and / or when the target object moves left and / or right of the switching boundary #12) and when the perception measurement quantity and / or the perception performance changes (for example, when the perception measurement quantity and / or the perception performance increases or decreases).

[0394] S705: The first perception device determines that the target object does not meet the switching condition according to the perception measurement quantity and / or the perception performance, the perception measurement quantity threshold and / or the perception performance threshold for perception switching of the first perception device and / or the second perception device, and triggers S706.

[0395] The perception switching reference quantity can include the perception measurement quantity and / or the perception performance, that is, the switching condition met by the target object can be related to the perception measurement quantity (for example, signal strength RSRP or signal quality SNR or RCS) and / or the perception performance (for example, accuracy, resolution, detection rate, false detection rate, false alarm rate, confidence, etc. corresponding to the perception result obtained based on the perception data) of the source perception device and / or the adjacent perception device.

[0396] The first perception device can determine that the target object does not meet the switching condition according to the perception measurement quantity and / or the perception performance of the perception switching reference quantity, the perception measurement quantity threshold and / or the perception performance threshold for perception switching of the first perception device and / or the second perception device, and not perform perception switching on the target object.

[0397] Specifically, for example, the switching condition is that the source sensing device RSRP is lower than a threshold, the adjacent sensing device RSRP is higher than a threshold, the adjacent sensing device RSRP is higher than the source sensing device RSRP, the source sensing device SNR is lower than a threshold, the adjacent sensing device SNR is higher than a threshold, or the adjacent sensing device SNR is higher than the source sensing device SNR, the source sensing device RCS is lower than a threshold, the adjacent sensing device RCS is higher than a threshold, or the adjacent sensing device RCS is higher than the source sensing device RCS. At this time, the first device can determine that the target object does not satisfy the switching condition according to the sensing measurement quantity of the source sensing device and / or the adjacent sensing device. Alternatively, the switching condition can be related to the sensing performance, for example, the switching condition is that the accuracy of the source sensing device obtaining the sensing result is lower than a threshold, the accuracy of the adjacent sensing device obtaining the sensing result is higher than a threshold, the accuracy of the adjacent sensing device obtaining the sensing result is higher than the accuracy of the source sensing device obtaining the sensing result, the false alarm rate of the source sensing device is higher than a threshold, the false alarm rate of the adjacent sensing device is lower than a threshold, or the false alarm rate of the adjacent sensing device is lower than the false alarm rate of the source sensing device, the resolution of the source sensing device is lower than a threshold, the resolution of the adjacent sensing device is higher than a threshold, or the resolution of the adjacent sensing device is higher than the resolution of the source sensing device, the detection rate of the source sensing device is lower than a threshold, the detection rate of the adjacent sensing device is higher than a threshold, or the detection rate of the adjacent sensing device is higher than the detection rate of the source sensing device, the false detection rate of the source sensing device is higher than a threshold, the false detection rate of the adjacent sensing device is lower than a threshold, or the false detection rate of the adjacent sensing device is lower than the false detection rate of the source sensing device, the confidence of the source sensing device is lower than a threshold, the confidence of the adjacent sensing device is higher than a threshold, or the confidence of the adjacent sensing device is higher than the confidence of the source sensing device. At this time, the first device can determine that the target object does not satisfy the switching condition according to the sensing performance of the source sensing device and / or the adjacent sensing device.

[0398] Alternatively, the first device can determine that the target object does not satisfy the switching condition according to the sensing measurement quantity and / or sensing performance of the source sensing device and / or the neighboring sensing device, for example, the switching condition can further comprise: the source sensing device RSRP is lower than a threshold, the neighboring sensing device RSRP is also lower than the threshold, but the source sensing device RSRP is lower than the neighboring sensing device RSRP; the source sensing device SNR is lower than a threshold, the neighboring sensing device SNR is also lower than the threshold, but the source sensing device SNR is lower than the neighboring sensing device SNR; the source sensing device RCS is lower than a threshold, the neighboring sensing device RCS is also lower than the threshold, but the source sensing device RCS is lower than the neighboring sensing device RCS. Alternatively, the first device can determine that the target object does not satisfy the switching condition according to the sensing performance of the source sensing device and / or the neighboring sensing device, for example, the switching condition can further comprise: the accuracy of the source sensing device obtaining the sensing result is lower than a threshold, the accuracy of the neighboring sensing device obtaining the sensing result is also lower than the threshold, but the accuracy of the source sensing device obtaining the sensing result is lower than the accuracy of the neighboring sensing device obtaining the sensing result; the false alarm rate of the source sensing device is higher than a threshold, the false alarm rate of the neighboring sensing device is also higher than the threshold, but the false alarm rate of the source sensing device is higher than the false alarm rate of the neighboring sensing device; the resolution of the source sensing device is lower than a threshold, the resolution of the neighboring sensing device is also lower than the threshold, but the resolution of the source sensing device is lower than the resolution of the neighboring sensing device; the detection rate of the source sensing device is lower than a threshold, the detection rate of the neighboring sensing device is also lower than the threshold, but the detection rate of the source sensing device is lower than the detection rate of the neighboring sensing device; the false detection rate of the source sensing device is higher than a threshold, the false detection rate of the neighboring sensing device is also higher than the threshold, but the false detection rate of the source sensing device is higher than the false detection rate of the neighboring sensing device; the confidence of the source sensing device is lower than a threshold, the confidence of the neighboring sensing device is also lower than the threshold, but the confidence of the source sensing device is lower than the confidence of the neighboring sensing device.

[0399] Similarly, the first sensing device can determine that the target object satisfies the non-switching condition, i.e., the target object does not need to be subjected to the sensing switching, according to the sensing measurement quantity and / or sensing performance of the sensing switching reference quantity, and the sensing measurement quantity threshold and / or the sensing performance threshold used by the first sensing device and / or the second sensing device for the sensing switching.

[0400] Specifically, the target object satisfying the no-switching condition can be that the source sensing device RSRP is higher than a threshold, the neighboring sensing device RSRP is lower than a threshold, the neighboring sensing device RSRP is lower than the source sensing device RSRP, the source sensing device SNR is higher than a threshold, the neighboring sensing device SNR is lower than a threshold, or the neighboring sensing device SNR is lower than the source sensing device SNR, the source sensing device RCS is higher than a threshold, the neighboring sensing device RCS is lower than a threshold, or the neighboring sensing device RCS is lower than the source sensing device RCS. At this time, the first device can determine that the target object satisfies the no-switching condition according to the sensing measurement quantity of the source sensing device and / or the neighboring sensing device. Alternatively, the switching condition can be related to the sensing performance, for example, the no-switching condition is that the accuracy of the sensing result obtained by the source sensing device is higher than a threshold, the accuracy of the sensing result obtained by the neighboring sensing device is lower than a threshold, the accuracy of the sensing result obtained by the neighboring sensing device is lower than the accuracy of the sensing result obtained by the source sensing device, the false alarm rate of the source sensing device is lower than a threshold, the false alarm rate of the neighboring sensing device is higher than a threshold, or the false alarm rate of the neighboring sensing device is higher than the false alarm rate of the source sensing device, the resolution of the source sensing device is higher than a threshold, the resolution of the neighboring sensing device is lower than a threshold, or the resolution of the neighboring sensing device is lower than the resolution of the source sensing device, the detection rate of the source sensing device is higher than a threshold, the detection rate of the neighboring sensing device is lower than a threshold, or the detection rate of the neighboring sensing device is lower than the detection rate of the source sensing device, the false detection rate of the source sensing device is lower than a threshold, the false detection rate of the neighboring sensing device is higher than a threshold, or the false detection rate of the neighboring sensing device is higher than the false detection rate of the source sensing device, the confidence of the source sensing device is higher than a threshold, the confidence of the neighboring sensing device is lower than a threshold, or the confidence of the neighboring sensing device is lower than the confidence of the source sensing device. At this time, the first device can determine that the target object satisfies the no-switching condition according to the sensing performance of the source sensing device and / or the neighboring sensing device.

[0401] Optionally, the first device can determine that the target object satisfies the no-switching condition according to the sensing measurement of the source sensing device and / or the neighboring sensing device, for example, the no-switching condition can further include: the source sensing device RSRP is higher than a threshold, the neighboring sensing device RSRP is also higher than the threshold, but the source sensing device RSRP is higher than the neighboring sensing device RSRP; the source sensing device SNR is higher than a threshold, the neighboring sensing device SNR is also higher than the threshold, but the source sensing device SNR is higher than the neighboring sensing device SNR; the source sensing device RCS is higher than a threshold, the neighboring sensing device RCS is also higher than the threshold, but the source sensing device RCS is higher than the neighboring sensing device RCS. Alternatively, the first device can determine that the target object satisfies the no-switching condition according to the sensing performance of the source sensing device and / or the neighboring sensing device, for example, the no-switching condition can further include: the accuracy of the source sensing device in obtaining the sensing result is higher than a threshold, the accuracy of the neighboring sensing device in obtaining the sensing result is also higher than the threshold, but the accuracy of the source sensing device in obtaining the sensing result is higher than the accuracy of the neighboring sensing device in obtaining the sensing result; the false alarm rate of the source sensing device is lower than a threshold, the false alarm rate of the neighboring sensing device is also lower than the threshold, but the false alarm rate of the source sensing device is lower than the false alarm rate of the neighboring sensing device; the resolution of the source sensing device is higher than a threshold, the resolution of the neighboring sensing device is also higher than the threshold, but the resolution of the source sensing device is higher than the resolution of the neighboring sensing device; the detection rate of the source sensing device is higher than a threshold, the detection rate of the neighboring sensing device is also higher than the threshold, but the detection rate of the source sensing device is higher than the detection rate of the neighboring sensing device; the false detection rate of the source sensing device is lower than a threshold, the false detection rate of the neighboring sensing device is also lower than the threshold, but the false detection rate of the source sensing device is lower than the false detection rate of the neighboring sensing device; the confidence of the source sensing device is higher than a threshold, the confidence of the neighboring sensing device is also higher than the threshold, but the confidence of the source sensing device is higher than the confidence of the neighboring sensing device.

[0402] Optionally, the first sensing device can determine that the sensing measurement and / or the sensing performance does not meet the first threshold according to the sensing switching reference, i.e., it is determined that the second sensing device needs to be selected, but the target object is not switched for sensing. The first threshold can be understood as a general term of the sensing measurement threshold and / or the sensing performance threshold that the sensing measurement and / or the sensing performance is about to not meet (approaching) the sensing measurement threshold and / or the sensing performance threshold used by the first sensing device for sensing switching, and the sensing measurement threshold and / or the sensing performance threshold that the sensing measurement and / or the sensing performance is about to meet (approaching) the sensing measurement threshold and / or the sensing performance threshold used by the second sensing device for sensing switching. Specifically, if the sensing switching reference includes the sensing measurement and / or includes the sensing performance, the first threshold compared with the sensing measurement and the first threshold compared with the sensing performance can be different thresholds, or can be the same threshold, which is not limited.

[0403] It can be understood that the sensing measurement and / or the sensing performance in this step can be the sensing measurement and / or the sensing performance of the target object determined by the first sensing device according to the first sensing data or according to the fusion data of the first sensing data and the second sensing data.

[0404] Optionally, the first sensing device can trigger S706 according to the sensing measurement and / or sensing performance, the sensing measurement threshold and / or sensing performance threshold for sensing switching of the first sensing device and / or the second sensing device, and the sensing result of the target object (e.g. considering the speed information, direction information, signal strength of target reflection, signal quality of target reflection, etc.) and the sensing capability of the adjacent sensing device.

[0405] S705 can also be replaced by: the first sensing device determines whether to perform sensing switching on the target object according to the sensing measurement and / or sensing performance. When it is determined that the second sensing device needs to be selected but the sensing switching is not performed on the target object, S706 can be performed; when it is determined that the sensing switching needs to be performed on the target object, S713 can be performed.

[0406] Based on S705, the first sensing device can timely determine whether the target object meets the switching condition, i.e. whether the adjacent sensing device needs to be introduced as the new sensing device for the target object, by the sensing measurement and / or sensing performance, the sensing measurement threshold and / or sensing performance threshold for sensing switching of the source sensing device and / or the adjacent sensing device, thereby avoiding the problems such as service interruption or sensing data quality degradation caused by initiating the switching of the sensing device only when the target object moves out of the sensing range of the current sensing device, and ensuring the continuity of the sensing service.

[0407] Optionally, S705 can also be replaced by: the first sensing device determines that the target object does not meet the switching condition according to that the target object enters the sensing and coverage area #12 but does not cross the switching boundary #12, and according to the sensing measurement and / or sensing performance, the sensing measurement threshold and / or sensing performance threshold for sensing switching of the first sensing device and / or the second sensing device, and triggers S706. The process can be specifically combined with the introduction of S505 and S705.

[0408] Based on S705, the first sensing device can timely and accurately determine whether the adjacent sensing device needs to be introduced as the new sensing device for the target object by the target object position and the sensing and coverage area and / or switching boundary of the source sensing device and the adjacent sensing device, and by the sensing measurement and / or sensing performance, the sensing measurement threshold and / or sensing performance threshold for sensing switching of the source sensing device and / or the adjacent sensing device, thereby avoiding the problems such as service interruption or sensing data quality degradation caused by initiating the switching of the sensing device only when the target object moves out of the sensing range of the current sensing device, and ensuring the continuity of the sensing service.

[0409] S706: The first sensing device sends a sensing data request to the second sensing device. Correspondingly, the second sensing device receives the sensing data request from the first sensing device.

[0410] The process can refer to the description of S506 for details.

[0411] S707: The second sensing device acquires second sensing data of the target object.

[0412] After receiving the sensing data request from the first sensing device, the second sensing device can perform sensing according to the sensing data request to acquire the second sensing data of the target object.

[0413] When the target object information is carried in the sensing data request received by the second sensing device, the second sensing device can determine the target object according to the target object information and the sensed object information, so as to acquire the sensing data of the target object. For example, the second sensing device performs sensing on its sensing coverage area to obtain sensing data, and then identifies the target object from the data according to the target object information, and extracts the sensing data related to the target object.

[0414] The various sensing data acquired by the second sensing device as described above all contain feature information of the target object, and thus can all be understood as second sensing data of the target object.

[0415] Optionally, when the sensing area indication is carried in the sensing data request received by the second sensing device, the second sensing device can perform sensing on the area indicated by the sensing area indication to obtain corresponding sensing data. It can be understood that the target object is covered by the area. When the sensing area indication is not carried in the sensing data request received by the second sensing device, but the second sensing device knows the sensing same coverage area #12 or a part of the area, the second sensing device can perform sensing on the sensing same coverage area #12 or the part of the area to obtain corresponding sensing data. When the sensing area indication is not carried in the sensing data request received by the second sensing device, and the second sensing device does not know the sensing same coverage area #12 or the part of the area, the second sensing device can perform sensing on its sensing coverage area to obtain corresponding sensing data.

[0416] S708: The second sensing device sends the second sensing data to the first sensing device. Correspondingly, the first sensing device receives the second sensing data from the second sensing device.

[0417] S709: The first sensing device sends the fused sensing data to the SF. Correspondingly, the SF receives the fused sensing data from the first sensing device.

[0418] S706-S709 are optional steps. That is, when the first sensing device determines not to perform sensing switching on the target object according to the sensing measurement quantity and / or the sensing performance in S705, the first sensing device can not acquire the second sensing data from the second sensing device, and in this case, the first sensing device only needs to report its first sensing data to the SF.

[0419] S710: The first sensing device triggers S711 according to the sensing measurement and / or the sensing performance not meeting the second threshold.

[0420] The first sensing device can determine that the second threshold is not met according to the sensing measurement and / or the sensing performance, i.e., determine that the target object only needs to be sensed by the first sensing device or only needs to be sensed by the adjacent sensing device. The second threshold can be understood as a value that meets the sensing measurement and / or the sensing performance meeting the range of the sensing measurement and / or the sensing performance corresponding to the sensing data of the first sensing device, or a value that meets the range of the sensing measurement and / or the sensing performance corresponding to the sensing data of the adjacent sensing device.

[0421] Optionally, the first sensing device triggers S711 according to the sensing measurement and / or the sensing performance not meeting the second threshold, and the sensing result (such as speed information, direction information, signal strength of target reflection, signal quality of target reflection, etc.) of the target object and the sensing capability of the adjacent sensing device.

[0422] When S710 occurs after S708 or S709, the first sensing device can obtain the sensing measurement and / or the sensing performance according to the second sensing data or the fused sensing data. At this time S711: The first sensing device sends information to the second sensing device for indicating termination of obtaining the sensing data.

[0423] When S710 occurs after S714, S711: The first sensing device stops sensing the target object. The above-mentioned S710 and S711 are optional actions.

[0424] S710 and S711 can be understood as occurring in a scenario in which the target object moves out of the range of the sensing measurement and / or the sensing performance corresponding to the target object sensed by the first sensing device.

[0425] Optionally, the first sensing device can trigger S711 according to the target object moving out of the sensing coverage area #12 and according to the sensing measurement and / or the sensing performance not meeting the second threshold. The process can be combined with the introduction of S510 and S710.

[0426] S712: The first sensing device determines that the target object meets the switching condition according to the sensing measurement and / or the sensing performance, the sensing measurement threshold and / or the sensing performance threshold for sensing switching of the first sensing device and / or the second sensing device, and triggers S713.

[0427] The perception switching reference quantity can include a perception measurement quantity and / or a perception performance, i.e., the switching condition satisfied by the target object can be related to the perception measurement quantity (such as a signal strength RSRP or a signal quality SNR or RCS) and / or the perception performance (such as accuracy, resolution, detection rate, false detection rate, false alarm rate, confidence, etc. corresponding to the perception result obtained based on the perception data) of the source perception device and / or the adjacent perception device.

[0428] The first perception device can determine, according to the perception measurement quantity and / or the perception performance, the perception measurement quantity threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the second perception device, that the target object satisfies the switching condition, i.e., that the second perception device needs to be selected and the target object needs to be switched for perception. It can be understood that the perception measurement quantity and / or the perception performance in this step can be the perception measurement quantity and / or the perception performance of the target object determined by the first perception device according to the first perception data or according to the fusion data of the first perception data and the second perception data. The switching condition can refer to the description in the above S705 step, which will not be described here.

[0429] Optionally, the first perception device triggers S713 according to the perception measurement quantity and / or the perception performance, the perception measurement quantity threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the second perception device, and the perception result (such as speed information, direction information, target reflected signal strength, target reflected signal quality, etc.) of the target object and the perception capability of the adjacent perception device.

[0430] Optionally, S712 can occur directly after S704; or S712 can occur after S708 or S709, at this time, the first perception device can obtain the perception measurement quantity and / or the perception performance according to the second perception data or according to the fused perception data. The process of obtaining the perception measurement quantity and / or the perception performance according to the perception data can refer to the introduction of S704, which will not be described here.

[0431] Based on the S712, the first perception device can timely determine whether the adjacent perception device needs to be introduced as a new perception device for the target object through the perception measurement quantity and / or the perception performance, the perception measurement quantity threshold and / or the perception performance threshold for the perception switching of the source perception device and / or the adjacent perception device, avoiding the problems such as service interruption or perception data quality degradation caused by initiating the switching of the perception device only when the target object moves out of the perception range of the current perception device, and ensuring the continuity of the perception service.

[0432] Optionally, the first sensing device can determine that the target object satisfies the switching condition according to the target object entering the sensing coverage area #12 and crossing the switching boundary #12, and according to the sensing measurement quantity and / or the sensing performance, the sensing measurement quantity threshold and / or the sensing performance threshold for sensing switching of the first sensing device and / or the second sensing device, and trigger S713. The process can be specifically combined with the description of S512 and S712.

[0433] S713: The first sensing device sends a sensing switching request to the second sensing device. Correspondingly, the second sensing device receives the sensing switching request from the first sensing device. The process can be specifically combined with the description of S513.

[0434] S714: The second sensing device sends a sensing switching response to the first sensing device. The process can be specifically combined with the description of S514.

[0435] It can be understood that in the process of S712-S714, the first sensing device can maintain sensing of the target object and continuously report corresponding sensing data to the SF. When the first sensing device receives the sensing task switching response carrying the sensing data request indication, the first sensing device can stop reporting the sensing data of the target object to the SF, and only send the sensing data to the second sensing device; or the first sensing device can continue to send the sensing data of the target object to the SF, and also send the sensing data to the second sensing device.

[0436] In the above process, S705-S709 can occur first, and then S712-S714 can occur; or S712-S714 can occur first, and then S705-S709 can occur; or only S705-S709 can occur; or only S712-S714 can occur, which is not limited by the present application.

[0437] Optionally, after S714, the second sensing device performs sensing on the target object as the new sensing device, and the method shown in FIG. 7 can further include the following process:

[0438] S715: The second sensing device determines that the target object does not satisfy the switching condition according to the sensing measurement quantity and / or the sensing performance, the sensing measurement quantity threshold and / or the sensing performance threshold for sensing switching of the first sensing device and / or the second sensing device, and triggers S716. The process of S715 can be specifically combined with the content of S705, and only the first sensing device and the second sensing device are replaced with each other. The sensing measurement quantity and / or the sensing performance in this step can be the sensing measurement quantity and / or the sensing performance of the target object determined by the second sensing device according to the second sensing data or according to the fusion data of the first sensing data and the second sensing data.

[0439] It can be understood in combination with S705 that determining whether the target object satisfies the switching condition depends on which sensing device the switching condition is compared with. For the first sensing device, the source sensing device in the switching condition is the first sensing device, and the adjacent sensing device can be the second sensing device or other sensing device. For the second sensing device, the source sensing device in the switching condition is the second sensing device, and the adjacent sensing device can be the first sensing device or other sensing device.

[0440] In other words, in the embodiment shown in FIG. 7, in the steps S701-S714, whether the target object satisfies the switching condition is for the first sensing device; after S715, whether the target object satisfies the switching condition is for the second sensing device.

[0441] Optionally, the second sensing device can determine that the target object does not satisfy the switching condition according to that the target object enters the sensing coverage area #12 and does not cross the switching boundary #12, and according to the sensing measurement quantity and / or sensing performance, the sensing measurement quantity threshold and / or sensing performance threshold used by the first sensing device and / or the second sensing device for sensing switching, trigger S716. The process can be specifically referred to the content of S715 and S515.

[0442] S716: The second sensing device sends a sensing data request to the first sensing device.

[0443] S717: The first sensing device acquires the first sensing data of the target object.

[0444] S718: The first sensing device sends the first sensing data to the second sensing device. Correspondingly, the second sensing device receives the first sensing data from the first sensing device.

[0445] The first sensing device can continuously sense the target object and send the first sensing data of the target object to the second sensing device after receiving the sensing data request; or the first sensing device can stop performing sensing on the target object after S713 or S714, and start performing sensing on the target object after receiving the sensing data request, and send the first sensing data acquired according to the sensing data request to the second sensing device.

[0446] S719: The second sensing device sends the fused sensing data to the SF.

[0447] The second sensing device fuses the sensing data from the first sensing device and the sensing data obtained by itself sensing the target object, and sends the fused sensing data to the SF.

[0448] The process of S716-S719 can refer to the content of S706-S709, and only the first sensing device and the second sensing device are replaced with each other.

[0449] S715-S719 can be understood as follows: for the first sensing device, although the sensing measurement and / or the sensing performance is within the range of the sensing measurement and / or the sensing performance corresponding to the sensing data of the first sensing device, it can also be within the range of the sensing measurement and / or the sensing performance corresponding to the sensing data of the second sensing device, so that the sensing effect on the target object can be enhanced by simultaneously performing sensing on the target object by the first sensing device and the second sensing device, and the problem of the decline of the sensing quality when the target object is in the edge zone of the sensing device can be improved.

[0450] S715-S719 can also be understood as follows: for the first sensing device, although the target object has crossed the switching boundary #12, since the target object is still within the sensing same coverage area #12, and although the sensing measurement and / or the sensing performance is within the range of the sensing measurement and / or the sensing performance corresponding to the sensing data of the first sensing device, it can also be within the range of the sensing measurement and / or the sensing performance corresponding to the sensing data of the second sensing device, so that the sensing effect on the target object can be enhanced by simultaneously performing sensing on the target object by the first sensing device and the second sensing device, and the problem of the decline of the sensing quality when the target object is in the edge zone of the sensing device can be improved.

[0451] Optionally, after S719, the method shown in FIG. 7 can further include the following process:

[0452] S720: The second sensing device triggers S721 according to that the sensing measurement and / or the sensing performance does not meet the third threshold.

[0453] Optionally, the second sensing device triggers S721 according to that the target object moves out of the sensing same coverage area #12 and the sensing measurement and / or the sensing performance does not meet the third threshold.

[0454] S721: The second sensing device sends information for indicating termination of acquisition of the sensing data to the first sensing device.

[0455] The process of S720 and S721 can refer to the content of S710 and S711.

[0456] S720 and S721 can be understood as occurring in a scenario that the target object moves out of the sensing same coverage area #12 and is within the range of the sensing measurement and / or the sensing performance corresponding to the sensing of the target object by the second sensing device.

[0457] Based on the process shown in FIG. 7, the first sensing device determines whether the neighboring sensing device needs to be introduced as a new sensing device for the target object in time through the sensing measurement and / or the sensing performance and the capability of the sensing device (mainly according to the sensing measurement threshold and / or the sensing performance threshold of the source sensing device and / or the neighboring sensing device for sensing switching), which avoids the problems such as service interruption or sensing data quality decline caused by initiating the switching of the sensing device only when the target object moves out of the sensing range of the current sensing device, and guarantees the continuity of the sensing service.

[0458] Optionally, based on the process shown in FIG. 7, the first sensing device determines whether the neighboring sensing device needs to be introduced as a new sensing device for the target object in time and accurately through the target object position, the sensing measurement and / or the sensing performance, and the capability of the sensing device (mainly according to the sensing same coverage area and / or the switching boundary of the source sensing device and the neighboring sensing device, and the sensing measurement threshold and / or the sensing performance threshold of the source sensing device and / or the neighboring sensing device for sensing switching), which avoids the problems such as service interruption or sensing data quality decline caused by initiating the switching of the sensing device only when the target object moves out of the sensing range of the current sensing device, and guarantees the continuity of the sensing service.

[0459] The method shown in FIGS. 5-8 is used by the first sensing device to determine whether to select a new sensing device for the target object or to perform sensing switching for the target object, and the method shown in FIG. 9 is used by the SF to determine whether to select a new sensing device for the target object or to initiate the switching of the sensing task for the target object.

[0460] FIG. 9 shows a schematic flowchart of a communication method provided in an embodiment of the present application. Specifically, the method includes the following steps.

[0461] S901: The SF acquires the sensing capability of the sensing device.

[0462] The sensing capability includes the information of the sensing range. The sensing device is one or more sensing devices in the management range of the SF. In the embodiment of the present application, the one or more sensing devices include the first sensing device and the second sensing device in the following description.

[0463] The process can refer to the specific introduction of the first sensing device acquiring the sensing capability of the neighboring sensing device in S501, which is not described herein again.

[0464] The sensing capability of the sensing device can refer to the introduction of the sensing capability in S501.

[0465] S901 can be replaced by: The SF acquires the information of the sensing same coverage area and / or the information of the switching boundary between the sensing devices. The information at least includes the information of the sensing same coverage area and / or the information of the switching boundary between the first sensing device and the neighboring sensing device.

[0466] Specifically, the SF obtains the sensing capability of the first sensing device and / or the neighboring sensing device, and then determines the information of the sensing-same-coverage area and / or the information of the handover boundary from the obtained sensing capability, or processes the obtained sensing capability to obtain the information of the sensing-same-coverage area and / or the information of the handover boundary. The process can be specifically referred to the related description of the implementation mode 1 and the implementation mode 2 in S303.

[0467] S902: The SF sends a sensing control request to the first sensing device. Correspondingly, the first sensing device receives the sensing control request from the SF.

[0468] The process can be specifically referred to the description of S502.

[0469] S903: The first sensing device obtains the first sensing data of the target object, and sends the first sensing data to the SF.

[0470] The process that the first sensing device receives the sensing control request from the SF, and performs sensing according to the sensing control request to obtain the first sensing data can be specifically referred to the description of S503.

[0471] S904: The SF obtains the sensing handover reference quantity according to the first sensing data.

[0472] The sensing handover reference quantity includes the position of the target object.

[0473] The sensing handover reference quantity can be specifically referred to the description of the sensing handover reference quantity in S303, and will not be described here again.

[0474] Specifically, the SF can obtain the sensing handover reference quantity by locally analyzing or processing the first sensing data.

[0475] Alternatively, the first sensing device can process the first sensing data to obtain the sensing handover reference quantity of the target object. In this case, S903 and S904 are replaced by: the first sensing device performs sensing according to the sensing control request, obtains the first sensing data of the target object, and obtains the sensing handover reference quantity of the target object according to the first sensing data, and then sends the sensing handover reference quantity to the SF.

[0476] S905: The SF triggers S906 according to that the target object enters the sensing-same-coverage area #12 but does not cross the handover boundary #12.

[0477] The process can be specifically referred to the description of S505, and only the first sensing device is replaced by the SF, which will not be described here again.

[0478] S906: The SF triggers the second sensing device to perform sensing.

[0479] S906 can have different implementations, such as S906a-S906b in FIG. 10, or S906c in FIG. 10.

[0480] One implementation is as follows:

[0481] S906a: the SF sends a perception control request to the first perception device.

[0482] The perception control request can include indication information, which indicates that the first perception device needs to obtain the perception data of the target object from the adjacent perception device, or the first perception device can know according to the indication information that the perception data of the target object needs to be obtained from the adjacent perception device.

[0483] The perception control request can include the identifier of the second perception device, which can also play the role of the above-mentioned indication information. The perception control request can include the identifier of the adjacent perception device of the first perception device. Optionally, the perception control request can further include region information, information of the target object, first perception data, and perception data processing information of the target object; wherein the region indicated by the region information covers the target object.

[0484] Optionally, when the first perception device can obtain the perception capability of the adjacent perception device, the above-mentioned perception control request can not carry the identifier of the second perception device and / or the identifier of the adjacent perception device, and the first perception device can determine the second perception device in the manner of S505 after receiving the perception control request, and perform the action of S906b subsequently.

[0485] S906b: the first perception device sends a perception data request to the second perception device.

[0486] The above-mentioned S906b can refer to the introduction of S506, which will not be described here.

[0487] Another implementation is as follows:

[0488] S906c: the SF sends a perception control request to the second perception device.

[0489] The perception control request can refer to the introduction of the second perception request in S303.

[0490] The perception control request can further include a perception start indication, or the request does not explicitly carry the indication information, but triggers the second perception device to start or activate the perception through the request itself.

[0491] S907: the second perception device sends second perception data to the SF. Correspondingly, the SF receives the second perception data from the second perception device.

[0492] The second sensing device acquires the second sensing data of the target object and sends it to the SF.

[0493] S906 and S907 are optional steps. If the SF determines not to switch the sensing of the target object according to the position of the target object in S905, the second sensing data is not acquired from the second sensing device, and only the first sensing data is acquired from the first sensing device.

[0494] S907 can have different implementations, such as S907a-S907c in FIG. 10, or S907d-S907f in FIG. 10.

[0495] S907a: The second sensing device acquires the second sensing data.

[0496] The second sensing device acquires the second sensing data of the target object according to the sensing data request. The process can be specifically referred to S507.

[0497] S907b: The second sensing device sends the second sensing data to the first sensing device. Correspondingly, the first sensing device receives the second sensing data from the second sensing device.

[0498] S907c: The first sensing device fuses the data and sends the fused sensing data to the SF.

[0499] The first sensing device fuses the second sensing data and the sensing data obtained by itself for the target object, and sends the fused sensing data to the SF.

[0500] S907a-S907c can be referred to S507-S509.

[0501] S907a-S907c can be replaced by S907d-S907f as follows.

[0502] S907d: The second sensing device acquires the second sensing data.

[0503] The second sensing device acquires the second sensing data of the target object according to the sensing data request. The process can be specifically referred to S507.

[0504] S907e: The second sensing device sends the second sensing data to the SF.

[0505] S907f: The SF fuses the data.

[0506] The SF fuses the second sensing data and the sensing data of the target object from the first sensing device.

[0507] It can be understood that in the process of S906-S907, the first perception device maintains the perception of the target object and continuously reports the corresponding perception data to the SF. In the case where the first perception device receives the second perception data from the second perception device and performs data fusion, the first perception device reports the fused perception data to the SF.

[0508] S908: The SF triggers S909 according to the target object moving out of the perception and coverage area #12.

[0509] The SF can determine that the target object moves out of the perception and coverage area #12 according to the perception result of the target object and the perception capability of the first perception device and / or the adjacent perception device, i.e., the target object only needs to be perceived by the first perception device or only needs to be perceived by the adjacent perception device.

[0510] Optionally, the first perception device triggers S909 according to the target object moving out of the perception and coverage area #12, and the perception result of the target object (such as speed information, direction information, signal strength of target reflection, signal quality of target reflection, etc.) and the perception capability of the adjacent perception device.

[0511] When S908 occurs after S907c, the SF can obtain the perception result of the target object according to the fused perception data. At this time, S909: the SF sends information for indicating termination of obtaining perception data to the second perception device, which is used to instruct the second perception device to stop sending the perception data of the target object to the first perception device, or the second perception device can know to stop sending the perception data of the target object to the first perception device after receiving the information.

[0512] S908 and S909 can be understood as occurring in the scenario where the target object moves out of the perception and coverage area #12 and moves out of the perception coverage range of the second perception device.

[0513] S910: The SF triggers S911 according to the target object entering the perception and coverage area #12 and crossing the switching boundary #12.

[0514] The process can be specifically referred to the introduction of S512, and only the first perception device is replaced by the SF, which will not be described here.

[0515] Optionally, S910 can occur directly after S904; or S910 can occur after S906 or S907, at which time the SF can obtain the perception result of the target object according to the second perception data or according to the fused perception data. The process of obtaining the perception result according to the perception data can be specifically referred to the introduction of S904, which will not be described here.

[0516] S911: The SF triggers the second perception device to perform perception.

[0517] S911 can have different implementations, such as S911a-S911c in FIG. 10, or S911d in FIG. 10.

[0518] One implementation is as follows:

[0519] S911a: The SF sends a perception control request to the first perception device.

[0520] The perception control request can include indication information indicating that the perception task of the target object is switched from the first perception device to the second perception device, or the first perception device can learn that the corresponding perception task is switched to the second perception device according to the indication information.

[0521] The perception control request can include the identifier of the second perception device, which can also play the role of the above-mentioned indication information. The perception control request can include the identifier of the neighboring perception device of the second perception device, and can also include information indicating that the second perception device obtains perception data from the neighboring perception device.

[0522] Optionally, when the first perception device can obtain the perception capability of the neighboring perception device, the above-mentioned perception control request can not carry the identifier of the second perception device, and the first perception device can determine the second perception device in the manner of S505 after receiving the perception control request, and perform the action of S911b subsequently.

[0523] S911b: The first perception device sends a perception switching request to the second perception device.

[0524] S911c: The second perception device sends a perception switching response to the first perception device.

[0525] The above-mentioned S911b-S911c can refer to the introduction of S513-S514, and will not be described here.

[0526] Another implementation is as follows:

[0527] S911d: The SF sends a perception control request to the second perception device.

[0528] The perception control request can refer to the introduction of the third perception request in S303.

[0529] The perception control request can also include a perception start indication, or the request does not explicitly carry the indication information, but triggers the second perception device to start or activate perception through the request itself.

[0530] Optionally, after S911, the second sensing device can also instruct the first sensing device to switch the sensing task of the target object to the second sensing device. Specifically, the second sensing device can send notification information to the first sensing device, where the notification information carries an instruction for indicating the switching of the sensing task, or the notification information itself indicates the switching of the sensing task. Optionally, the notification information can include a sensing data request instruction for requesting the sensing data from the first sensing device. At this time, the notification information can also carry part or all of the information carried by the second sensing request in S303.

[0531] It can be understood that in the process of S910-S911, the first sensing device can maintain the sensing of the target object and continuously report the corresponding sensing data to the SF. When the first sensing device receives the notification information carrying the sensing data request instruction, the first sensing device can stop reporting the sensing data of the target object to the SF, and only send the sensing data to the second sensing device; or the first sensing device can continue to send the sensing data of the target object to the SF, and also send the sensing data to the second sensing device.

[0532] S912: The second sensing device sends the second sensing data to the SF.

[0533] The second sensing device performs sensing according to the sensing data request to obtain the second sensing data of the target object. The process can refer to the process of the second sensing device performing sensing in S507.

[0534] The SF can also receive the sensing data of the target object from the first sensing device, and fuse the received sensing data and the second sensing data, and send the fused data to the SF.

[0535] In the above process, S905-S907 can occur first, and then S910-S912 can occur; or S910-S912 can occur first, and then S905-S907 can occur; or only S905-S907 can occur; or only S910-S912 can occur, which is not limited by the present application.

[0536] S905 and S906c can be understood as a specific implementation of case 1 of S303 in the embodiment shown in FIG. 3. S905, S906a-S906b can be understood as a specific implementation of case 3 of S303 in the embodiment shown in FIG. 3. S910 and S911d can be understood as a specific implementation of case 2 of S303 in the embodiment shown in FIG. 3. S910, S911a-S911c can be understood as a specific implementation of case 4 of S303 in the embodiment shown in FIG. 3.

[0537] Optionally, after S912, the second sensing device performs sensing on the target object as a new sensing device, and the method shown in FIG. 9 can further include the following process:

[0538] S913: The SF triggers S914 according to that the target object enters the sensing and coverage area #12 but does not cross the switching boundary #12.

[0539] It can be understood in combination with S905 that whether the target object crosses the switching boundary #12 depends on which sensing device the switching boundary belongs to. For the first sensing device, the target object has crossed the switching boundary #12 at this time, but for the second sensing device, the target object has not crossed the switching boundary #12. In other words, in the embodiment shown in FIG. 9, whether the target object crosses the switching boundary #12 in steps S901-S912 is for the first sensing device; and after S913, whether the target object crosses the switching boundary #12 is for the second sensing device.

[0540] S914: The SF triggers the first sensing device to perform sensing.

[0541] S915: The first sensing device sends first sensing data to the SF. Correspondingly, the SF receives the first sensing data from the first sensing device.

[0542] The first sensing device acquires second sensing data of the target object and sends the second sensing data to the SF.

[0543] The first sensing device can continuously perform sensing on the target object, and continue to send sensing data to the SF directly or indirectly after receiving the SF trigger in S914. Indirectly sending sensing data to the SF can be that the first sensing device sends sensing data to the second sensing device, and the second sensing device forwards the sensing data to the SF, or the second sensing device fuses the sensing data and sends the fused sensing data to the SF. Alternatively, the first sensing device can stop performing sensing on the target object after S912, and start performing sensing on the target object after receiving the SF trigger in S914, and send the acquired sensing data to the SF directly or indirectly.

[0544] The above S913-S915 can also refer to the content of S905-S907, and only the first sensing device and the second sensing device are replaced with each other.

[0545] Optionally, after S915, the method shown in FIG. 9 can further include the following process:

[0546] S916: The SF triggers S917 according to that the target object moves out of the sensing and coverage area #12.

[0547] S917: The SF sends information for indicating to terminate acquiring sensing data to the first sensing device.

[0548] After the first perception device receives the information, the first perception device stops sending the perception data of the target object to the SF or the second perception device, and can send a response of stopping sending the perception data to the SF.

[0549] S916 and S917 can refer to the content of S908 and S909 described above.

[0550] S916 and S917 can be understood as a scenario in which the target object moves out of the perception and coverage area #12 and moves out of the perception coverage range of the first perception device.

[0551] Based on the process shown in FIG. 9 described above, the SF can determine in time whether to introduce the adjacent perception device as a new perception device for the target object based on the position of the target object and the perception and coverage areas and / or switching boundaries of the source perception device and the adjacent perception device, thereby avoiding problems such as service interruption or perception data quality degradation caused by initiating switching of the perception device only when the target object moves out of the perception range of the current perception device, and ensuring continuity of the perception service.

[0552] Based on the processes shown in FIG. 9 and FIG. 10 described above, the first perception device performs perception on the target object as a source perception device, and can trigger the second perception device to perform perception according to the perception control request from the SF after receiving the perception control request. The triggering of the second perception device to perform perception can be implemented by S906b or S911b. If the first perception device receives the perception data of the target object from the second perception device, the first perception device can fuse the second perception data and the perception data obtained by the first perception device by performing perception on the target object, and report to the SF; the process can refer to the processes of S907a-S907c.

[0553] The method shown in FIG. 9 describes a scheme for determining whether to perform perception switching on the target object based on the position of the target object included in the perception switching reference quantity (for example, the SF determines whether the target object enters the perception and coverage area #12 and crosses the switching boundary #12 in S905 and S910 described above). Similarly, the SF can also determine whether to perform perception switching on the target object based on the perception measurement quantity and / or the perception performance included in the perception switching reference quantity. The method shown in FIG. 11 describes a scheme for determining whether to perform perception switching on the target object based on the perception measurement quantity and / or the perception performance included in the perception switching reference quantity.

[0554] FIG. 11 shows a schematic flowchart of a communication method according to an embodiment of the present application. Specifically, the method includes the following steps:

[0555] S1101: The SF obtains the perception capability of the perception device.

[0556] The sensing device is one or more sensing devices within the management range of the SF. In the embodiments of the present application, the one or more sensing devices include the first sensing device and the second sensing device below.

[0557] The sensing capability can include a sensing measurement threshold and / or a sensing performance threshold of the sensing device for sensing switching. The sensing measurement and the sensing performance can refer to the corresponding description in FIG. 3 above, and will not be described in detail.

[0558] Optionally, the sensing capability includes the sensing measurement threshold and / or the sensing performance threshold of the sensing device for sensing switching, and can further include information of a sensing range. The process can be specifically adapted with reference to the introduction of S501.

[0559] S1101 can also be replaced by: the SF obtains a sensing measurement threshold and / or a sensing performance threshold of the first sensing device and / or one or more adjacent sensing devices for sensing switching.

[0560] Specifically, the SF obtains the sensing capability of the sensing device, and then determines the sensing measurement threshold and / or the sensing performance threshold of the sensing device for sensing switching from the obtained sensing capability, or processes the obtained sensing capability to obtain the sensing measurement threshold and / or the sensing performance threshold for sensing switching.

[0561] Optionally, the SF obtains sensing configuration information of the sensing device, and then determines the sensing measurement threshold and / or the sensing performance threshold of the sensing device for sensing switching from the obtained sensing configuration information. The specific sensing configuration information can refer to the description in S501 above.

[0562] Optionally, S1101 can also be replaced by: the SF obtains a sensing measurement threshold and / or a sensing performance threshold of the first sensing device and / or one or more adjacent sensing devices for sensing switching, and obtains information of a sensing and coverage area and / or information of a switching boundary of the first sensing device and the one or more adjacent sensing devices.

[0563] S1102: The SF sends a sensing control request to the first sensing device. Correspondingly, the first sensing device receives the sensing control request from the SF.

[0564] The process can be specifically referred to the introduction of S502.

[0565] S1103: The first sensing device obtains first sensing data of the target object, and sends the first sensing data to the SF.

[0566] The process of the first sensing device receiving the sensing control request from the SF, sensing according to the sensing control request and obtaining the first sensing data can be specifically referred to the introduction of S503.

[0567] S1104: The SF obtains a perception switching reference quantity according to the first perception data.

[0568] The perception switching reference quantity includes a perception measurement quantity and / or a perception performance. The perception measurement quantity and / or the perception performance can refer to the description in S303, and will not be described here.

[0569] The SF obtains a perception measurement quantity and / or a perception performance according to the first perception data. The perception measurement quantity is a perception signal strength or a perception signal quality or a radar cross section corresponding to the first perception data, and the perception performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence level corresponding to a perception result obtained based on the first perception data. The first perception data is obtained by the first perception device perceiving the target object, so the perception signal strength or the perception signal quality or the radar cross section corresponding to the first perception data can also be understood as the perception measurement quantity of the first perception device, and the at least one of the accuracy, the resolution, the detection rate, the false detection rate, the false alarm rate, and the confidence level corresponding to the perception result obtained based on the first perception data can also be understood as the perception performance of the first perception device.

[0570] The SF obtains a perception measurement quantity and / or a perception performance according to the first perception data. Specifically, the SF can obtain the perception measurement quantity and / or the perception performance by locally analyzing or processing the first perception data.

[0571] Alternatively, the SF can process the first perception data to obtain the perception switching reference quantity of the target object. At this time, S1103 and S1104 are replaced by: the SF performs perception according to the perception control request, obtains the first perception data of the target object, and obtains the perception switching reference quantity of the target object according to the first perception data, and then sends the perception switching reference quantity to the SF.

[0572] S1105: The SF determines that the target object does not satisfy the switching condition according to the perception measurement quantity and / or the perception performance, a perception measurement quantity threshold and / or a perception performance threshold for perception switching of the first perception device and / or the second perception device, and triggers S1106.

[0573] The process can refer to the description of S705, and the first perception device is replaced by the SF, which will not be described here.

[0574] S1106: The SF triggers the second perception device to perform perception.

[0575] The process can refer to the description of S906.

[0576] S1107: The second perception device sends second perception data to the SF. Correspondingly, the SF receives the second perception data from the second perception device.

[0577] The process can be specifically referred to the introduction of S907.

[0578] S1106 and S1107 are optional steps, that is, the SF determines, according to the perception measurement and / or the perception performance, the perception measurement threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the second perception device, that the target object does not perform the perception switching, and then the second perception data can not be acquired from the second perception device, and only the first perception data needs to be acquired from the first perception device.

[0579] S1108: The SF triggers S1109 according to the perception measurement and / or the perception performance not meeting the second threshold.

[0580] The SF can determine that the second threshold is not met according to the perception measurement and / or the perception performance, that is, it is determined that the target object only needs the first perception device for perception or only needs the adjacent perception device for perception. The second threshold can be understood as a value that meets the range of the perception measurement and / or the perception performance corresponding to the perception data of the first perception device, or a general term that meets the range of the perception measurement and / or the perception performance corresponding to the perception data of the adjacent perception device.

[0581] Optionally, the SF triggers S1109 according to the perception measurement and / or the perception performance not meeting the second threshold, and the perception result (such as speed information, direction information, target reflection signal strength, target reflection signal quality, etc.) of the target object and the perception ability of the adjacent perception device.

[0582] When S1108 can occur after S1106 or S1107, the SF can acquire the perception measurement and / or the perception performance according to the perception data after the fusion of the first perception data and the second perception data. At this time, S1109: The SF sends information for indicating the termination of acquiring the perception data to the second perception device.

[0583] S1108 and S1109 can be understood as occurring in the scenario that the target object moves out of the range of the perception measurement and / or the perception performance corresponding to the target object perceived by the first perception device.

[0584] Optionally, the first perception device can trigger S1109 according to the target object moving out of the perception coverage area #12, and according to the perception measurement and / or the perception performance not meeting the second threshold. The process can be specifically referred to the introduction of S510 and S1109.

[0585] S1110: The SF triggers S1111 according to the perception measurement and / or the perception performance, the perception measurement threshold and / or the perception performance threshold for the perception switching of the first perception device and / or the second perception device, and determines that the target object meets the switching condition.

[0586] The process can be specifically referred to the introduction of S712, only need to replace the first sensing device with SF, and details are not repeated here.

[0587] Optionally, the SF triggers S1111 according to the sensing measurement and / or sensing performance, the sensing measurement threshold and / or sensing performance threshold for sensing switching of the first sensing device and / or the second sensing device, and the sensing result (such as speed information, direction information, signal strength of target reflection, signal quality of target reflection, etc.) of the target object and the sensing capability of the adjacent sensing device.

[0588] Optionally, S1110 can occur directly after S1104; or S1110 can occur after S1106 or S1107, at this time, the SF can obtain the sensing measurement and / or sensing performance according to the second sensing data, or obtain the sensing measurement and / or sensing performance according to the fused sensing data. The process of obtaining the sensing measurement and / or sensing performance according to the sensing data can be specifically referred to the introduction of S1104, and details are not repeated here.

[0589] Based on S1110, the SF can timely determine whether to introduce the adjacent sensing device as a new sensing device for the target object according to the sensing measurement and / or sensing performance, the sensing measurement threshold and / or sensing performance threshold for sensing switching of the source sensing device and / or the adjacent sensing device, avoiding the problems of service interruption or sensing data quality degradation caused by initiating the switching of the sensing device when the target object moves out of the sensing range of the current sensing device, and ensuring the continuity of the sensing service.

[0590] Optionally, the SF can determine that the target object meets the switching condition according to the target object entering the sensing and coverage area #12 and crossing the switching boundary #12, and according to the sensing measurement and / or sensing performance, the sensing measurement threshold and / or sensing performance threshold for sensing switching of the first sensing device and / or the second sensing device, and trigger S1111. The process can be specifically referred to the introduction of S910 and S1110.

[0591] S1111: The SF triggers the second sensing device to perform sensing.

[0592] The process can be specifically referred to the introduction of S911.

[0593] S1112: The second sensing device sends the second sensing data to the SF.

[0594] The process can be specifically referred to the introduction of S912.

[0595] In the above process, S1105-S1107 can occur first, followed by S1110-S1112; or S1110-S1112 can occur first, followed by S1105-S1107; or only S1105-S1107 can occur; or only S1110-S1112 can occur, which are not limited in the present application.

[0596] Optionally, after S1112, the second sensing device performs sensing on the target object as a new sensing device, and the method shown in FIG. 11 can further include the following process:

[0597] S1113: The SF determines that the target object does not meet the switching condition according to the sensing measurement and / or sensing performance, the sensing measurement threshold and / or sensing performance threshold for sensing switching of the first sensing device and / or the second sensing device, and triggers S1114.

[0598] The sensing measurement and / or sensing performance in this step can be the sensing measurement and / or sensing performance of the target object determined by the second sensing device according to the second sensing data or according to the fusion data of the first sensing data and the second sensing data.

[0599] It can be understood in combination with S1105 that whether the target meets the switching condition depends on which sensing device the switching condition is compared with. For the first sensing device, the source sensing device in the switching condition is the first sensing device, and the adjacent sensing device can be the second sensing device or other sensing devices. For the second sensing device, the source sensing device in the switching condition is the second sensing device, and the adjacent sensing device can be the first sensing device or other sensing devices.

[0600] In other words, in the embodiment shown in FIG. 11, in the above S1101-S1113 steps, whether the target object meets the switching condition is for the first sensing device; after S1113, whether the target object meets the switching condition is for the second sensing device.

[0601] S1114: The SF triggers the first sensing device to perform sensing.

[0602] S1115: The first sensing device sends the first sensing data to the SF. Correspondingly, the SF receives the first sensing data from the first sensing device.

[0603] The above S1114 and S1115 can refer to the content of S1106 and S1107, and only the first sensing device and the second sensing device are replaced with each other.

[0604] Optionally, after S1115, the method shown in FIG. 11 can further include the following process:

[0605] S1116: The SF triggers S1117 according to the fact that the sensing measurement quantity and / or the sensing performance does not meet the third threshold.

[0606] S1117: The SF sends information indicating termination of acquiring sensing data to the first sensing device.

[0607] S1116 and S1117 can refer to the content of S1108 and S1109 described above.

[0608] S1116 and S1117 can be understood as a scenario in which the target object moves out of the sensing coverage area #12 and the target object moves out of the range of the second sensing device in which the target object corresponds to the sensing measurement quantity and / or the sensing performance.

[0609] Based on the process shown in FIG. 11, the SF determines in a timely manner whether the adjacent sensing device needs to be introduced as a new sensing device for the target object based on the sensing measurement quantity and / or the sensing performance, and the capability of the sensing device (mainly according to the sensing measurement quantity threshold and / or the sensing performance threshold for sensing switching of the source sensing device and / or the adjacent sensing device), thereby avoiding problems such as service interruption or sensing data quality degradation caused by initiating switching of the sensing device only when the target object moves out of the sensing range of the current sensing device, and ensuring continuity of the sensing service.

[0610] Optionally, based on the process shown in FIG. 11, the SF determines in a timely and accurate manner whether the adjacent sensing device needs to be introduced as a new sensing device for the target object based on the target object position, the sensing measurement quantity and / or the sensing performance, and the capability of the sensing device (mainly according to the sensing coverage area and / or the switching boundary of the source sensing device and the adjacent sensing device, and the sensing measurement quantity threshold and / or the sensing performance threshold for sensing switching of the source sensing device and / or the adjacent sensing device), thereby avoiding problems such as service interruption or sensing data quality degradation caused by initiating switching of the sensing device only when the target object moves out of the sensing range of the current sensing device, and ensuring continuity of the sensing service.

[0611] It can be understood that, in order to implement the functions in the above embodiments, the first sensing device, the SF, or the second sensing device includes a corresponding hardware structure and / or software module for performing each function. Those skilled in the art should easily realize that, in combination with the units and method steps of each example described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0612] FIG. 12 and FIG. 13 are structural diagrams of possible communication apparatuses provided by embodiments of the present application. The communication apparatuses can be used to implement the functions of the first sensing device, the SF, or the second sensing device in the above-mentioned method embodiments, and thus can also achieve the beneficial effects possessed by the above-mentioned method embodiments. The communication apparatus can be the first sensing device, the SF, or the second sensing device. The communication apparatus includes modules or units corresponding to the methods / operations / steps / actions performed by the first sensing device, the SF, or the second sensing device in the above-mentioned method embodiments, which can be hardware circuits, software, or a combination of hardware circuits and software. In embodiments of the present application, the communication apparatus can be one of the terminals 120a-120j as shown in FIG. 1, can be the access network device 110a or 110b as shown in FIG. 1, or can be a module (such as a chip) applied to a terminal or an access network device.

[0613] As shown in FIG. 12, the communication apparatus 1200 can include a processing unit 1201 and a transceiver unit 1202. The communication apparatus 1200 is used to implement the functions of the first sensing device in the above-mentioned method embodiments shown in FIG. 5-FIG. 11.

[0614] When the communication apparatus 1200 is used to implement the functions of the first sensing device in the method embodiments shown in FIG. 5-FIG. 11, the processing unit 1201 is configured to:

[0615] The processing unit 1201 is configured to obtain sensing data of a target object, the sensing data including first sensing data and / or second sensing data; wherein the first sensing data is obtained by sensing by a first sensing device, and the second sensing data is obtained by sensing by a second sensing device.

[0616] The processing unit 1201 is further configured to obtain a sensing switching reference quantity according to the sensing data, the sensing switching reference quantity including at least one of a target object position, a sensing measurement quantity, and a sensing performance.

[0617] The processing unit 1201 is further configured to determine whether to perform sensing switching on the target object according to the sensing switching reference quantity.

[0618] In one possible implementation, the sensing switching reference quantity includes the target object position, and the sensing data includes the first sensing data. The processing unit 1201 obtains the sensing switching reference quantity according to the sensing data, and is specifically configured to: obtain the target object position according to the first sensing data.

[0619] The processing unit 1201 determines whether to perform the perception switching on the target object according to the perception switching reference quantity, specifically for: obtaining the perception coverage area information and the switching boundary of the perception ranges of the first perception device and one or more adjacent perception devices; in a case where the target object position is located in the perception coverage area of the perception ranges of the first perception device and the second perception device, but does not cross the switching boundary between the first perception device and the second perception device, determining not to perform the perception switching on the target object, the one or more adjacent perception devices including the second perception device.

[0620] In a possible implementation, the transceiving unit 1202 is configured to, in a case where the target object position is located in the perception coverage area of the perception ranges of the first perception device and the second perception device, and crosses the switching boundary between the first perception device and the second perception device, send a perception switching request to the second perception device, the perception switching request being used to request to switch the perception on the target object to the second perception device.

[0621] In a possible implementation, the perception switching reference quantity includes the target object position, and the perception data includes first perception data, and the processing unit 1201 obtains the perception switching reference quantity according to the perception data, specifically for: obtaining the target object position according to the first perception data.

[0622] The processing unit 1201 determines whether to perform the perception switching on the target object according to the perception switching reference quantity, specifically for: obtaining the perception coverage area information and...

Claims

1. A communication method characterized by comprising: The method comprises: obtaining perception data of a target object, the perception data comprising first perception data and / or second perception data; wherein the first perception data is obtained by a first perception device, and the second perception data is obtained by a second perception device; obtaining a perception switching reference quantity according to the perception data, the perception switching reference quantity comprising at least one of a target object position, a perception measurement quantity, and a perception performance; determining whether to perform perception switching on the target object according to the perception switching reference quantity.

2. The method of claim 1, wherein, The perception switching reference quantity comprises a target object position, and the perception data comprises first perception data, and the obtaining a perception switching reference quantity according to the perception data comprises: obtaining the target object position according to the first perception data; The determining whether to perform perception switching on the target object according to the perception switching reference quantity comprises: obtaining perception coverage area information and a switching boundary of a perception range of the first perception device and one or more adjacent perception devices; in a case where the target object position is located in a perception coverage area of the first perception device and the second perception device, but does not cross the switching boundary between the first perception device and the second perception device, determining not to perform perception switching on the target object, the one or more adjacent perception devices comprising the second perception device.

3. The method of claim 2, wherein, The method further comprises: in a case where the target object position is located in a perception coverage area of the first perception device and the second perception device, and crosses the switching boundary between the first perception device and the second perception device, sending a perception switching request to the second perception device, the perception switching request being used to request switching of perception on the target object to the second perception device.

4. The method of claim 1, wherein, The perception switching reference quantity comprises a target object position, and the perception data comprises first perception data, and the obtaining a perception switching reference quantity according to the perception data comprises: obtaining the target object position according to the first perception data; The determining whether to perform perception switching on the target object according to the perception switching reference quantity comprises: obtaining perception coverage area information and a switching boundary of a perception range of the first perception device and one or more adjacent perception devices; in a case where the target object position is located in a perception coverage area of the first perception device and the second perception device, and crosses the switching boundary between the first perception device and the second perception device, sending a perception switching request to the second perception device, the perception switching request being used to request switching of perception on the target object to the second perception device, the one or more adjacent perception devices comprising the second perception device.

5. The method according to any of claims 2-4, characterized by, The obtaining perception coverage area information and a switching boundary of a perception range of the first perception device and one or more adjacent perception devices comprises: obtaining perception configuration information of the first perception device and / or the one or more adjacent perception devices, and determining the perception coverage area information and the switching boundary according to the perception configuration information; The perception configuration information includes one or more of the following: a perception coverage range, a perception same coverage area of a perception device and a neighboring perception device, a handover boundary between the perception device and the neighboring perception device, a supported perception target type, and a supported perception requirement.

6. The method according to any one of claims 2-5, characterized in that, The method further includes: In a case where the target object exits the perception same coverage area of the first perception device and the second perception device, determining that perception data is not required to be acquired from the second perception device, and sending information indicating termination of acquisition of the perception data to the second perception device.

7. The method according to any one of claims 1 to 6, characterized in that, The perception switching reference quantity includes the perception measurement quantity and / or the perception performance, the perception data includes first perception data, the perception measurement quantity is a perception signal strength or a perception signal quality or a radar cross section corresponding to the first perception data, and the perception performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence level corresponding to a perception result acquired based on the first perception data. The determining whether to perform the perception switching on the target object according to the perception switching reference quantity includes: acquiring a perception measurement quantity threshold and / or a perception performance threshold for perception switching of the first perception device and / or one or more neighboring perception devices; determining not to perform the perception switching on the target object according to the perception measurement quantity and / or the perception performance and the perception measurement quantity threshold and / or the perception performance threshold for perception switching of the first perception device and / or the one or more neighboring perception devices, the one or more neighboring perception devices including the second perception device.

8. The method of claim 7, wherein, The method further includes: determining to send a perception switching request to the second perception device according to the perception measurement quantity and / or the perception performance and the perception measurement quantity threshold and / or the perception performance threshold for perception switching of the first perception device and / or the one or more neighboring perception devices, the perception switching request being used to request switching of the perception on the target object to the second perception device.

9. The method according to any one of claims 1 to 6, characterized in that, The perception switching reference quantity includes the perception measurement quantity and / or the perception performance, the perception data includes first perception data, the perception measurement quantity is a perception signal strength or a perception signal quality or a radar cross section corresponding to the first perception data, and the perception performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence level corresponding to a perception result acquired based on the first perception data. The determining whether to perform the perception switching on the target object according to the perception switching reference quantity includes: acquiring a perception measurement quantity threshold and / or a perception performance threshold for perception switching of the first perception device and / or one or more neighboring perception devices; determining to send a perception switching request to the second perception device according to the perception measurement quantity and / or the perception performance and the perception measurement quantity threshold and / or the perception performance threshold for perception switching of the first perception device and / or the one or more neighboring perception devices, the perception switching request being used to request switching of the perception on the target object to the second perception device.

10. The method according to any one of claims 7-9, characterized in that, The method further comprises: The method further comprises:

11. The method according to any one of claims 7-10, characterized in that, The method further comprises: The method further comprises:

12. The method of any of claims 3-4, 8-9, wherein, The method further comprises: The method further comprises:

13. The method according to any one of claims 1 to 12, characterized in that, The method further comprises:

14. The method according to any one of claims 1 to 13, characterized in that, The method further comprises: The method further comprises: The method further comprises: The method further comprises:

15. The method of claim 14, wherein, The method further comprises: The method further comprises: The method further comprises:

16. The method according to claim 14 or 15, characterized in that The method further comprises: The method further comprises: The method further comprises:

17. The method of claims 1-13, wherein, The method further comprises: The method further comprises: The method further comprises: The method further comprises:

18. The method of claim 17, wherein, The method further comprises: The method further comprises: The method further comprises:

19. 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object and the perception co-coverage area and / or the handover boundary is sent to the first perception device when the target object changes in and / or out of the perception co-coverage area and / or changes left and right of the handover boundary.

20. The method of claim 16, 18, or 19, wherein, The perception switching assistance information includes the relationship between the target object and the perception co-coverage area and / or the handover boundary.

21. The method of claim 16 or 18, wherein, The subscription request includes one or more of the following: a perception measurement threshold and / or a perception performance threshold for perception switching, and an event notification indication; wherein the event notification indication is used to indicate whether the result that the perception measurement and / or the perception performance meets the perception measurement threshold and / or the perception performance threshold for perception switching is sent to the first perception device.

22. The method of claim 16, 18, or 21, wherein, The perception switching assistance information includes the result that the perception measurement and / or the perception performance meets the perception measurement threshold and / or the perception performance threshold for perception switching.

23. The method according to any one of claims 17-22, characterized by, The method further includes: sending a second perception request to the first perception device, the second perception request being used to request the first perception device to trigger the second perception device to perform perception on the target object, and the second perception request including an identifier of the second perception device.

24. The method according to any one of claims 14-23, characterized by, The first perception request includes one or more of the following: information of the target object, perception requirements, and service continuity indication.

25. A communications device, characterized by includes: a processing unit, configured to acquire perception data of a target object, the perception data including first perception data and / or second perception data; wherein the first perception data is obtained by perception of a first perception device, and the second perception data is obtained by perception of a second perception device; the processing unit is further configured to acquire a perception switching reference quantity according to the perception data, the perception switching reference quantity including at least one of a target object position, a perception measurement quantity, and a perception performance; the processing unit is further configured to determine whether to perform perception switching on the target object according to the perception switching reference quantity.

26. The apparatus of claim 25, wherein, The perception switching reference quantity includes a target object position, the perception data includes first perception data, and the processing unit acquires a perception switching reference quantity according to the perception data, specifically configured to: acquire the target object position according to the first perception data; the processing unit determines whether to perform perception switching on the target object according to the perception switching reference quantity, specifically configured to: acquire perception co-coverage area information and a handover boundary of a perception range of the first perception device and one or more adjacent perception devices; in a case where the target object position is located in a perception co-coverage area of a perception range of the first perception device and the second perception device but does not cross a handover boundary between the first perception device and the second perception device, and the one or more adjacent perception devices include the second perception device, it is determined that perception switching is not performed on the target object.

27. The apparatus of claim 26, wherein, The apparatus further includes: The transceiving unit is configured to send a sensing switching request to the second sensing device in a case where the target object position is located in a sensing and coverage area of the first sensing device and the second sensing device and crosses a switching boundary between the first sensing device and the second sensing device, the sensing switching request being used to request switching of sensing of the target object to the second sensing device.

28. The apparatus of claim 25, wherein, The sensing switching reference quantity comprises a target object position, and the sensing data comprises first sensing data, and the processing unit is configured to acquire the sensing switching reference quantity according to the sensing data, specifically configured to: acquire the target object position according to the first sensing data; The processing unit is configured to determine whether to perform sensing switching on the target object according to the sensing switching reference quantity, specifically configured to: acquire sensing and coverage area information and a switching boundary of a sensing range of the first sensing device and one or more adjacent sensing devices; The transceiving unit is configured to send a sensing switching request to the second sensing device in a case where the target object position is located in a sensing and coverage area of the first sensing device and the second sensing device and crosses a switching boundary between the first sensing device and the second sensing device, the sensing switching request being used to request switching of sensing of the target object to the second sensing device, the one or more adjacent sensing devices comprising the second sensing device.

29. The apparatus of any one of claims 26-28, wherein, The processing unit is configured to acquire sensing and coverage area information and a switching boundary of a sensing range of the first sensing device and one or more adjacent sensing devices, specifically configured to: acquire sensing configuration information of the first sensing device and / or the one or more adjacent sensing devices, and determine the sensing and coverage area information and the switching boundary according to the sensing configuration information; The sensing configuration information comprises one or more of the following: a sensing coverage range, a sensing and coverage area of a sensing range of a sensing device and adjacent sensing devices, a switching boundary between a sensing device and adjacent sensing devices, a supported sensing target type, and a supported sensing requirement.

30. The apparatus of any of claims 26-29, wherein, The transceiving unit is further configured to determine that sensing data does not need to be acquired from the second sensing device in a case where the target object leaves the sensing and coverage area of the first sensing device and the second sensing device, and send information indicating termination of acquisition of sensing data to the second sensing device.

31. The apparatus of any of claims 25-30, wherein, The sensing switching reference quantity comprises the sensing measurement quantity and / or the sensing performance, the sensing data comprises first sensing data, the sensing measurement quantity is a sensing signal strength or a sensing signal quality or a radar cross section corresponding to the first sensing data, and the sensing performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, and a confidence level corresponding to a sensing result acquired based on the first sensing data; The processing unit is configured to determine whether to perform sensing switching on the target object according to the sensing switching reference quantity, specifically configured to: acquire a sensing measurement quantity threshold and / or a sensing performance threshold for sensing switching of the first sensing device and / or one or more adjacent sensing devices; determining, according to the perception measurement quantity and / or the perception performance, and a perception measurement quantity threshold and / or a perception performance threshold for the perception handover of the first perception device and / or the one or more adjacent perception devices, that no perception handover is to be performed on the target object, the one or more adjacent perception devices including the second perception device.

32. The apparatus of claim 31, wherein, the transceiver is further configured to, according to the perception measurement quantity and / or the perception performance, and a perception measurement quantity threshold and / or a perception performance threshold for the perception handover of the first perception device and / or the one or more adjacent perception devices, send a perception handover request to the second perception device, the perception handover request being used to request that the perception of the target object be handed over to the second perception device.

33. The device of any one of claims 25-30, wherein, The perception handover reference quantity includes the perception measurement quantity and / or the perception performance, the perception data includes first perception data, the perception measurement quantity is a perception signal strength or a perception signal quality or a radar cross section corresponding to the first perception data, and the perception performance is at least one of an accuracy, a resolution, a detection rate, a false detection rate, a false alarm rate, or a confidence level corresponding to a perception result obtained based on the first perception data. The processing unit is configured to determine whether to perform the perception handover on the target object according to the perception handover reference quantity, and specifically configured to: obtain a perception measurement quantity threshold and / or a perception performance threshold for the perception handover of the first perception device and / or the one or more adjacent perception devices. The transceiver is configured to, according to the perception measurement quantity and / or the perception performance, and a perception measurement quantity threshold and / or a perception performance threshold for the perception handover of the first perception device and / or the one or more adjacent perception devices, send a perception handover request to the second perception device, the perception handover request being used to request that the perception of the target object be handed over to the second perception device.

34. The apparatus of any one of claims 31-33, wherein, The processing unit is configured to obtain a perception measurement quantity threshold and / or a perception performance threshold for the perception handover of the first perception device and / or the one or more adjacent perception devices, and specifically configured to: obtain perception configuration information of the first perception device and / or the one or more adjacent perception devices, the perception configuration information including a perception measurement quantity threshold and / or a perception performance threshold for the perception handover.

35. The device of any one of claims 31-34, wherein, The transceiver is configured to, according to the perception measurement quantity and / or the perception performance, and a perception measurement quantity threshold and / or a perception performance threshold for the perception handover of the first perception device and / or the one or more adjacent perception devices, determine that no perception data is to be obtained from the second perception device, and send information indicating termination of obtaining the perception data to the second perception device.

36. The apparatus of any one of claims 27-28, 32-33, wherein, The perception handover request includes one or more of the following: information of the target object, a perception requirement, an indication of service continuity, the first perception data, and perception data processing information of the target object.

37. The device of any one of claims 25-36, wherein, The information of the target object includes one or more of the following: an object type, an object outline, an object size, an object material, an object speed, and an object position.

38. The device of any one of claims 25-37, wherein, The apparatus is a first perception device, and the transceiver is configured to receive a first perception request from a perception function. The processing unit acquires perception data of a target object, specifically for: in response to the first perception request, performing perception and acquiring the first perception data and / or receiving the second perception data from the second perception device.

39. The device of claim 38, wherein, The transceiving unit is further configured to send the perception data to the perception function; or, In a case where the perception data comprises the first perception data and the second perception data, first fused perception data is acquired according to the first perception data and the second perception data, and the first fused perception data is sent to the perception function.

40. The device of claim 38 or 39, wherein, The transceiving unit is further configured to: send a subscription request to the perception function, the subscription request being used to request subscription of perception switching assistance information of a target object; receive a subscription response from the perception function, the subscription response comprising the perception switching assistance information of the target object.

41. The device of any one of claims 25-37, wherein, The apparatus is a perception function, and the transceiving unit is configured to send the first perception request to the first perception device; The transceiving unit is further configured to acquire perception data of a target object, specifically for: receiving the perception data of the target object from the first perception device, or receiving first fused perception data from the first perception device, the first fused perception data being acquired by the first perception device according to the first perception data and the second perception data.

42. The device of claim 41, wherein, The transceiving unit is further configured to: receive a subscription request from the first perception device, the subscription request being used to request subscription of perception switching assistance information of a target object; send a subscription response to the first perception device, the subscription response comprising the perception switching assistance information of the target object.

43. The device of claim 40 or 42, wherein, The subscription request comprises one or more of: a perception same-coverage area of perception ranges of the first perception device and one or more neighboring perception devices, a switching boundary of the first perception device and one or more neighboring perception devices, and an area replacement event notification indication; wherein the area replacement event notification indication is used to indicate that, when the target object moves in and out of the perception same-coverage area and / or moves left and right of the switching boundary, the relationship between the target object and the perception same-coverage area and / or the switching boundary is sent to the first perception device.

44. The device of claim 40, 42, or 43, wherein, The perception switching assistance information comprises the relationship between the target object and the perception same-coverage area and / or the switching boundary.

45. The device of claim 40 or 42, wherein, The subscription request comprises one or more of: a perception measurement threshold and / or a perception performance threshold for perception switching, and an event notification indication; wherein the event notification indication is used to indicate whether the result of whether a perception measurement and / or a perception performance meets the perception measurement threshold and / or the perception performance threshold for perception switching is sent to the first perception device.

46. The device of claim 40, 42, or 45, wherein, The perception switching assistance information comprises the result of whether a perception measurement and / or a perception performance meets the perception measurement threshold and / or the perception performance threshold for perception switching.

47. The device of any one of claims 41-46, wherein, The transceiving unit is further configured to send a second sensing request to the first sensing device, the second sensing request being used to request the first sensing device to trigger the second sensing device to perform sensing on the target object, and the second sensing request comprising an identifier of the second sensing device.

48. The device of any one of claims 38-47, wherein, The first sensing request comprises one or more of the following: information of the target object, sensing requirement, service continuity indication.

49. A communications device, characterized by The communication device comprises a processor, a memory, an input interface and an output interface, the input interface being configured to receive information from other communication devices outside the communication device, the output interface being configured to output information to other communication devices outside the communication device, and when a stored computer program stored in the memory is invoked by the processor, the method according to any one of claims 1-24 is implemented.

50. A computer-readable storage medium, comprising: The computer readable storage medium stores a computer program or computer instructions, and when the computer program or computer instructions are executed by the processor, the method according to any one of claims 1-24 is implemented.

51. A computer program product, characterised in that, The computer program product comprises instructions, and when the instructions are executed by the processor, the method according to any one of claims 1-24 is implemented.

52. A chip system, characterized by The communication device comprises at least one processor, a memory and an interface circuit, the memory, the interface circuit and the at least one processor are interconnected through a line, the at least one memory stores instructions, and when the instructions are executed by the processor, the method according to any one of claims 1-24 is implemented.

53. A communication system, characterized by The communication device comprises a first sensing device and a sensing function, the first sensing device is configured to implement the method according to any one of claims 1-16, 19-22 and 24, and the sensing function is configured to implement the method according to any one of claims 1-13, 17-24.

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