Sensing method and apparatus, first sensing node, control node, second sensing node, and computer storage medium

Abstract

The present application relates to a sensing method and apparatus, a first sensing node, a control node, a second sensing node, a computer storage medium, and a computer program product. The method comprises: on the basis of at least one of position information of a sensing target, configuration information from a control node, and first information indicated by a second sensing node, determining a target sensing node and / or target sensing transceiving mode information; or, indicating to the control node the switching of a sensing node and / or a sensing transceiving mode, and / or indicating the position information of the sensing target to the control node. The switching of a sensing node and / or a sensing transceiving mode, and the position information of the sensing target are indicated to determine the target sensing node and / or the target sensing transceiving mode information.

Description

Perception method, device, first perception node, control node, second perception node and computer storage medium

[0001] The present application claims priority from the Chinese patent application No. 2024112494650, filed on September 6, 2024, and entitled "Perception method, device, first perception node, control node, second perception node and computer storage medium", the contents of which are hereby incorporated by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of perception, and in particular, to a perception method, device, first perception node, control node, second perception node, computer storage medium and computer program product. BACKGROUND

[0003] With the development of perception technology and communication technology, communication perception fusion, i.e., communication perception integration, has emerged. Through air interface and protocol joint design, time-frequency-space resource multiplexing, hardware device sharing and other means, communication and perception functions are designed uniformly, so that wireless networks can realize perception functions while performing communication interaction.

[0004] In the current method for determining a user equipment (UE) participating in perception, a base station or a perception network element first determines a candidate UE set, sends measurement configuration signaling to the candidate UE set, and notifies the candidate UE to report a perception parameter measurement value that can reflect echo quality of a perception signal, or to report a perception parameter measurement value that can reflect perception performance. The base station or the perception network element determines a target UE from the candidate UE according to the perception parameter measurement value and a preset threshold value.

[0005] However, in the current method for determining a target UE participating in perception, the candidate UE needs to report measurements, and there is much signaling interaction between the base station or the perception network element and the UE, resulting in occupation of many resources. SUMMARY

[0006] According to various embodiments of the present application, it is necessary to provide a perception method, device, first perception node, control node, second perception node, computer storage medium and computer program product for improving perception efficiency in view of the above technical problems.

[0007] In a first aspect, a perception method is provided, the method being applied to a first perception node, and the method comprising:

[0008] determining target perception node and / or target perception transceiver mode information according to at least one of position information of a perception target, configuration information from a control node and first information indicated by a second perception node; or

[0009] indicating, to a control node, a sensing node and / or a sensing transceiving mode switch, and / or indicating, to the control node, location information of a sensing target; the indicating a sensing node and / or a sensing transceiving mode switch and the indicating location information of a sensing target are used for determining target sensing node and / or target sensing transceiving mode information.

[0010] In some embodiments, the indicating, to a control node, a sensing node and / or a sensing transceiving mode switch comprises:

[0011] indicating, to a control node, a sensing node and / or a sensing transceiving mode switch according to location information of a sensing target, or

[0012] indicating, to a control node, a sensing node and / or a sensing transceiving mode switch according to location information of a sensing target and configuration information from the control node.

[0013] In some embodiments, the method further comprises:

[0014] indicating, to the target sensing node, to perform sensing and / or the target sensing transceiving mode information; or

[0015] indicating, to a control node, the target sensing node and / or the target sensing transceiving mode information.

[0016] In some embodiments, the determining target sensing node and / or target sensing transceiving mode information according to at least one of location information of a sensing target, configuration information from a control node and first information indicated by a second sensing node comprises:

[0017] determining target sensing node and / or target sensing transceiving mode information according to location information of a sensing target; or

[0018] determining target sensing node and / or target sensing transceiving mode information according to location information of a sensing target and configuration information from the control node.

[0019] In some embodiments, the determining target sensing node and / or target sensing transceiving mode information according to at least one of location information of a sensing target, configuration information from a control node and first information indicated by a second sensing node comprises:

[0020] determining second sensing node and / or target sensing transceiving mode information according to first information indicated by a second sensing node; or

[0021] determining target sensing node and / or target sensing transceiving mode information according to first information indicated by a second sensing node and location information of a sensing target;

[0022] The first information indicated by the second sensing node includes one or more of the following: participation sensing result information, sensing transceiving mode information, and sensing target position information corresponding sensing parameter information.

[0023] In some embodiments, the method further includes:

[0024] indicating the position information of the sensing target and / or the sensing quality information to the second sensing node.

[0025] In some embodiments, the determining the target sensing node and / or the target sensing transceiving mode information according to the position information of the sensing target includes:

[0026] determining the target sensing node and / or the target sensing transceiving mode information according to sensing coverage information of the second sensing node or position information of the second sensing node, and the position information of the sensing target.

[0027] In some embodiments, the indicating the position information of the sensing target to the control node includes:

[0028] indicating the position information of the sensing target to the control node according to the position information of the sensing target; or

[0029] indicating the position information of the sensing target to the control node according to the position information of the sensing target and configuration information from the control node.

[0030] In a second aspect, a sensing method is provided, the method being applied to a control node, and the method including:

[0031] sending configuration information to a first sensing node, and / or determining target sensing node and / or target sensing transceiving mode information;

[0032] The configuration information is used to indicate at least one of the following:

[0033] The first sensing node determines target sensing node and / or target sensing transceiving mode information according to the configuration information;

[0034] The first sensing node indicates sensing target position information to the control node according to the configuration information;

[0035] The first sensing node indicates sensing node and / or sensing transceiving mode switching to the control node according to the configuration information.

[0036] In some embodiments, the determining the target sensing node and / or the target sensing transceiving mode information includes:

[0037] determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0038] determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0039] determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0040] The first information indicated by the second sensing node includes one or more of the following: the participation sensing result information, the sensing transceiving mode information, and the sensing parameter information corresponding to the location information of the sensing target.

[0041] In some embodiments, the determining the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target includes:

[0042] determine the target sensing node and / or the target sensing transceiving mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node and the location information of the sensing target.

[0043] In some embodiments, the method further includes:

[0044] indicate the location information of the sensing target and / or the sensing quality information to the second sensing node.

[0045] In some embodiments, the method further includes:

[0046] determine the configuration information according to the sensing coverage information of the first sensing node and / or the second sensing node; or

[0047] determine the configuration information according to the location information of the first sensing node and / or the second sensing node.

[0048] In some embodiments, the method further includes:

[0049] indicate the target sensing node and / or the target sensing transceiving mode information to the target sensing node.

[0050] In a third aspect, a sensing method is provided, the method being applied to a second sensing node, and the method includes:

[0051] indicate at least one of the following to a control node or a first sensing node: first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node are used to determine target sensing node and / or target sensing transceiving mode information.

[0052] The first information includes one or more of the following: participation sensing result information, sensing transceiving mode information, and sensing target position information corresponding sensing parameter information.

[0053] In some embodiments, the method further includes:

[0054] sensing according to indication information from the control node or the first sensing node, the indication information being used to indicate the second sensing node to perform sensing and / or target sensing transceiving mode.

[0055] In some embodiments, before the indicating the first information to the control node or the first sensing node, the method further includes:

[0056] determining the first information according to sensing target position information and / or sensing quality information.

[0057] In a fourth aspect, a first sensing node is provided, including a memory, a transceiver, and a processor;

[0058] The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations:

[0059] determining target sensing node and / or target sensing transceiving mode information according to at least one of the following: sensing target position information, configuration information from a control node, and first information indicated by a second sensing node; or,

[0060] indicating sensing node and / or sensing transceiving mode switching to a control node, and / or indicating sensing target position information to the control node; the indication of sensing node and / or sensing transceiving mode switching and the indication of sensing target position information are used to determine target sensing node and / or target sensing transceiving mode information.

[0061] In some embodiments, the indicating sensing node and / or sensing transceiving mode switching to the control node includes:

[0062] indicating sensing node and / or sensing transceiving mode switching to the control node according to sensing target position information; or,

[0063] indicating sensing node and / or sensing transceiving mode switching to the control node according to sensing target position information and configuration information from the control node.

[0064] In some embodiments, the processor is further configured to read the computer program in the memory and perform the following operations:

[0065] indicating the target sensing node and / or the target sensing transceiving mode information to a control node; or

[0066] indicating the target sensing node and / or the target sensing transceiving mode information to a control node.

[0067] In some embodiments, the determining the target sensing node and / or the target sensing transceiving mode information according to at least one of the location information of the sensing target, the configuration information from the control node, and the first information indicated by the second sensing node comprises:

[0068] the determining the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target; or

[0069] the determining the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target and the configuration information from the control node.

[0070] In some embodiments, the determining the target sensing node and / or the target sensing transceiving mode information according to at least one of the location information of the sensing target, the configuration information from the control node, and the first information indicated by the second sensing node comprises:

[0071] the determining the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node; or

[0072] the determining the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0073] The first information indicated by the second sensing node comprises one or more of participation sensing result information, sensing transceiving mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0074] In some embodiments, the processor is further configured to read a computer program in the memory and perform the following operations:

[0075] indicating the location information of the sensing target and / or the sensing quality information to the second sensing node.

[0076] In some embodiments, the determining the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target comprises:

[0077] the determining the target sensing node and / or the target sensing transceiving mode information according to sensing coverage information of the second sensing node or location information of the second sensing node and the location information of the sensing target.

[0078] In some embodiments, the indicating the location information of the sensing target to the control node comprises:

[0079] The indicating the location information of the sensing target to the control node comprises:

[0080] The indicating the location information of the sensing target to the control node comprises:

[0081] In a fifth aspect, a control node is provided, comprising a memory, a transceiver and a processor;

[0082] The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations:

[0083] The processor is configured to perform the following operations:

[0084] The configuration information is used for at least one of the following:

[0085] The first sensing node determines the target sensing node and / or the target sensing transceiving mode information according to the configuration information;

[0086] The first sensing node indicates the location information of the sensing target to the control node according to the configuration information;

[0087] The first sensing node indicates the sensing node and / or the sensing transceiving mode switching to the control node according to the configuration information.

[0088] In some embodiments, the determining the target sensing node and / or the target sensing transceiving mode information comprises:

[0089] The determining the target sensing node and / or the target sensing transceiving mode information comprises:

[0090] The determining the target sensing node and / or the target sensing transceiving mode information comprises:

[0091] The determining the target sensing node and / or the target sensing transceiving mode information comprises:

[0092] The first information indicated by the second sensing node comprises one or more of the following: participation in sensing result information, sensing transceiving mode information, sensing target location information corresponding sensing parameter information.

[0093] In some embodiments, the determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the sensing target comprises:

[0094] determining the target sensing node and / or the target sensing and / or transmitting mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node and the location information of the sensing target.

[0095] In some embodiments, the processor is further configured to read the computer program in the memory and perform the following operations:

[0096] indicating the location information of the sensing target and / or the sensing quality information to the second sensing node.

[0097] In some embodiments, the processor is further configured to read the computer program in the memory and perform the following operations:

[0098] determining the configuration information according to the sensing coverage information of the first sensing node and / or the second sensing node; or

[0099] determining the configuration information according to the location information of the first sensing node and / or the second sensing node.

[0100] In a sixth aspect, a second sensing node is provided, comprising a memory, a transceiver and a processor.

[0101] The memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations:

[0102] indicating at least one of first information, sensing coverage information of the second sensing node and location information of the second sensing node to a control node or a first sensing node; the first information, the sensing coverage information of the second sensing node and the location information of the second sensing node are used to determine target sensing node and / or target sensing and / or transmitting mode information;

[0103] performing sensing according to indication information from the control node or the first sensing node, the indication information being used to indicate performing sensing and / or target sensing and / or transmitting mode information;

[0104] The first information comprises one or more of participation sensing result information, sensing and / or transmitting mode information and sensing parameter information corresponding to the location information of the sensing target.

[0105] In some embodiments, the processor is further configured to read the computer program in the memory and perform the following operations:

[0106] perform sensing according to indication information from the control node or the first sensing node, the indication information being used to instruct the second sensing node to perform sensing and / or a target sensing transceiving mode.

[0107] In some embodiments, before the indicating the first information to the control node or the first sensing node, the processor is further configured to read a computer program in the memory and perform the following operations:

[0108] determining the first information according to position information of a sensing target and / or sensing quality information.

[0109] In a seventh aspect, a sensing apparatus is provided, the apparatus being applied to a first sensing node, the apparatus comprising:

[0110] a first determining unit configured to determine a target sensing node and / or target sensing transceiving mode information according to at least one of position information of a sensing target, configuration information from a control node, and first information indicated by a second sensing node; or,

[0111] a first indicating unit configured to indicate a sensing node and / or sensing transceiving mode switching to a control node, and / or indicate position information of a sensing target to the control node; the indicating the sensing node and / or sensing transceiving mode switching and the indicating the position information of the sensing target being used to determine the target sensing node and / or the target sensing transceiving mode information.

[0112] In some embodiments, the first indicating unit is specifically configured to:

[0113] indicate a sensing node and / or sensing transceiving mode switching to a control node according to position information of a sensing target; or,

[0114] indicate a sensing node and / or sensing transceiving mode switching to a control node according to position information of a sensing target and configuration information from the control node.

[0115] In some embodiments, the apparatus further comprises:

[0116] a second indicating unit configured to indicate a target sensing node and / or the target sensing transceiving mode information to the target sensing node, or,

[0117] a third indicating unit configured to indicate the target sensing node and / or the target sensing transceiving mode information to a control node.

[0118] In some embodiments, the first determining unit is specifically configured to:

[0119] determine a target sensing node and / or target sensing transceiving mode information according to position information of a sensing target; or,

[0120] determining the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target and the configuration information from the control node.

[0121] In some embodiments, the first determining unit is specifically configured to:

[0122] determining the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node; or

[0123] determining the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0124] The first information indicated by the second sensing node includes one or more of the following: participation sensing result information, sensing transceiving mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0125] In some embodiments, the apparatus further includes:

[0126] a fourth indicating unit configured to indicate the location information of the sensing target and / or the sensing quality information to the second sensing node.

[0127] In some embodiments, the first determining unit is specifically configured to:

[0128] determining the target sensing node and / or the target sensing transceiving mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target.

[0129] In some embodiments, the first indicating unit is specifically configured to:

[0130] indicating the location information of the sensing target to the control node according to the location information of the sensing target; or

[0131] indicating the location information of the sensing target to the control node according to the location information of the sensing target and configuration information from the control node.

[0132] In an eighth aspect, a sensing apparatus is provided, and the apparatus is applied to a control node. The apparatus includes:

[0133] a first determining unit configured to send configuration information to a first sensing node, and / or determine a target sensing node and / or a target sensing transceiving mode information.

[0134] The configuration information is used for at least one of the following situations:

[0135] The first sensing node determines target sensing node and / or target sensing transceiving mode information according to the configuration information;

[0136] The first sensing node indicates sensing target position information to the control node according to the configuration information;

[0137] The first sensing node indicates sensing node and / or sensing transceiving mode switching to the control node according to the configuration information.

[0138] In some embodiments, the first determining unit is specifically configured to:

[0139] determine target sensing node and / or target sensing transceiving mode information according to the position information of the sensing target; or

[0140] determine target sensing node and / or target sensing transceiving mode information according to the first information indicated by the second sensing node; or

[0141] determine target sensing node and / or target sensing transceiving mode information according to the first information indicated by the second sensing node and the position information of the sensing target.

[0142] The first information indicated by the second sensing node includes one or more of participation sensing result information, sensing transceiving mode information, and sensing parameter information corresponding to the position information of the sensing target.

[0143] In some embodiments, the first determining unit is specifically configured to:

[0144] determine target sensing node and / or target sensing transceiving mode information according to sensing coverage information of the second sensing node or position information of the second sensing node, and position information of the sensing target.

[0145] In some embodiments, the apparatus further includes:

[0146] a first indicating unit configured to indicate position information of the sensing target and / or sensing quality information to the second sensing node.

[0147] In some embodiments, the apparatus further includes:

[0148] a second determining unit configured to determine the configuration information according to sensing coverage information of the first sensing node and / or the second sensing node; or

[0149] a third determining unit configured to determine the configuration information according to position information of the first sensing node and / or the second sensing node.

[0150] In some embodiments, the apparatus further includes:

[0151] The second instruction unit is used to instruct the target sensing node to perform sensing and / or the target sensing transmit / receive mode information.

[0152] Ninthly, a sensing device is provided, the device being applied to a second sensing node, the device comprising:

[0153] The first indicating unit is used to indicate at least one of the following to the control node or the first sensing node: first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, sensing coverage information of the second sensing node, and location information of the second sensing node are used to determine the target sensing node and / or the target sensing transceiver mode information.

[0154] The first information includes one or more of the following: sensing result information, sensing transmission and reception mode information, and sensing parameter information corresponding to the location information of the sensing target.

[0155] In some embodiments, the apparatus further includes:

[0156] The second indication unit is used to perform perception based on indication information from the control node or the first sensing node, wherein the indication information is used to instruct the second sensing node to perform perception and / or target perception transceiver mode.

[0157] In some embodiments, the apparatus further includes:

[0158] The determining unit is configured to determine the first information based on the location information and / or perception quality information of the perceived target.

[0159] In a tenth aspect, a communication system is provided, the communication system comprising a first sensing node, a control node, and a second sensing node;

[0160] Wherein, the first sensing node performs the steps of the method as described in the first aspect, the control node performs the steps of the method as described in the second aspect, and the second sensing node performs the steps of the method as described in the third aspect.

[0161] Eleventhly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first, second, or third aspects.

[0162] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0163] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the related art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

[0164] FIG. 1 is a flow diagram of a sensing method at a first sensing node in an embodiment;

[0165] FIG. 2a is a flow diagram of a method for determining target sensing node and / or target sensing transceiving mode information in an embodiment;

[0166] FIG. 2b is a flow diagram of a method for determining target sensing node and / or target sensing transceiving mode information in an embodiment;

[0167] FIG. 3 is a flow diagram of a method for sensing by a target sensing node and / or target sensing transceiving mode information in an embodiment;

[0168] FIG. 4a is a flow diagram of a method for determining target sensing node and / or target sensing transceiving mode information by a first sensing node in an embodiment;

[0169] FIG. 4b is a flow diagram of a method for determining target sensing node and / or target sensing transceiving mode information by a first sensing node in an embodiment;

[0170] FIG. 5a is a flow diagram of a method for determining target sensing node and / or target sensing transceiving mode information based on a second sensing node in an embodiment;

[0171] FIG. 5b is a flow diagram of a method for determining target sensing node and / or target sensing transceiving mode information based on a second sensing node in an embodiment;

[0172] FIG. 6 is a flow diagram of a method for indicating location information and / or sensing quality information of a sensing target to a second sensing node in an embodiment;

[0173] FIG. 7 is a flow diagram of a method for determining target sensing node and / or target sensing transceiving mode information by a first sensing node in an embodiment;

[0174] FIG. 8 is a flow diagram of a method for stopping sensing in an embodiment;

[0175] FIG. 9a is a flow diagram of a method for stopping sensing in an embodiment;

[0176] FIG. 9b is a flow diagram of a method for stopping sensing in an embodiment;

[0177] Fig. 9c is a flowchart of a method for stopping sensing in an embodiment;

[0178] Fig. 9d is a flowchart of a method for stopping sensing in an embodiment;

[0179] Fig. 10 is a flowchart of a method for determining target sensing node and / or target sensing transceiving mode information according to sensing coverage information of a second sensing node or location information of the second sensing node in an embodiment;

[0180] Fig. 11 is a flowchart of a method for sensing at a control node side in an embodiment;

[0181] Fig. 12a is a flowchart of a method for determining target sensing node and / or target sensing transceiving mode information at a control node in an embodiment;

[0182] Fig. 12b is a flowchart of a method for determining target sensing node and / or target sensing transceiving mode information at a control node in an embodiment;

[0183] Fig. 12c is a flowchart of a method for determining target sensing node and / or target sensing transceiving mode information at a control node in an embodiment;

[0184] Fig. 13 is a flowchart of a method for determining target sensing node and / or target sensing transceiving mode information according to sensing coverage information of a second sensing node or location information of the second sensing node at a control node in an embodiment;

[0185] Fig. 14 is a flowchart of a method for indicating location information of a sensing target and / or sensing quality information to a second sensing node in an embodiment;

[0186] Fig. 15a is a flowchart of a method for determining configuration information in an embodiment;

[0187] Fig. 15b is a flowchart of a method for determining configuration information in another embodiment;

[0188] Fig. 16 is a flowchart of a method for indicating sensing and / or target sensing transceiving mode information to a target sensing node in an embodiment;

[0189] Fig. 17 is a flowchart of a method for determining target sensing node and / or target sensing transceiving mode information according to first information and location information of a sensing target in an embodiment;

[0190] Fig. 18a is a flowchart of a method for indicating configuration information to a first sensing node in an embodiment;

[0191] Fig. 18b is a flowchart of a method for indicating configuration information to a first sensing node in an embodiment;

[0192] Figure 18c is a flowchart illustrating the step of instructing configuration information to the first sensing node in one embodiment;

[0193] Figure 19 is a flowchart illustrating the steps of obtaining the sensing coverage information or the location information of a sensing node in one embodiment.

[0194] Figure 20 is a signaling interaction diagram for obtaining sensing coverage information in one embodiment;

[0195] Figure 21a is a flowchart illustrating the steps of a control node acquiring sensing coverage information or the location information of a sensing node in one embodiment.

[0196] Figure 21b is a flowchart illustrating the steps of a control node acquiring sensing coverage information or the location information of a sensing node in one embodiment.

[0197] Figure 22 is a flowchart illustrating a sensing method on the second sensing node side in one embodiment;

[0198] Figure 23 is a flowchart illustrating the process of instructing the second sensing node to perform sensing steps in one embodiment;

[0199] Figure 24 is a flowchart illustrating the steps of the second sensing node determining the first information in one embodiment;

[0200] Figure 25 is an example flowchart in one embodiment where, based on the control node configuration, the first sensing node triggers the switching of sensing nodes and / or sensing transceiver modes to determine the target sensing node and / or target sensing transceiver mode information.

[0201] Figure 26 is an example flowchart in one embodiment of the control node triggering the switching of sensing nodes and / or sensing transceiver modes to determine the target sensing node and / or target sensing transceiver mode information.

[0202] Figure 27 is an example flowchart in one embodiment where the first sensing node triggers the switching of sensing node and / or sensing transceiver mode, and the control node determines the target sensing node and / or target sensing transceiver mode information.

[0203] Figure 28 is an example flowchart in one embodiment of the first sensing node triggering the switching of sensing node and / or sensing transceiver mode to determine the target sensing node and / or target sensing transceiver mode information.

[0204] Figure 29 is an example flowchart in one embodiment where the first sensing node triggers the switching of sensing node and / or sensing transceiver mode, and the control node determines the target sensing node and / or target sensing transceiver mode information.

[0205] Figure 30 is a structural block diagram of a sensing device controlling the first sensing node side in one embodiment. DETAILED DESCRIPTION

[0206] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to interpret the present application and not to limit the present application.

[0207] In the description of the embodiments of the present application, the term "and / or" is merely used to describe an associated relationship with associated objects, and can indicate that there are three relationships, for example, A and / or B can indicate that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally indicates that the front and rear associated objects are in an "or" relationship.

[0208] In addition, if the terms "first", "second" appear, these terms are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "multiple" appears, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise explicitly limited.

[0209] Before introducing the embodiments of the present application, the professional terms involved in the present application are explained:

[0210] The sensing node mentioned in some embodiments of the present application is a logical functional entity, which has the function of transmitting and / or receiving sensing signals. The network entity with the above function can be a sensing node. The sensing node can be a network device or a user equipment. In the case of the sensing node being a network device, the sensing node can be, for example, a transmission / reception point of the network side, an access network distribution unit node, an access network sensing distribution unit, an access network sensing unit, or an access network node.

[0211] The control node mentioned in some embodiments of the present application is a logical functional entity, which has the function of controlling and / or configuring the sensing node. The network entity with the above function can be a control node. The control node can be a network device or a user equipment. In the case of the control node being a network device, the control node can be, for example, an access network control node, an access network centralized unit node, an access network sensing centralized unit, an access network sensing unit, an access network distribution unit, an access network sensing distribution unit, or a core network element.

[0212] The perception data processing node in some embodiments of the present application is a logical functional entity, which has the functions of collecting perception-related data, processing perception-related data, or storing perception-related data. The network entity with the above functions can be a perception data processing node. The perception data processing node can be a network device or a user device. In the case where the perception data processing node is a network device, the perception data processing node can be, for example, an access network control node, an access network centralized unit node, an access network perception centralized unit, an access network perception unit, an access network distributed unit, an access network perception distributed unit, or a core network network element.

[0213] In some embodiments of the present application, the control node and the perception node can be one network entity or different network entities. For example, the control node, the first perception node, and the second perception node are different network entities. For another example, the control node and the first perception node are the same network entity. For another example, the control node and the second perception node are the same network entity. The first perception node can be understood as a source perception node. The second perception node can be understood as a perception node other than the source perception node, which is not limited in the embodiments of the present disclosure.

[0214] In some embodiments of the present application, the first perception node and the second perception node can be different network entities or the same network entity. For example, the first perception node and the second perception node are the same access network distributed unit, the same access network perception distributed unit, the same access network perception unit, or the same access network node. For another example, the first perception node and the second perception node are different access network distributed units, different access network perception distributed units, different access network perception units, or different access network nodes. The first perception node, the second perception node, and the control node can be terminals or other network nodes.

[0215] A network function, a logical function, a logical node, a logical unit, or a functional entity can be understood as a network entity. In some embodiments of the present application, a network device, a user device, a network-side transmission / reception point, an access network distributed unit, an access network centralized unit, an access network perception centralized unit, an access network perception distributed unit, an access network perception unit, an access network node, and a core network network element can be understood as a network entity. The network entity can be implemented as a network element on a dedicated hardware, as a software instance running on a dedicated hardware, or as a virtualized function instantiated on a platform, which is not limited in the present application.

[0216] In the technical concept of the present application: the perception node and / or the perception transceiver mode switching can be triggered according to the position information of the perception target, the perception coverage information of the perception node, or the position information of the perception node, or the configuration information, and / or the target perception node and / or the target perception transceiver mode is determined, and the signaling interaction and the measurement resource occupation in the perception node and / or the perception transceiver mode switching process are reduced. The indication of the perception node and / or the perception transceiver mode switching, and / or the determination of the target perception node and / or the target perception transceiver mode information can be based on the control node configuration, or based on the perception node itself, or based on the control node implementation.

[0217] In some embodiments, the present application provides a variety of different implementations to determine the second perception node and / or the target perception transceiver mode information, which are described in detail as follows:

[0218] In some embodiments, as shown in FIG. 1, a perception method is provided, which is applied to a first perception node. The first perception node can directly determine the target perception node and / or the target perception transceiver mode information (i.e., step 101), or indicate the perception node and / or the perception transceiver mode switching to the control node, and / or indicate the position information of the perception target to the control node (i.e., step 102), so as to determine the target perception node and / or the target perception transceiver mode information.

[0219] Steps 101 and 102 can be implemented independently or sequentially, and the specific implementation logic and execution order between steps 101 and 102 are not limited in the embodiments of the present disclosure.

[0220] The two methods are described in detail as follows.

[0221] Step 101: determining the target perception node and / or the target perception transceiver mode information.

[0222] In implementation, in the communication and perception integration technology, the perception function is realized while the communication interaction is performed through the wireless network. The perception node transmits and / or receives the perception signal. After the perception signal is transmitted by the perception node, the perception echo signal is obtained through the reflection or scattering of the perception target, and the perception echo signal is received by the perception receiving node. In the case that the position between the perception node and the perception target changes, the signal-to-noise ratio of the perception target echo signal can be low, or the perception target echo signal can not be received, and the perception node and / or the perception transceiver mode participating in the perception needs to be switched. The target perception transceiver mode information includes at least one of the following: the target perception transceiver mode, the target perception node as the perception transmitting node, and the target perception node as the perception receiving node.

[0223] The first perception node can be understood as a source perception node. The target perception node can be understood as an execution node participating in the perception process. In the case of multiple target perception nodes, one or more of the target perception nodes act as a perception sending node, and another or more of the target perception nodes act as a perception receiving node. The second perception node can be understood as a perception node other than the source perception node. The second perception node can be a target perception node or a non-target perception node. The first perception node can determine the target perception node and / or the target perception transceiving mode information based on at least one of the following: perception coverage information of the second perception node, location information of the second perception node, location information of the perception target, configuration information for determining the target perception node and / or the target perception transceiving mode information, and first information of the second perception node.

[0224] The first information of the second perception node includes at least one of the following: participation in perception result information, perception transceiving mode information, perception parameter information corresponding to the location information of the perception target, and perception transceiving mode information corresponding to the perception parameter information.

[0225] The perception coverage information represents information related to object perception by the perception node at one or more locations. The perception coverage information includes one or more of the following: location information, perception parameter information corresponding to the location information, and perception transceiving mode information corresponding to the location information. The location information in the perception coverage information can be location information corresponding to a certain condition of perception performance. In some embodiments, the location information in the perception coverage information can be location information corresponding to a certain condition of perception parameter information. The location information includes one or more locations. In the embodiments of the present disclosure, the location can be a distance, an angle, or an absolute position. The location can be a point position or a range of positions. In the embodiments of the present disclosure, the perception parameter information can be a value of the perception parameter or a range of values of the perception parameter. The range of values, for example, is greater than or equal to a certain numerical value; for example, is greater than or equal to a certain numerical value and is less than or equal to another numerical value. The perception parameter includes one or more of the following: perception signal received power, perception signal received signal-to-noise ratio, perception signal signal-to-jamming noise ratio, or perception signal propagation distance. The perception parameter information can represent the perception performance. The perception transceiving mode information corresponding to the perception parameter information can be understood as the perception parameter information obtained using the perception transceiving mode. The perception parameter information corresponding to the location information can represent the perception performance of the object at the location. The perception parameter information corresponding to the location information can be understood as the perception parameter information corresponding to the reflection or scattering of the perception signal by the object at the location. For example, the perception signal propagation distance corresponding to the location information is the propagation distance of the perception signal reflected or scattered by the object at the location. The perception signal propagation distance corresponding to the location information can also be understood as the distance between the location and the perception node.

[0226] Since the sensing coverage of the sensing nodes can be different in different sensing and receiving modes, the sensing coverage information can include sensing coverage information of different sensing and receiving modes. The sensing coverage information can include sensing and receiving mode information corresponding to the location information. The sensing and receiving mode information corresponding to the location information can be understood as that the object at the location is sensed using the sensing and receiving mode. The sensing and receiving mode information includes at least one of the following: the sensing and receiving mode, the sensing node as a sensing sending node, and the sensing node as a sensing receiving node. The sensing and receiving mode can be self-sensing and self-receiving (i.e., A sends and A receives), or A sends and B receives, or other receiving modes.

[0227] The participation sensing result information is used to represent whether sensing is performed.

[0228] In some embodiments, the first sensing node determines the target sensing node and / or the target sensing and receiving mode information includes one or more of the following:

[0229] 1) The location of the target sensing node and the location of the sensing target satisfy a certain condition. For example, the distance between the location of the target sensing node and the location of the sensing target is less than a certain threshold. For another example, the distance between the location of the target sensing node in the second sensing node and the location of the sensing target is the closest;

[0230] 2) The location of the sensing target is within the sensing coverage of the target sensing node;

[0231] 3) The location of the sensing target is within the sensing coverage of the target sensing node in the target sensing and receiving mode;

[0232] 4) The sensing parameter information corresponding to the location of the sensing target of the target sensing node satisfies a certain condition, for example, the sensing parameter information is higher than a certain threshold, for another example, the sensing parameter information of the target sensing node in the second sensing node corresponding to the location of the sensing target represents the best sensing performance;

[0233] 5) The sensing parameter information corresponding to the location of the sensing target of the target sensing node in the target sensing and receiving mode satisfies a certain condition, for example, the sensing parameter information is higher than a certain threshold, for another example, the sensing parameter information of the target sensing node in the second sensing node in the target sensing and receiving mode corresponding to the location of the sensing target represents the best sensing performance;

[0234] 6) The target sensing node is a sensing node in the second sensing node that is indicated to participate in sensing;

[0235] 7) The target sensing and receiving mode information is the sensing and receiving mode information indicated by the target sensing node;

[0236] 8) The target sensing and receiving mode information is the sensing and receiving mode information corresponding to the sensing parameter information indicated by the target sensing node;

[0237] 9) The configuration information used for determining the target sensing node and / or the target sensing-transmitting mode information indicates the correspondence between the location information and the sensing node and / or the sensing-transmitting mode information, and the first sensing node determines the target sensing node and / or the target sensing-transmitting mode information as the sensing node and / or the sensing-transmitting mode information corresponding to the location information of the obtained sensing target according to the configuration information;

[0238] 10) The configuration information used for determining the target sensing node and / or the target sensing-transmitting mode information indicates the correspondence between the sensing parameter information and the sensing node and / or the sensing-transmitting mode information, and the first sensing node determines the target sensing node and / or the target sensing-transmitting mode information as the sensing node and / or the sensing-transmitting mode information corresponding to the sensing parameter information corresponding to the obtained sensing target according to the configuration information.

[0239] The process of directly determining the target sensing node and / or the target sensing-transmitting mode information by the first sensing node will be described in the following embodiments, which will not be described here in detail.

[0240] The first sensing node (which can be understood as a source sensing node) can determine the target sensing node and / or the target sensing-transmitting mode information in the case of determining the need for sensing node and / or sensing-transmitting mode switching. The first sensing node can determine the need for sensing node and / or sensing-transmitting mode switching according to at least one of the following: the location information of the sensing target, the sensing parameter information of the sensing target by the first sensing node, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, the location information of the second sensing node, and the configuration information used for determining the sensing node and / or the sensing-transmitting mode switching. The configuration information used for determining the sensing node and / or the sensing-transmitting mode switching indicates the condition of the sensing node and / or the sensing-transmitting mode switching, and the first sensing node determines the need for sensing node and / or sensing-transmitting mode switching in the case of meeting the indicated condition. The condition can be a condition related to the location information of the sensing target or the sensing parameter information corresponding to the sensing target.

[0241] For example, the first sensing node determines the need for sensing node and / or sensing-transmitting mode switching in the case of meeting one condition or simultaneously meeting multiple conditions:

[0242] The location of the sensing target is at the edge of the sensing coverage of the first sensing node or outside the sensing coverage of the first sensing node;

[0243] The location of the sensing target is far away from the location of the first sensing node;

[0244] The location of the sensing target is within the sensing coverage of the second sensing node;

[0245] the position of the sensing target is closer to the position of the second sensing node than the position information of the sensing target is to the position of the second sensing node;

[0246] the position of the sensing target is closer to the position of the second sensing node than the position information of the sensing target is to the position of the second sensing node;

[0247] the sensing target corresponds to sensing parameter information that represents poor sensing performance;

[0248] the position information of the sensing target or the sensing parameter information corresponding to the sensing target satisfies a condition indicated by configuration information for determining sensing node and / or sensing transceiving mode switching.

[0249] In the one or more cases in which the first sensing node determines that sensing node and / or sensing transceiving mode switching is needed, the closer and the farther distances can be provided with corresponding distance thresholds for judgment, which are not described in the embodiments of the present disclosure.

[0250] In some embodiments, before determining that sensing node and / or sensing transceiving mode switching is needed, the first sensing node acquires at least one of the following: position information of the sensing target, sensing parameter information of the sensing target by the first sensing node, sensing coverage information of the first sensing node, position information of the first sensing node, sensing coverage information of the second sensing node, position information of the second sensing node, and configuration information for determining sensing node and / or sensing transceiving mode switching.

[0251] In step 102, the first sensing node indicates sensing node and / or sensing transceiving mode switching to a control node, and / or indicates position information of the sensing target to the control node.

[0252] The control node is a logical function entity and has the function of controlling and configuring the sensing node. The control node can be a network device or a user equipment. In the case where the control node is a network device, the control node can be an access network control node, or an access network centralized unit node, or a core network element, etc., which is not limited in the embodiments of the present disclosure.

[0253] In implementation, the first sensing node can also send indication information to the control node, so that the control node determines that sensing node and / or sensing transceiving mode switching is needed based on the indication information, and / or determines target sensing node and / or target sensing transceiving mode information. In some embodiments, the first sensing node indicates sensing node switching and / or sensing transceiving mode switching to the control node, and / or the first sensing node indicates position information of the sensing target to the control node.

[0254] The first sensing node can indicate the sensing node and / or sensing transceiver mode switching to the control node and / or indicate the location information of the sensing target to the control node in case that the first sensing node determines that the sensing node and / or sensing transceiver mode switching is needed. The determination of the sensing node and / or sensing transceiver mode switching by the first sensing node is described in step 101, which will not be repeated here. In some embodiments, before the determination of the sensing node and / or sensing transceiver mode switching, the first sensing node acquires at least one of the following: the location information of the sensing target, the sensing parameter information of the sensing target by the first sensing node, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, the location information of the second sensing node, and the configuration information for determining the sensing node and / or sensing transceiver mode switching.

[0255] In implementation, the first sensing node can indicate the location information of the sensing target to the control node and / or indicate the location information of the sensing target to the control node according to one or more of the following information: the location information of the sensing target, the sensing parameter information of the sensing target by the first sensing node, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, the location information of the second sensing node, the configuration information for determining the sensing node and / or sensing transceiver mode switching to the control node, and the configuration information for determining the location information of the sensing target to the control node. The configuration information for determining the sensing node and / or sensing transceiver mode switching to the control node indicates the condition for indicating the sensing node and / or sensing transceiver mode switching to the control node, and the first sensing node indicates the sensing node and / or sensing transceiver mode switching to the control node in case that the indicated condition is met. The condition can be related to the location information of the sensing target or the sensing parameter information corresponding to the sensing target. The configuration information for determining the location information of the sensing target to the control node indicates the condition for indicating the location information of the sensing target to the control node, and the first sensing node indicates the location information of the sensing target to the control node in case that the indicated condition is met. The condition can be related to the location information of the sensing target or the sensing parameter information corresponding to the sensing target.

[0256] For example, the first sensing node determines the configuration information for indicating the location information of the sensing target to the control node and / or indicating the location information of the sensing target to the control node in case that one condition is met or multiple conditions are met simultaneously:

[0257] The location information of the sensing target is at the edge of the sensing coverage of the first sensing node or outside the sensing coverage of the first sensing node;

[0258] The location information of the sensing target is far away from the location of the first sensing node;

[0259] The position information of the sensing target is within the sensing coverage of the second sensing node;

[0260] The position information of the sensing target is closer to the position of the second sensing node than the position information of the sensing target is to the position of the second sensing node;

[0261] The position information of the sensing target is closer to the position of the second sensing node than the position information of the sensing target is to the position of the second sensing node;

[0262] The sensing parameter information corresponding to the sensing target indicates that the sensing performance is poor;

[0263] The position information of the sensing target or the sensing parameter information corresponding to the sensing target satisfies a condition indicated by configuration information for determining indication of the sensing node and / or sensing transceiving mode switching to the control node;

[0264] The position information of the sensing target or the sensing parameter information corresponding to the sensing target satisfies a condition indicated by configuration information for determining indication of the position information of the sensing target to the control node.

[0265] In one or more of the cases in which the first sensing node determines that the configuration information indicating the position information of the sensing target to the control node is needed, the closer and the farther distances can be provided with corresponding distance thresholds for judgment, which are not described in the embodiments of the present disclosure. In one or more of the cases in which the first sensing node determines that the configuration information indicating the sensing node and / or sensing transceiving mode switching to the control node is needed, the closer and the farther distances can be provided with corresponding distance thresholds for judgment, which are not described in the embodiments of the present disclosure.

[0266] In the embodiment, the first sensing node can directly determine the target sensing node and / or the target sensing transceiving mode information, or the first sensing node indicates to the control node so that the control node can determine the target sensing node and / or the target sensing transceiving mode information, uses less signaling interaction and measurement to maintain sensing service continuity, reduces resource occupation, and improves sensing efficiency.

[0267] In some embodiments, as shown in FIGS. 2a and 2b, in step 102, the following two ways in steps 201a and 201b are given to indicate the sensing node and / or sensing transceiving mode switching to the control node:

[0268] Step 201a, according to the position information of the sensing target, indicating the sensing node and / or sensing transceiving mode switching to the control node.

[0269] In implementation, the first sensing node sends indication information to the control node, which can indicate the sensing node and / or sensing transceiving mode switching.

[0270] In some embodiments, the first sensing node indicates the sensing node and / or sensing transceiving mode switching to the control node according to the location information of the sensing target. It can also be understood that the first sensing node can determine that the sensing node and / or sensing transceiving mode switching is needed according to the location information of the sensing target, and then indicate the sensing node and / or sensing transceiving mode switching to the control node.

[0271] The first sensing node can also indicate the sensing node and / or sensing transceiving mode switching to the control node according to at least one of the following information: the sensing parameter information of the sensing target sensed by the first sensing node, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, the location information of the second sensing node, and configuration information for determining the indication of the sensing node and / or sensing transceiving mode switching to the control node.

[0272] The first sensing node indicates the sensing node and / or sensing transceiving mode switching to the control node according to the location information of the sensing target. This can be that the first sensing node indicates the sensing node and / or sensing transceiving mode switching to the control node under the condition that one of the following situations is met, or multiple situations are met at the same time:

[0273] The location information of the sensing target is at the edge of the sensing coverage of the first sensing node or outside the sensing coverage of the first sensing node;

[0274] The location information of the sensing target is far away from the location of the first sensing node;

[0275] The location information of the sensing target is within the sensing coverage of the second sensing node;

[0276] The location information of the sensing target is close to the location of the second sensing node;

[0277] The location information of the sensing target is closer to the location of the second sensing node than to the location of the second sensing node;

[0278] The sensing parameter information of the sensing target sensed by the first sensing node indicates that the sensing performance is poor.

[0279] In this embodiment, the first sensing node indicates the sensing node and / or sensing transceiving mode switching to the control node, so that the control node determines the target sensing node and / or target sensing transceiving mode information, reduces the signaling interaction and the measurement of the sensing parameter in the process of determining the target sensing node, and reduces the resource occupation.

[0280] In step 201b, the sensing node and / or sensing transceiving mode switching is indicated to the control node according to the location information of the sensing target and the configuration information from the control node.

[0281] In implementation, the control node can indicate the configuration information to the first sensing node, and then the first sensing node sends the indication information to the control node according to the location information of the sensing target and the configuration information of the control node. In some embodiments, the first sensing node indicates the sensing node and / or sensing transceiver mode switching to the control node according to the location information of the sensing target and the configuration information of the control node. For example, the first sensing node indicates the sensing node and / or sensing transceiver mode switching to the control node when the location information of the sensing target meets the condition indicated by the configuration information. The configuration information indicates the condition that the location information of the sensing target meets when the first sensing node indicates the sensing node and / or sensing transceiver mode switching to the control node.

[0282] In some embodiments, the scheme of indicating the sensing node and / or sensing transceiver mode switching to the control node according to the location information of the sensing target and the configuration information from the control node in step 201b can be understood as a parallel scheme of step 201a, or can be considered as an implementation of step 201a.

[0283] In this embodiment, the control node can pre-configure the first sensing node. The first sensing node indicates the control node based on the location information of the sensing target and the configuration information configured by the control node, so that the control node determines the target sensing node and / or target sensing transceiver mode information based on the indication information. This reduces the signaling interaction and measurement of sensing parameters between the first sensing node and the control node, and improves the sensing control efficiency.

[0284] In some embodiments, as shown in FIG. 3, the method further includes:

[0285] In step 301, the target sensing node is indicated to perform sensing and / or target sensing transceiver mode information; or the control node is indicated to perform target sensing node and / or target sensing transceiver mode information.

[0286] In implementation, after the target sensing node and / or the target sensing transceiving mode information is determined, the first sensing node indicates the target sensing node to perform sensing and / or the target sensing transceiving mode information, and then the target sensing node performs sensing and / or uses the target sensing transceiving mode information to perform sensing. Alternatively, after the target sensing node and / or the target sensing transceiving mode information is determined, the first sensing node indicates the control node the target sensing node and / or the target sensing transceiving mode information, so that the control node indicates the target sensing node to perform sensing and / or the target sensing transceiving mode information, and then the target sensing node performs sensing and / or uses the target sensing transceiving mode information to perform sensing. In some embodiments, the target sensing node can be for sensing a sensing target, and the target sensing node can also not be for sensing a sensing target, for example, before the first sensing node or the control node indicates the target sensing node to perform sensing and / or the target sensing transceiving mode information, the target sensing node can not perform any sensing or can be performing sensing. The target sensing node can adjust the sensing related parameters and / or the sensing transceiving mode information after receiving the indication.

[0287] In some embodiments, the first sensing node further indicates the target sensing node the location information and / or the sensing quality information of the sensing target.

[0288] In this embodiment, after the target sensing node and / or the target sensing transceiving mode information is determined, the first sensing node indicates the target sensing node to perform sensing and / or the target sensing transceiving mode information, or the first sensing node indicates the control node the target sensing node and / or the target sensing transceiving mode information, so that the control node indicates the target sensing node to perform sensing and / or the target sensing transceiving mode information, and the target sensing node participates in the sensing process, thereby maintaining the sensing service continuity.

[0289] In some embodiments, as shown in FIGS. 4a-4b, the specific processing process of step 101 includes:

[0290] Step 401a: determining the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target.

[0291] In implementation, when the first sensing node directly determines the target sensing node and / or the target sensing transceiving mode information, the first sensing node can determine the target sensing node and / or the target sensing transceiving mode information according to the obtained location information of the sensing target. In some embodiments, the first sensing node can determine the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target and at least one of the following:

[0292] The perception coverage information of the second perception node, the location information of the second perception node, the configuration information for determining the target perception node and / or the target perception transceiving mode information, the first information of the second perception node, the correspondence between the location information of the perception target and the perception node and / or the perception transceiving mode information. The first information of the second perception node includes at least one of the following: participation in the perception result information, the perception transceiving mode information, the perception parameter information corresponding to the location information of the perception target, and the perception transceiving mode information corresponding to the perception parameter information. For example, the location information of the perception target has a correspondence with the perception node and / or the perception transceiving mode information. According to the location information of the perception target (which can be understood as the currently obtained location information of the perception target) and the correspondence, the target perception node and / or the target perception transceiving mode information is determined as the perception node and / or the perception transceiving mode information corresponding to the location information of the perception target.

[0293] Therefore, for the first perception node, the target perception node and / or the target perception transceiving mode information is determined based on the location information of the perception target, which contains various cases. Specific details will be described in the following embodiments, which will not be described here.

[0294] In this embodiment, the first perception node can directly determine the target perception node and / or the target perception transceiving mode information, use less signaling interaction and measurement to maintain the continuity of the perception service. The resource occupation of the perception node is reduced, and the perception efficiency is improved.

[0295] Step 401b, according to the location information of the perception target and the configuration information from the control node, determining the target perception node and / or the target perception transceiving mode information.

[0296] In implementation, the determination of the target perception node and / or the target perception transceiving mode information can be realized based on the configuration of the control node. In some embodiments, the first perception node determines the target perception node and / or the target perception transceiving mode information according to the location information of the perception target and the configuration information of the control node. The configuration information of the control node is used to determine the target perception node and / or the target perception transceiving mode information. The first perception node determines the target perception node and / or the target perception transceiving mode information based on the configuration information of the control node and the location information of the perception target.

[0297] In some embodiments, the configuration information indicates the target sensing node corresponding to the location information of the sensing target and / or the target sensing transceiving mode information, and the first sensing node determines the target sensing node corresponding to the location information of the sensing target and / or the target sensing transceiving mode information. Alternatively, the configuration information indicates the correspondence between the location information of the sensing target and the sensing node and / or the sensing transceiving mode information, and the first sensing node determines the target sensing node and / or the target sensing transceiving mode information as the sensing node and / or the sensing transceiving mode information corresponding to the location information of the sensing target.

[0298] In some embodiments, the scheme in step 401b for indicating the sensing node and / or the sensing transceiving mode switching to the control node according to the location information of the sensing target and the configuration information from the control node can be understood as a scheme parallel to step 401a, or can be considered as an implementation of step 401a.

[0299] In this embodiment, the first sensing node can directly determine the target sensing node and / or the target sensing transceiving mode information based on the location information of the sensing target and the configuration information of the control node, thereby using less signaling interaction and measurement to maintain the continuity of the sensing service. The resource occupation of the sensing node is reduced, and the sensing efficiency is improved.

[0300] In some embodiments, for the case where the first sensing node determines the target sensing node and / or the target sensing transceiving mode information, the first sensing node can determine based on the information provided by the second sensing node in addition to the location information of the sensing target and / or the configuration information of the control node. In some embodiments, as shown in FIGS. 5a-5b, the specific implementation process of determining the target sensing node and / or the target sensing transceiving mode information in the above embodiment can be any one of step 501a and step 501b:

[0301] Step 501a: determining the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node.

[0302] The first information indicated by the second sensing node includes one or more of the participation sensing result information, the sensing transceiving mode information, the sensing parameter information corresponding to the location information of the sensing target, and the sensing transceiving mode information corresponding to the sensing parameter information.

[0303] In implementation, the second sensing node indicates the first information to the first sensing node, and the first sensing node determines the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node. The target sensing node is a sensing node in the second sensing node. In some embodiments, the target sensing node and the target sensing transceiving mode information can satisfy one of the following, or simultaneously satisfy multiple:

[0304] The target sensing node is a second sensing node participating in the sensing result information.

[0305] The target sensing transceiving mode information is the sensing transceiving mode information indicated by the second sensing node.

[0306] The target sensing node is a second sensing node whose sensing parameter information corresponding to the location information of the sensing target meets a certain condition.

[0307] The target sensing transceiving mode information is the sensing transceiving mode information corresponding to the sensing parameter information of the second sensing node.

[0308] In some embodiments, before the first sensing node obtains the first information indicated by the second sensing node, the first sensing node indicates the location information of the sensing target to the second sensing node. The second sensing node determines the first information according to the location information of the sensing target.

[0309] In some embodiments, the first sensing node can also indicate the sensing quality information to the second sensing node. Then, the second sensing node can determine the first information according to the location information of the sensing target and the sensing quality information. The sensing quality information can be understood as the sensing quality requirement, which usually refers to the standard and expectation proposed for the quality of sensing data in the sensing system or network. For example, the sensing quality includes one or more of sensing accuracy, sensing resolution, sensing detection rate, sensing detection missing rate, sensing time delay, sensing refresh rate, sensing timeliness, and sensing accuracy.

[0310] In this embodiment, the first sensing node determines the target sensing node and / or the target sensing transceiving mode information based on the first information indicated by the second sensing node, reduces the signaling interaction between the first sensing node and the control node, reduces the resource occupation of the first sensing node, and improves the sensing efficiency.

[0311] Step 501b, determining the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0312] The first information indicated by the second sensing node includes one or more of the participating sensing result information, the sensing transceiving mode information, the sensing parameter information corresponding to the location information of the sensing target, and the sensing transceiving mode information corresponding to the sensing parameter information.

[0313] In implementation, the second sensing node indicates the first information to the first sensing node, and the first sensing node determines the target sensing node and / or the target sensing and / or receiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target. In some embodiments, the target sensing node and the target sensing and / or receiving mode information can satisfy one of the following, or satisfy multiple at the same time.

[0314] The target sensing node is the second sensing node participating in the sensing result information and participating in the sensing;

[0315] The target sensing and / or receiving mode information is the sensing and / or receiving mode information indicated by the second sensing node;

[0316] The target sensing node is the second sensing node whose sensing parameter information corresponding to the location information of the sensing target satisfies a certain condition;

[0317] The target sensing and / or receiving mode information is the sensing and / or receiving mode information corresponding to the sensing parameter information of the target sensing node.

[0318] In some embodiments, before the first sensing node obtains the first information indicated by the second sensing node, the first sensing node indicates the location information of the sensing target to the second sensing node. The second sensing node determines the first information according to the location information of the sensing target.

[0319] In some embodiments, the first sensing node can also indicate the sensing quality information to the second sensing node. Then, the second sensing node can determine the first information according to the location information of the sensing target and the sensing quality information.

[0320] In implementation, in some embodiments, the first sensing node obtains the sensing coverage information of the second sensing node or the location information of the second sensing node. According to the sensing coverage information of the second sensing node or the location information of the second sensing node, the first sensing node indicates the location information of the sensing target and / or the sensing quality information to the second sensing node, so that the second sensing node determines the first information based on the location information of the sensing target and / or the sensing quality information, and feeds back the first information to the first sensing node. After receiving the first information indicated by the second sensing node, the first sensing node determines the target sensing node and / or the target sensing and / or receiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0321] In some embodiments, the scheme of determining the target sensing node and / or the target sensing and / or receiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target in step 501b can be understood as a scheme parallel to step 501a, or can be considered as an implementation of step 501a.

[0322] In some embodiments, as shown in FIG. 6, the method further includes:

[0323] Step 601, indicating the position information of the sensing target and / or the sensing quality information to the second sensing node.

[0324] In implementation, the first sensing node indicates the position information of the sensing target and / or the sensing quality information to the second sensing node, so that the second sensing node determines the first information according to the position information of the sensing target and / or the sensing quality information. Wherein, the first information is described with reference to step 501a. The sensing quality information can be understood as a sensing quality requirement, which includes requirements of sensing accuracy, sensing timeliness, sensing accuracy, etc., which are not limited in the embodiments of the present disclosure. The description of the sensing quality information can also be referred to the description in step 501a.

[0325] In some embodiments, as shown in FIG. 7, the method further includes:

[0326] Step 701, obtaining the sensing coverage information of the second sensing node or the position information of the second sensing node.

[0327] In implementation, the first sensing node obtains the sensing coverage information of the second sensing node or the position information of the second sensing node. In some embodiments, the first sensing node can directly obtain the other sensing coverage information or the position information of the second sensing node from the second sensing node. Alternatively, the first sensing node obtains the sensing coverage information of the second sensing node or the position information of the second sensing node through other nodes (for example, a sensing data processing node).

[0328] The specific processing process of step 101 or step 401 includes:

[0329] Step 702, determining the target sensing node and / or the target sensing transceiving mode information based on the sensing coverage information or the position information of the second sensing node, and the position information of the sensing target.

[0330] For example, determining the target sensing node and / or the target sensing transceiving mode information includes one or more of the following:

[0331] The target sensing node is the second sensing node whose sensing coverage contains the position information of the sensing target;

[0332] The target sensing node is the second sensing node whose sensing coverage contains the position information of the sensing target in the case of using the target sensing transceiving mode information;

[0333] The target sensing node is the second sensing node whose position satisfies a certain condition with the position information of the sensing target;

[0334] The distance between the target sensing node position and the location information of the sensing target is the smallest distance between the position of the second sensing node and the location information of the sensing target.

[0335] In some embodiments, as shown in FIG. 8, the method further includes:

[0336] Step 801, stopping sensing for the sensing target.

[0337] In implementation, after determining the target sensing node and / or the target sensing transceiving mode information, the first sensing node and the target sensing node, or the first sensing node initiates sensing for the sensing target in the target sensing transceiving mode information, and when the sensing is completed, the first sensing node stops sensing for the sensing target. It can be understood that stopping sensing in the present disclosure can refer to stopping sensing caused by a certain sensing target. For example, when the first sensing node is also sensing other sensing targets, the first sensing node is also sensing.

[0338] In some embodiments, the first sensing node stops sensing in multiple ways.

[0339] Way one: the control node instructs the first sensing node to stop sensing / stop sensing for a given sensing target, and the control node can determine whether the first sensing node stops sensing according to at least one of the location information of the sensing target, the sensing coverage information of the first sensing node, and the sensing coverage information of the target sensing node.

[0340] Way two: the control node configures configuration information for stopping sensing to the first sensing node.

[0341] The control node configures configuration information for stopping sensing to the first sensing node. The configuration information includes the location information / location range of the sensing target for which sensing is stopped. The location information / location range of the sensing target for which sensing is stopped can be the same as or different from the location information / location range of the sensing target that triggers the target sensing node to sense. The first sensing node obtains the location information of the sensing target, and when the location information / location range of the sensing target meets the configuration for stopping sensing, the first sensing node stops sensing for the sensing target.

[0342] Way three: the first sensing node itself determines to stop sensing / stop sensing for a given sensing target, and the first sensing node can stop sensing / stop sensing for a given sensing target in at least one of the following situations,

[0343] After indicating to the target sensing node to sense or requesting the target sensing node to sense,

[0344] After receiving a response from the target sensing node that senses,

[0345] The perception parameter information of the perception target satisfies a certain condition.

[0346] In some embodiments, as shown in FIGS. 9a-9d, the stopping of the perception of the perception target in step 801 can include any one of the following steps:

[0347] Step 901a, completely stopping the perception of the perception target;

[0348] Step 901b, determining to stop the perception according to the configuration information of stopping the perception and the location information of the perception target;

[0349] Step 901c, determining to stop the perception according to the second information of the target perception node received;

[0350] Step 901d, determining to stop the perception according to the indication of the control node received.

[0351] In implementation, the first perception node can be the one that stops the perception of the perception target, or the one that completely stops the perception. In some embodiments, the first perception node can completely stop the perception of the perception target, or determine to stop the perception according to the configuration information of stopping the perception and the location information of the perception target. Alternatively, the first perception node can determine to stop the perception according to the stopping perception information received from the control node. Alternatively, the first perception node can determine to stop the perception according to the perception and / or perception transceiving mode information indicated by the target perception node for the first perception node, or the request to perform the perception and / or the perception transceiving mode information. That is, the second information includes at least one of the perception and / or the perception transceiving mode information, or the request to perform the perception and / or the perception transceiving mode information.

[0352] In some embodiments, the configuration information of the control node includes at least one of the configuration information of the trigger target perception node and / or the target perception transceiving mode information configured to the first perception node, the configuration information of the trigger reporting, and the configuration information of the trigger switching. The present disclosure does not limit the type and content of the configuration information configured by the control node to the first perception node.

[0353] In some embodiments, the target perception node in the present disclosure can include one or more perception nodes. The target perception node can include the first perception node. For example, in the case of switching the perception transceiving mode information, the target perception node can include the first perception node.

[0354] In some embodiments, the first perception node in the present disclosure can include one or more perception nodes. The switching of the perception node and / or the perception transceiving mode information can involve part or all of the first perception nodes.

[0355] In some embodiments, as shown in FIG. 10, the specific process of step 101 or step 401 includes:

[0356] Step 1001, determining the target sensing node and / or the target sensing and / or transmitting mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target.

[0357] In implementation, the second sensing node is a sensing node other than the first sensing node (i.e. the source sensing node), the second sensing node can be the target sensing node, or a sensing node other than the first sensing node and the target sensing node. The first sensing node determines the target sensing node and / or the target sensing and / or transmitting mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target. In some embodiments, the process of determining the target sensing node and / or the target sensing and / or transmitting mode information in step 1001 is the same as the process of determining the target sensing node and / or the target sensing and / or transmitting mode information based on the sensing coverage information of the second sensing node or the location information of the second sensing node in step 101 or step 401, and the embodiments of the present disclosure will not be repeated here.

[0358] In some embodiments, as shown in FIG. 11, a sensing method is provided, which is applied to a control node, and determining the target sensing node and / or the target sensing and / or transmitting mode information at the control node side also includes two main forms, the first form is that the control node itself determines the target sensing node and / or the target sensing and / or transmitting mode information, and the second form is that the control node configures the first sensing node to determine the target sensing node and / or the target sensing and / or transmitting mode information, or indicates the sensing node and / or the sensing and / or transmitting mode switching to the control node, or indicates the location information of the sensing target to the control node, and in some embodiments, the method includes:

[0359] Step 1101, sending configuration information to the first sensing node, and / or determining the target sensing node and / or the target sensing and / or transmitting mode information.

[0360] In implementation, the control node can send configuration information to the first sensing node to determine the target sensing node and / or the target sensing and / or transmitting mode information through the configuration information, or the control node can directly determine the target sensing node and / or the target sensing and / or transmitting mode information.

[0361] In some embodiments, the control node can send the configuration information to the first sensing node through a broadcast message or a groupcast message. The control node can also send the configuration information to the first sensing node through dedicated signaling. The configuration information is used for at least one of the following: the first sensing node determines the target sensing node and / or the target sensing-transmission mode information according to the configuration information, or the first sensing node indicates the sensing target location information to the control node according to the configuration information, or the first sensing node indicates the sensing node and / or the sensing-transmission mode switching to the control node according to the configuration information. The configuration information used by the first sensing node to determine the target sensing node and / or the target sensing-transmission mode can refer to the related description of the configuration information used to determine the target sensing node and / or the target sensing-transmission mode in step 101.

[0362] The process in which the first sensing node indicates the sensing node and / or the sensing-transmission mode switching to the control node according to the configuration information can refer to the related description of the configuration information used to indicate the sensing node and / or the sensing-transmission mode switching to the control node in step 102. The configuration information used by the first sensing node to indicate the location information of the sensing target to the control node can refer to the related description of the configuration information used to determine the location information of the sensing target to be indicated to the control node in step 102. For example, the control node sends configuration information to the first sensing node, where the configuration information indicates the condition that the location information of the sensing target corresponding to the sensing node and / or the sensing-transmission mode switching to be indicated by the first sensing node to the control node satisfies. In the case that the location information of the sensing target satisfies the condition indicated by the configuration information, the first sensing node indicates the sensing node and / or the sensing-transmission mode switching to the control node.

[0363] In some embodiments, the control node can determine the condition for triggering the reporting of the location information of the sensing target according to the sensing coverage information of the sensing node or the location information of the sensing node, and then indicate the condition through the configuration information.

[0364] The control node can determine the configuration information for triggering the sensing node and / or the sensing-transmission mode switching according to the sensing coverage information of the sensing node or the location information of the sensing node.

[0365] The execution of different configuration information is described in detail in the following embodiments of the present disclosure, which will not be described here again.

[0366] In addition, the control node can also directly determine the target sensing node and / or the target sensing transceiving mode information. In some embodiments, the control node can determine the target sensing node and / or the target sensing transceiving mode information based on at least one of the following: the sensing coverage information of the second sensing node, the location information of the second sensing node, the location information of the sensing target, the first information of the second sensing node. The first information of the second sensing node includes at least one of the following: the participation sensing result information, the sensing transceiving mode information, the sensing parameter information corresponding to the location information of the sensing target, the sensing transceiving mode information corresponding to the sensing parameter information.

[0367] For example, the location information of the sensing target can be indicated by the first sensing node to the control node according to the configuration information. That is, the control node first sends the configuration information to the first sensing node, the first sensing node indicates the location information of the sensing target to the control node based on the configuration information, and then the control node directly determines the target sensing node and / or the target sensing transceiving mode information based on the location information of the sensing target.

[0368] For another example, the control node obtains the sensing coverage information of the plurality of sensing nodes or the location information of the sensing node, and determines the target sensing node and / or the target sensing transceiving mode information according to the sensing coverage information of the sensing node or the location information of the sensing node and the location information of the sensing target. For another example, the control node indicates the location information of the sensing target to the second sensing node, the second sensing node feeds back the first information to the control node, and then the control node determines the target sensing node and / or the target sensing transceiving mode information based on the first information. Therefore, there are various ways for the control node to determine the target sensing node and / or the target sensing transceiving mode information, which will be described in detail in the following embodiments.

[0369] In some embodiments, before determining the target sensing node and / or the target sensing transceiving mode information, the control node obtains at least one of the following: the sensing parameter information of the first sensing node for the sensing target, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, the location information of the second sensing node, the location information of the sensing target, the first information of the second sensing node.

[0370] In some embodiments, the control node periodically obtains the location information of the sensing target from the first sensing node or the data processing node.

[0371] The control node can determine the target sensing node and / or the target sensing transceiver mode information in a case that it is determined that the sensing node and / or the sensing transceiver mode switching is needed. The control node can determine that the sensing node and / or the sensing transceiver mode switching is needed according to at least one of the following: the location information of the sensing target, the sensing parameter information of the sensing target by the first sensing node, the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, and the location information of the second sensing node. The method for the control node to determine that the sensing node and / or the sensing transceiver mode switching is needed is the same as the method for the first sensing node to determine that the sensing node and / or the sensing transceiver mode switching is needed in step 101. The first sensing node in step 101 is replaced by the control node, and thus the details are not repeated here.

[0372] In some embodiments, before the target sensing node and / or the target sensing transceiver mode information is determined, the control node receives the sensing node and / or the sensing transceiver mode switching indicated by the first sensing node, and / or receives the location information of the sensing target indicated by the first sensing node. The control node can determine that the sensing node and / or the sensing transceiver mode switching is needed in a case that the location information of the sensing target indicated by the first sensing node is received, and thus the target sensing node and / or the target sensing transceiver mode information is determined. The control node receives the sensing node and / or the sensing transceiver mode switching indicated by the first sensing node, and / or receives the location information of the sensing target indicated by the first sensing node, which can be referred to the description in step 102, and thus the details are not repeated here.

[0373] In the embodiment, the control node can directly determine the target sensing node and / or the target sensing transceiver mode information, or the control node pre-configures the first sensing node so that the first sensing node can determine the target sensing node and / or the target sensing transceiver mode information, thereby using less signaling interaction and measurement to maintain the sensing service continuity. The resource occupation of the sensing node is reduced, and the sensing efficiency is improved.

[0374] In some embodiments, as shown in FIGS. 12a-12c, the specific processing procedure for determining the target sensing node and / or the target sensing transceiver mode information in step 1101 includes any one of the following steps:

[0375] In step 1201a, the target sensing node and / or the target sensing transceiver mode information is determined according to the location information of the sensing target.

[0376] In implementation, the control node determines the target sensing node and / or the target sensing transceiver mode information according to the location information of the sensing target. For example, the control node determines the target sensing node and / or the target sensing transceiver mode information according to the location information of the sensing target and the coverage information of the second sensing node.

[0377] Step 1201b, determining the target sensing node and / or the target sensing-transmitting mode information according to the first information indicated by the second sensing node.

[0378] In implementation, the control node indicates the location information of the sensing target to the second sensing node. In some embodiments, the control node can also indicate the sensing quality information to the second sensing node. Then, the second sensing node determines whether to perform sensing and / or the sensing-transmitting mode information based on the location information of the sensing target and the sensing quality information, and if the second sensing node determines to perform sensing and / or the sensing-transmitting mode information, the second sensing node indicates the first information to the control node. Then, the control node determines the target sensing node and / or the target sensing-transmitting mode information according to the first information indicated by the second sensing node.

[0379] Step 1201c, determining the target sensing node and / or the target sensing-transmitting mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0380] In implementation, step 1201a and step 1201b can be considered as two parallel schemes. Step 1201c can be considered as an implementation of step 1201b or step 1201a in some embodiments, or step 1201c, step 1201b or step 1201a can be considered as two parallel schemes. In some embodiments, the control node determines the target sensing node and / or the target sensing-transmitting mode information according to the first information indicated by the second sensing node and the location information of the sensing target. The process of the second sensing node indicating the first information to the control node has been described in step 1201b, which will not be repeated here.

[0381] The first information indicated by the second sensing node includes at least one of: the participation sensing result information, the sensing-transmitting mode information, the sensing parameter information corresponding to the location information of the sensing target, and the sensing-transmitting mode information corresponding to the sensing parameter information.

[0382] In some embodiments, as shown in FIG. 13, the specific processing process of step 1201a includes:

[0383] Step 1301, determining the target sensing node and / or the target sensing-transmitting mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target.

[0384] In implementation, the control node obtains the sensing coverage information of the second sensing node, or the location information of the second sensing node. In some embodiments, the control node can directly obtain the other sensing coverage information of the second sensing node or the location information of the second sensing node from the second sensing node. Alternatively, the control node obtains the sensing coverage information of the second sensing node or the location information of the second sensing node through other nodes (for example, the sensing data processing node). Then, the control node determines the target sensing node and / or the target sensing transceiving mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target. Wherein, the control node determines the target sensing node and / or the target sensing transceiving mode information is the same as the process in step 702 described above, and the embodiments of the present disclosure will not be repeated.

[0385] In some embodiments, as shown in FIG. 14, the method further comprises:

[0386] Step 1401, indicating the location information of the sensing target and / or the sensing quality information to the second sensing node.

[0387] In implementation, the control node indicates the location information of the sensing target and / or the sensing quality information to the second sensing node, so that the second sensing node determines the first information according to the location information of the sensing target and / or the sensing quality information. Wherein, the sensing quality information can be understood as the sensing quality requirement, which includes the requirements of sensing accuracy, sensing timeliness, sensing accuracy, etc., and the embodiments of the present disclosure are not limited thereto. The description of the sensing quality information can also refer to the description in step 501.

[0388] In some embodiments, as shown in FIGS. 15a and 15b, the method further comprises at least one of step 1501 and step 1502:

[0389] Step 1501, determining the configuration information according to the sensing coverage information of the first sensing node and / or the second sensing node.

[0390] Step 1502, determining the configuration information according to the location information of the first sensing node and / or the second sensing node.

[0391] In implementation, the control node determines the configuration information according to at least one of the following: the sensing coverage information of the first sensing node, the location information of the first sensing node, the sensing coverage information of the second sensing node, and the location information of the second sensing node. The control node can determine the configuration information so that the source sensing node triggers the sensing node and / or the sensing transceiving mode switching, and / or reports the location information of the sensing target, and / or determines the target sensing node and / or the sensing transceiving mode information, in the case that the source sensing node and / or the source sensing transceiving mode is no longer suitable for sensing the sensing target.

[0392] In some embodiments, before determining the configuration information, the control node obtains the sensing coverage information of the sensing nodes and / or the location information of the sensing nodes, which can include the first sensing nodes and / or the second sensing nodes.

[0393] In some embodiments, as shown in FIG. 16, the method further includes:

[0394] Step 1601, indicating the target sensing node to perform sensing and / or the target sensing and / or transmission mode information.

[0395] In implementation, after determining the target sensing node and / or the target sensing and / or transmission mode information, the control node indicates the target sensing node to perform sensing and / or the target sensing and / or transmission mode information, and then the target sensing node performs sensing and / or uses the target sensing and / or transmission mode information to perform sensing. The target sensing node can be a sensing node in the second sensing nodes. The target sensing node can also include the first sensing node.

[0396] In some embodiments, the target sensing node can be for sensing a sensing target, and the target sensing node can also not be for sensing a certain sensing target, for example, before the control node indicates the target sensing node to perform sensing and / or the target sensing and / or transmission mode information, the target sensing node can not perform any sensing, or can be performing sensing. The target sensing node can adjust the sensing related parameters and / or the sensing and / or transmission mode information after receiving the indication.

[0397] In some embodiments, as shown in FIG. 17, the specific processing process of step 1201b includes:

[0398] Step 1701, determining the target sensing node and / or the target sensing and / or transmission mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0399] In implementation, the control node determines the target sensing node and / or the target sensing and / or transmission mode information according to the first information indicated by the second sensing node and the location information of the sensing target. The target sensing node can perform sensing on the sensing target with certain sensing performance. Then, the control node can indicate the target sensing node to perform sensing and / or the target sensing and / or transmission mode information.

[0400] In some embodiments, the first information indicated by the second sensing node includes one or more of the participation sensing result information, the sensing and / or transmission mode information, the sensing parameter information corresponding to the location information of the sensing target, and the sensing and / or transmission mode information corresponding to the sensing parameter information.

[0401] In some embodiments, as shown in FIGS. 18a-18c, the specific processing process of step 1101 can take any one or more of the following:

[0402] Step 1801a, configuring the first sensing node with configuration information triggering determination of target sensing node and / or target sensing transceiving mode information.

[0403] In implementation, the control node configures the first sensing node with configuration information triggering determination of target sensing node, and in some embodiments, the control node configures the first sensing node with configuration information triggering determination of target sensing node and / or target sensing transceiving mode information, so that the first sensing node determines the need to trigger the target sensing node to perform sensing and / or target sensing transceiving mode information according to the configuration information triggering determination of target sensing node and / or target sensing transceiving mode information and the location information of the sensing target. Thus, the first sensing node indicates the target sensing node to perform sensing and / or target sensing transceiving mode information. The location information of the sensing target can also be indicated.

[0404] Step 1801b, configuring the first sensing node with configuration information triggering reporting.

[0405] In implementation, the control node configures the first sensing node with configuration information triggering reporting, so that the first sensing node determines the need to trigger reporting according to the configuration information triggering reporting and the location information of the sensing target, and indicates the location information of the sensing target to the control node. Thus, the control node determines the target sensing node to perform sensing according to the location information of the sensing target and the coverage information of the target sensing node.

[0406] Step 1801c, configuring the first sensing node with configuration information triggering switching.

[0407] In implementation, the control node configures the first sensing node with configuration information triggering switching. The first sensing node determines to trigger switching according to the configuration information triggering switching and the location information of the sensing target, and indicates the control node to trigger switching. Then, the control node determines the target sensing node to perform sensing according to the location information of the sensing target and the coverage information of the target sensing node.

[0408] In some embodiments, the control node can also configure the first sensing node with configuration information stopping sensing.

[0409] The control node configures the first sensing node with configuration information stopping sensing. The configuration information includes the location information / position range of the sensing target stopping sensing. The location information / position range of the sensing target stopping sensing can be the same as or different from the location information / position range of the sensing target triggering the target sensing node to perform sensing.

[0410] In some embodiments, the control node instructs the first sensing node to stop sensing / stop sensing the given sensing target. The control node can determine whether the first sensing node stops sensing according to at least one of the location information of the sensing target, the sensing coverage information of the first sensing node, and the sensing coverage information of the target sensing node.

[0411] It can be understood that the control node stopping sensing can refer to stopping sensing caused by a certain sensing target. For example, in the case that the first sensing node is also sensing other sensing targets in addition to the sensing target, the first sensing node is also sensing.

[0412] In some embodiments, as shown in FIG. 19, the method further includes:

[0413] Step 1901, obtaining sensing coverage information of a sensing node and / or location information of the sensing node.

[0414] In implementation, the control node obtains the sensing coverage information of the sensing node and / or the location information of the sensing node. In some embodiments, the control node can directly obtain the sensing coverage information of the sensing node and / or the location information of the sensing node from the sensing node. Alternatively, the control node obtains the sensing coverage information of the sensing node and / or the location information of the sensing node through other nodes (e.g., a sensing data processing node).

[0415] As shown in FIG. 20, the method of the control node obtaining the sensing coverage information of the sensing node includes: Step 1, the control node configures a sensing node coverage information reporting configuration to the sensing node or a sensing data processing node. For example, the reporting configuration indicates to report the sensing coverage information in which the value of the sensing parameter satisfies a certain condition. For another example, the reporting configuration indicates to report the sensing coverage information in which the change of the value of the sensing parameter satisfies a certain condition. For another example, the reporting configuration indicates to periodically report the sensing coverage information. Step 2, the sensing node or the sensing data processing node indicates the sensing node coverage information to the control node according to the reporting configuration. The sensing node can be a first sensing node, a second sensing node, or other sensing nodes.

[0416] Wherein, before the sensing data processing node indicates the sensing node coverage information to the control node, the sensing data processing node obtains the location information and / or the sensing parameter information corresponding to the location information from the sensing node.

[0417] In some embodiments, as shown in FIGS. 21a-21b, two cases of the control node obtaining the sensing coverage information of the sensing node or the location information of the sensing node in step 1901 are specifically described, and the specific processing process includes any one or more of the following:

[0418] Step 2101a, directly obtaining the sensing coverage information of the sensing node and / or the location information of the sensing node.

[0419] In implementation, the control node directly acquires the sensing coverage information of the sensing node and / or the location information of the sensing node. The sensing coverage information is described in step 101 of the above embodiment, which is not repeated here.

[0420] The control node can acquire part of the sensing coverage information. For example, the control node acquires the sensing coverage information of the sensing node with poor sensing performance. For example, the control node acquires the sensing coverage information of the sensing node with sensing parameter information satisfying certain conditions. For example, the sensing echo signal received power is lower than a certain threshold, or the sensing echo signal received signal-to-noise ratio is lower than a certain threshold, or the sensing echo signal signal-to-jamming noise ratio is lower than a certain threshold. For example, the sensing signal propagation distance is less than or equal to a certain threshold.

[0421] The sensing coverage information of the sensing node can change with the change of the environment. In the case that the control node has acquired the sensing coverage information of the sensing node, the updated sensing coverage information can also be obtained. For example, the control node acquires the sensing coverage information of the sensing node with the change of the sensing parameter information satisfying certain conditions. For example, the control node periodically acquires the sensing coverage information of the sensing node.

[0422] Alternatively, in step 2101b, the sensing coverage information and / or the location information of the sensing node is acquired by the sensing data processing node.

[0423] In implementation, the sensing data processing node acquires the sensing target location information of the sensing node and the sensing parameter information corresponding to the location, and the control node receives the sensing coverage information indicated by the sensing data processing node. In some embodiments, the control node acquires the location information of the sensing target from the sensing node or the sensing data processing node. For example, the control node indicates the condition (configuration information) for triggering the reporting of the location information of the sensing target to the first sensing node or the sensing data processing node, and in the case that the condition for triggering the reporting of the location information of the sensing target is met, the sensing node or the sensing data processing node indicates the location information of the sensing target to the control node. The control node can determine the condition for triggering the reporting of the location information of the sensing target according to the acquired sensing coverage information of the sensing node or the location information of the sensing node. For example, the control node periodically obtains the location information of the sensing target from the sensing node or the sensing data processing node.

[0424] In some embodiments, the control node determines the sensing node and / or sensing-transmitting mode switching according to the location information of the sensing target. The control node can determine the sensing node and / or sensing-transmitting mode switching according to the location information of the sensing target, and the sensing coverage information of the sensing node or the location information of the sensing node obtained. Alternatively, the control node indicates the configuration information of the sensing node and / or sensing-transmitting mode switching to the sensing node, and the first sensing node triggers the sensing node and / or sensing-transmitting mode switching according to the configuration information.

[0425] The control node obtaining the sensing coverage information of the sensing node and / or the location information of the sensing node in step 1901, step 2101a, step 2101b is also applicable to the sensing node obtaining the sensing coverage information of other sensing nodes and / or the location information of other sensing nodes, for example, the first sensing node obtaining the sensing coverage information of the second sensing node and / or the location information of the second sensing node.

[0426] In some embodiments, as shown in FIG. 22, a sensing method is provided, which is applied to the second sensing node, and the method comprises:

[0427] In step 2201, at least one of the first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node is indicated to the control node or the first sensing node.

[0428] The first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node are used to determine the target sensing node and / or the target sensing-transmitting mode information. The first information comprises one or more of the participating sensing result information, the sensing-transmitting mode information, the sensing parameter information corresponding to the location information of the sensing target, and the sensing-transmitting mode information corresponding to the sensing parameter information.

[0429] In implementation, the second sensing node indicates at least one of the first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node to the control node or the first sensing node.

[0430] The second sensing node indicates the sensing coverage information of the second sensing node and the location information of the second sensing node to the control node or the first sensing node, which can be referred to the related description of the control node obtaining the sensing coverage information of the sensing node and / or the location information of the sensing node in step 1901, step 2101a, step 2101b.

[0431] In some embodiments, as shown in FIG. 23, when the second sensing node is the target sensing node, the method further comprises:

[0432] In step 2302, sensing is performed according to the indication information from the control node or the first sensing node.

[0433] The indication information is used to instruct the target sensing node to perform sensing and / or target sensing transceiver mode information.

[0434] In the case that the second sensing node is the target sensing node, the second sensing node performs sensing according to the indication information from the control node or the first sensing node. It can also be understood that the target sensing node in the second sensing node performs sensing according to the indication information from the control node or the first sensing node.

[0435] In implementation, the second sensing node indicates the first information to the control node or the first sensing node, through which it can be determined whether to switch the sensing node and / or the sensing transceiver mode information. In some embodiments, the second sensing node determines the first information according to the position information of the sensing target indicated by the control node and / or the first sensing node, and then indicates the first information to the control node or the first sensing node. The first information includes but is not limited to one or more of the participation sensing result information, the sensing transceiver mode information, the sensing parameter information corresponding to the position information of the sensing target, and the sensing transceiver mode information corresponding to the sensing parameter information.

[0436] In some embodiments, as shown in FIG. 24, before step 2201, the method further includes:

[0437] Step 2401: determining the first information according to the position information of the sensing target and / or the sensing quality information.

[0438] In implementation, the target first sensing node determines the first information according to the position information of the sensing target.

[0439] In some embodiments, the second sensing node can also determine whether to perform sensing and / or the sensing transceiver mode information according to the position information of the sensing target and the sensing quality information.

[0440] In the above embodiments, after giving the detailed description of each step, the disclosure provides the following specific example methods of different cases. The specific processing process of each step in the specific example method will not be repeated, which is the same as the specific processing process of the corresponding step in the above embodiments.

[0441] In some embodiments, as shown in FIG. 25, based on the control node configuration, the source sensing node triggers the sensing node and / or the sensing transceiver mode switching to determine the target sensing node and / or the target sensing transceiver mode. The example method includes:

[0442] In some embodiments, in step 2501, the control node obtains the sensing coverage information of the sensing node or the position information of the sensing node. The sensing node includes the source sensing node and other sensing nodes.

[0443] At step 2502, the control node configures the source sensing node with configuration information for triggering sensing node and / or sensing transceiver mode switching, and / or determining target sensing node and / or target sensing transceiver mode. In some embodiments, the control node determines the configuration information according to sensing coverage information of the sensing node or location information of the sensing node.

[0444] At step 2503, the control node configures the source sensing node with configuration information for stopping sensing, in some embodiments. The control node determines the configuration information according to sensing coverage information of the sensing node or location information of the sensing node.

[0445] At step 2504, the source sensing node acquires the location of the sensing target through sensing.

[0446] At step 2505, the source sensing node determines the target sensing node and / or target sensing transceiver mode. The source sensing node can determine the target sensing node and / or target sensing transceiver mode according to the configuration information for determining the target sensing node and / or target sensing transceiver mode information, and / or the location of the sensing target. The source sensing node can also determine the target sensing node and / or target sensing transceiver mode according to the first information indicated by other sensing nodes. The target sensing node is a sensing node among the other sensing nodes.

[0447] In some embodiments, the source sensing node triggers sensing node and / or sensing transceiver mode switching before determining the target sensing node and / or target sensing transceiver mode. The source sensing node can trigger the sensing node and / or sensing transceiver mode switching according to the configuration information for triggering the sensing node and / or sensing transceiver mode switching, and / or the location of the sensing target.

[0448] At step 2506, the source sensing node indicates the sensing and / or target sensing transceiver mode to the target sensing node. Alternatively, the source sensing node indicates or requests the target sensing node and / or target sensing transceiver mode to the control node. The control node indicates the sensing and / or target sensing transceiver mode to the target sensing node.

[0449] At step 2507, the target sensing node performs sensing according to the indication of the source sensing node or the control node.

[0450] In some embodiments, at step 2508, the source sensing node stops sensing. The source sensing node can stop sensing according to the configuration information for stopping sensing, and / or the location of the sensing target. The source sensing node can also stop sensing upon receiving the confirmation feedback information from the target sensing node or the control node in response to the indication information sent by the source sensing node at step 2506.

[0451] In some embodiments, as shown in FIG. 26, the control node triggers the sensing node and / or the sensing transceiver mode switching, determines the target sensing node and / or the target sensing transceiver mode, the example method comprises:

[0452] In some embodiments, the control node obtains the sensing coverage information of the sensing node or the location information of the sensing node, step 2601. The sensing node includes the source sensing node and other sensing nodes.

[0453] In some embodiments, the control node configures the source sensing node with the configuration information of triggering the reporting of the location information of the sensing target, step 2602. In some embodiments, the control node determines the configuration information according to the sensing coverage information of the sensing node or the location information of the sensing node.

[0454] In some embodiments, the control node configures the source sensing node with the configuration information of stopping sensing, step 2603. In some embodiments, the control node determines the configuration information according to the sensing coverage information of the sensing node or the location information of the sensing node.

[0455] The source sensing node obtains the location of the sensing target through sensing, step 2604.

[0456] The source sensing node indicates the location information of the sensing target to the control node, step 2605. The source sensing node can trigger the reporting of the location information of the sensing target to the control node according to the configuration information of triggering the reporting of the location information of the sensing target, and / or the location of the sensing target.

[0457] The control node determines the target sensing node and / or the target sensing transceiver mode, step 2606. The control node can determine the target sensing node and / or the target sensing transceiver mode according to the location information of the sensing target, and / or the coverage information of the target sensing node or the location information of the sensing node. The control node can also determine the target sensing node and / or the target sensing transceiver mode according to the first information indicated by other sensing nodes. The target sensing node can be a sensing node in the other sensing nodes and / or the source sensing node.

[0458] The control node indicates the sensing and / or the target sensing transceiver mode to the target sensing node, step 2607.

[0459] The target sensing node senses according to the indication of the control node, step 2608.

[0460] In some embodiments, the control node indicates the source sensing node to stop sensing, step 2609.

[0461] In some embodiments, the source sensing node stops sensing, step 2610. The source sensing node can stop sensing according to the configuration information of stopping sensing, and / or the location of the sensing target. The source sensing node can also stop sensing according to the indication of stopping sensing information from the control node.

[0462] In some embodiments, the source sensing node triggers the sensing node and / or sensing transceiver mode switching, and the control node determines the target sensing node and / or target sensing transceiver mode, as shown in FIG. 27. The example method includes:

[0463] In some embodiments, the control node obtains the sensing coverage information of the sensing nodes or the location information of the sensing nodes, step 2701. The sensing nodes include the source sensing node and other sensing nodes.

[0464] In some embodiments, the control node configures the source sensing node with configuration information of triggering the sensing node and / or sensing transceiver mode switching, step 2702. In some embodiments, the control node determines the configuration information according to the sensing coverage information of the sensing nodes or the location information of the sensing nodes.

[0465] In some embodiments, the control node configures the source sensing node with configuration information of stopping sensing, step 2703. In some embodiments, the control node determines the configuration information according to the sensing coverage information of the sensing nodes or the location information of the sensing nodes.

[0466] The source sensing node obtains the location of the sensing target through sensing, step 2704.

[0467] The source sensing node indicates or requests the sensing node and / or sensing transceiver mode switching to the control node, step 2705. The source sensing node can indicate the sensing node and / or sensing transceiver mode switching to the control node according to the configuration information of triggering the sensing node and / or sensing transceiver mode switching, and / or the location of the sensing target. The source sensing node can also indicate the location information of the sensing target to the control node.

[0468] The control node determines the target sensing node and / or target sensing transceiver mode, step 2706. The control node can determine the target sensing node and / or target sensing transceiver mode according to the location information of the sensing target, and / or the coverage information of the sensing nodes or the location information of the sensing nodes. The control node can also determine the target sensing node and / or target sensing transceiver mode according to the first information indicated by other sensing nodes.

[0469] The control node indicates the sensing and / or target sensing transceiver mode to the target sensing node, step 2707.

[0470] Step 2708, the target sensing node senses according to the indication of the control node.

[0471] In some embodiments, step 2709, the control node indicates to the source sensing node to stop sensing.

[0472] In some embodiments, step 2710, the source sensing node stops sensing. The source sensing node can stop sensing according to the configuration information of stopping sensing, and / or, the position of the sensing target. The source sensing node can also stop sensing according to the indication of the control node to stop sensing.

[0473] In some embodiments, as shown in FIG. 28, the source sensing node triggers sensing node and / or sensing transceiver mode switching to determine the target sensing node and / or the target sensing transceiver mode, and the example method comprises:

[0474] In some embodiments, step 2801, the source sensing node acquires the sensing coverage information of other sensing nodes or the position information of other sensing nodes.

[0475] In some embodiments, step 2802, the source sensing node indicates the position of the sensing target to other sensing nodes, and / or, requests sensing. The source sensing node can also indicate the sensing quality information to other sensing nodes.

[0476] In some embodiments, step 2803, other sensing nodes indicate the first information to the source sensing node.

[0477] Step 2804, the source sensing node indicates to the target sensing node to sense and / or the target sensing transceiver mode.

[0478] Before indicating to the target sensing node to sense and / or the target sensing transceiver mode, the source sensing node determines the target sensing node and / or the target sensing transceiver mode. The source sensing node can determine the target sensing node and / or the target sensing transceiver mode according to the position information of the sensing target, and / or, the sensing coverage information of other sensing nodes or the position information of other sensing nodes. The source sensing node can also determine the target sensing node and / or the target sensing transceiver mode according to the first information. The target sensing node is a sensing node in other sensing nodes.

[0479] In some embodiments, before determining the target sensing node and / or the target sensing transceiver mode, the source sensing node triggers sensing node and / or sensing transceiver mode switching. The source sensing node can trigger sensing node and / or sensing transceiver mode switching according to the position of the sensing target, and / or, the sensing coverage information of other sensing nodes or the position information of other sensing nodes.

[0480] Step 2805, the target sensing node senses according to the indication of the source sensing node.

[0481] In some embodiments, the source sensing node stops sensing according to the location of the sensing target, in step 2806. The source sensing node can also stop sensing upon receiving the confirmation feedback information from the target sensing node in response to the indication information sent by the source sensing node in step 2804.

[0482] In some embodiments, the source sensing node triggers the sensing node and / or sensing transceiver mode switching, and the control node determines the target sensing node and / or target sensing transceiver mode, as shown in FIG. 29. The example method comprises:

[0483] In some embodiments, the control node obtains the sensing coverage information of the sensing nodes or the location information of the sensing nodes, in step 2901.

[0484] The source sensing node indicates or requests the sensing node and / or sensing transceiver mode switching to the control node, in step 2902. The source sensing node can trigger the sensing node and / or sensing transceiver mode switching according to the location of the sensing target, and indicate the sensing node and / or sensing transceiver mode switching to the control node. The source sensing node can also indicate the location of the sensing target to the control node.

[0485] In some embodiments, the control node indicates the location of the sensing target to the other sensing nodes, and / or, requests sensing, in step 2903. The control node can also indicate the sensing quality information to the other sensing nodes.

[0486] In some embodiments, the other sensing nodes indicate the first information to the control node, in step 2904.

[0487] The control node indicates the target sensing node and / or target sensing transceiver mode to the target sensing node, in step 2805.

[0488] The control node determines the target sensing node and / or target sensing transceiver mode before indicating the target sensing node and / or target sensing transceiver mode to the target sensing node. The control node can determine the target sensing node and / or target sensing transceiver mode according to the location information of the sensing target, and / or, the sensing coverage information of the other sensing nodes or the location information of the other sensing nodes. The control node can also determine the target sensing node and / or target sensing transceiver mode according to the first information. The target sensing node is the sensing node among the other sensing nodes.

[0489] The target sensing node senses according to the indication of the control node, in step 2906.

[0490] In some embodiments, the control node indicates the source sensing node to stop sensing, in step 2907.

[0491] In some embodiments, the source sensing node stops sensing at step 2908. The source sensing node can stop sensing according to the location of the sensing target. The source sensing node can also stop sensing according to the stop sensing information indicated by the control node.

[0492] It should be understood that, although each step in the flowchart involved in each of the above embodiments is shown in sequence according to the arrow or number, these steps are not necessarily executed in the order indicated by the arrow or number. Unless otherwise specified in the embodiments, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or stages.

[0493] Based on the same inventive concept, the embodiments of the present disclosure also provide a sensing device for implementing the above-mentioned sensing method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more sensing device embodiments provided below can refer to the limitations of the sensing control method in the above text, which will not be repeated here.

[0494] In some embodiments, as shown in FIG. 30, a sensing device is provided, which is applied to a first sensing node, wherein the device comprises:

[0495] A first determination unit 3001 is configured to determine target sensing node and / or target sensing transceiving mode information according to at least one of the location information of the sensing target, the configuration information from the control node, and the first information indicated by the second sensing node; or,

[0496] A first indication unit 3002 is configured to indicate the sensing node and / or the sensing transceiving mode switching to the control node, and / or indicate the location information of the sensing target to the control node; the indication of the sensing node and / or the sensing transceiving mode switching and the indication of the location information of the sensing target are used to determine the target sensing node and / or the target sensing transceiving mode information.

[0497] In some embodiments, the first indication unit 3002 is specifically configured to:

[0498] indicate the sensing node and / or the sensing transceiving mode switching to the control node according to the location information of the sensing target; or,

[0499] According to the location information of the sensing target and the configuration information from the control node, the control node is indicated of the sensing node and / or the sensing transceiving mode switching.

[0500] In some embodiments, the apparatus further includes:

[0501] a second indication unit, configured to indicate the target sensing node of the sensing and / or the target sensing transceiving mode information, or

[0502] a third indication unit, configured to indicate the control node of the target sensing node and / or the target sensing transceiving mode information.

[0503] In some embodiments, the first determination unit 3001 is specifically configured to:

[0504] determine the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target; or

[0505] determine the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target and the configuration information from the control node.

[0506] In some embodiments, the first determination unit 3001 is specifically configured to:

[0507] determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node; or

[0508] determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0509] The first information indicated by the second sensing node includes one or more of the participation sensing result information, the sensing transceiving mode information, the sensing parameter information corresponding to the location information of the sensing target, and the sensing transceiving mode information corresponding to the sensing parameter information.

[0510] In some embodiments, the apparatus further includes:

[0511] a fourth indication unit, configured to indicate the second sensing node of the location information of the sensing target and / or the sensing quality information.

[0512] In some embodiments, the first determination unit 3001 is specifically configured to:

[0513] determine the target sensing node and / or the target sensing transceiving mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target.

[0514] In some embodiments, the first indication unit 3002 is specifically configured to:

[0515] indicate the location information of the sensing target to the control node according to the location information of the sensing target; or

[0516] indicate the location information of the sensing target to the control node according to the location information of the sensing target and the configuration information from the control node.

[0517] In one embodiment, a sensing device is provided, which is applied to a control node, and the device comprises:

[0518] a first determining unit, configured to send configuration information to a first sensing node, and / or determine target sensing node and / or target sensing transceiver mode information;

[0519] The configuration information is used for at least one of the following situations:

[0520] The first sensing node determines the target sensing node and / or the target sensing transceiver mode information according to the configuration information;

[0521] The first sensing node indicates the location information of the sensing target to the control node according to the configuration information;

[0522] The first sensing node indicates the sensing node and / or the sensing transceiver mode switching to the control node according to the configuration information.

[0523] In some embodiments, the first determining unit is specifically configured to:

[0524] determine the target sensing node and / or the target sensing transceiver mode information according to the location information of the sensing target; or

[0525] determine the target sensing node and / or the target sensing transceiver mode information according to the first information indicated by a second sensing node; or

[0526] determine the target sensing node and / or the target sensing transceiver mode information according to the first information indicated by the second sensing node and the location information of the sensing target.

[0527] The first information indicated by the second sensing node comprises one or more of the following: participation sensing result information, sensing transceiver mode information, sensing parameter information corresponding to the location information of the sensing target, and sensing transceiver mode information corresponding to the sensing parameter information.

[0528] In some embodiments, the first determining unit is specifically configured to:

[0529] determine the target sensing node and / or the target sensing transceiver mode information according to the sensing coverage information of the second sensing node or the location information of the second sensing node, and the location information of the sensing target.

[0530] In some embodiments, the apparatus further includes:

[0531] The first indication unit is configured to indicate the position information of the sensing target and / or the sensing quality information to the second sensing node.

[0532] In some embodiments, the apparatus further includes:

[0533] The second determination unit is configured to determine the configuration information according to the sensing coverage information of the first sensing node and / or the second sensing node; or,

[0534] The third determination unit is configured to determine the configuration information according to the position information of the first sensing node and / or the second sensing node.

[0535] In some embodiments, the apparatus further includes:

[0536] The second indication unit is configured to indicate the target sensing node to perform sensing and / or the target sensing transceiving mode information.

[0537] In some embodiments, a sensing apparatus is provided, and the apparatus is applied to a second sensing node, and the apparatus includes:

[0538] The first indication unit is configured to indicate at least one of the first information, the sensing coverage information of the second sensing node, and the position information of the second sensing node to a control node or a first sensing node; the first information, the sensing coverage information of the second sensing node, and the position information of the second sensing node are used to determine the target sensing node and / or the target sensing transceiving mode information.

[0539] The first information includes one or more of the following: the participation sensing result information, the sensing transceiving mode information, the sensing parameter information corresponding to the position information of the sensing target, and the sensing transceiving mode information corresponding to the sensing parameter information.

[0540] In some embodiments, the apparatus further includes:

[0541] The second indication unit is configured to perform sensing according to the indication information from the control node or the first sensing node; the indication information is used to indicate the second sensing node to perform sensing and / or the target sensing transceiving mode information.

[0542] In some embodiments, the apparatus further includes:

[0543] The determination unit is configured to determine the first information according to the position information of the sensing target and / or the sensing quality information.

[0544] Each of the modules in the perception device can be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in a computer device in software form, so as to be invoked by a processor to perform operations corresponding to each of the modules.

[0545] If "component", "module", and "system" and the like are used in the present application, they are intended to represent network device related entities, which can be hardware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable code, an executing thread, a program, and / or a computer. As an illustration, an application running on a server and the server can both be components. One or more components can reside in a process and / or an executing thread, and components can be located in one computer kernel or distributed between two or more computers.

[0546] The first perception node or control node involved in the embodiments of the present disclosure can be a terminal or a base station. The base station can include multiple cells that provide services for terminals. According to different application scenarios, the base station can also be referred to as an access point, or can be a device that communicates with wireless terminal devices through one or more sectors on an air interface in an access network, or other names. The network device can be used to exchange received air frames and Internet Protocol (IP) packets as a router between the wireless terminal device and the rest of the access network, which can include an Internet Protocol (IP) communication network. The network device can also coordinate the management of the properties of the air interface. For example, the network device involved in the embodiments of the present disclosure can be an evolved network device (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a 5G network architecture, etc., and can also be a home evolved base station (HeNB), a relay node, a home base station (femto), a pico base station, a network test device, etc., which are not limited in the embodiments of the present disclosure. In some network structures, the network device can include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit can also be arranged geographically apart.

[0547] The second perception node or control node involved in the embodiments of the present disclosure can be a terminal, which refers to a device that provides voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal device can also be different, for example, in the 5G system or the 6G system, the terminal device can be called a user equipment (UE). The wireless terminal device can be a USB storage device, other personal computer memory devices and a dongle, and can also communicate with one or more core networks (CN) through a radio access network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or called a “cellular” phone) and a computer with a mobile terminal device, for example, it can be a portable, pocket, handheld, built-in computer or vehicle-mounted mobile device, which exchanges language and / or data with the radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), personal computers, tablet computers, machine-type communication (MTC) terminal devices, etc. The wireless terminal device can also be called a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, a user device, and a wireless access device and a router / modem that meet the limitations of the present definition, etc. The embodiments of the present disclosure are not limited.

Claims

1. A sensing method, the method being applied to a first sensing node, the method comprising: determining target sensing node and / or target sensing transceiving mode information according to at least one of sensing target location information, configuration information from a control node, and first information indicated by a second sensing node; or, indicating sensing node and / or sensing transceiving mode switching to a control node, and / or indicating sensing target location information to the control node; the indicating sensing node and / or sensing transceiving mode switching and the indicating sensing target location information being used for determining target sensing node and / or target sensing transceiving mode information.

2. The method of claim 1, wherein, the indicating sensing node and / or sensing transceiving mode switching to the control node comprises: indicating sensing node and / or sensing transceiving mode switching to the control node according to sensing target location information; or, indicating sensing node and / or sensing transceiving mode switching to the control node according to sensing target location information and configuration information from the control node.

3. The method of claim 1, wherein, the method further comprises: indicating sensing to the target sensing node and / or the target sensing transceiving mode information; or, indicating the target sensing node and / or the target sensing transceiving mode information to a control node.

4. The method of claim 1, wherein, the determining target sensing node and / or target sensing transceiving mode information according to at least one of sensing target location information, configuration information from a control node, and first information indicated by a second sensing node comprises: determining target sensing node and / or target sensing transceiving mode information according to sensing target location information; or, determining target sensing node and / or target sensing transceiving mode information according to sensing target location information and configuration information from the control node.

5. The method of claim 1, wherein, the determining target sensing node and / or target sensing transceiving mode information according to at least one of sensing target location information, configuration information from a control node, and first information indicated by a second sensing node comprises: determining target sensing node and / or target sensing transceiving mode information according to first information indicated by a second sensing node; or, determining target sensing node and / or target sensing transceiving mode information according to first information indicated by a second sensing node and sensing target location information; wherein the first information indicated by the second sensing node comprises one or more of participation sensing result information, sensing transceiving mode information, and sensing target location information corresponding sensing parameter information.

6. The method of claim 5, wherein, the method further comprises: indicating sensing target location information and / or sensing quality information to the second sensing node.

7. The method of claim 4, wherein, the determining target sensing node and / or target sensing transceiving mode information according to sensing target location information comprises: determining target sensing node and / or target sensing transceiving mode information according to sensing target location information and sensing coverage information of a second sensing node or location information of the second sensing node.

8. The method of claim 1, wherein, the indicating sensing target location information to the control node comprises: indicating the sensing target location information to the control node according to sensing target location information; or, indicating, to the control node, the location information of the sensing target according to the location information of the sensing target and configuration information from the control node. 9.A sensing method, applied to a control node, comprising: sending configuration information to a first sensing node, and / or determining target sensing node and / or target sensing transceiver mode information; wherein the configuration information is used for at least one of the following: the first sensing node determines target sensing node and / or target sensing transceiver mode information according to the configuration information; the first sensing node indicates sensing target location information to the control node according to the configuration information; the first sensing node indicates sensing node and / or sensing transceiver mode switching to the control node according to the configuration information.

10. The method of claim 9, wherein, the determining target sensing node and / or target sensing transceiver mode information comprises: determining target sensing node and / or target sensing transceiver mode information according to location information of a sensing target; or, determining target sensing node and / or target sensing transceiver mode information according to first information indicated by a second sensing node; or, determining target sensing node and / or target sensing transceiver mode information according to first information indicated by a second sensing node and location information of a sensing target; wherein the first information indicated by the second sensing node comprises one or more of the following: participating sensing result information, sensing transceiver mode information, sensing parameter information corresponding to the location information of the sensing target.

11. The method of claim 10, wherein, the determining target sensing node and / or target sensing transceiver mode information according to the location information of the sensing target comprises: determining target sensing node and / or target sensing transceiver mode information according to sensing coverage information of a second sensing node or location information of the second sensing node, and location information of a sensing target.

12. The method of claim 10, wherein, the method further comprises: indicating, to the second sensing node, location information of a sensing target and / or sensing quality information.

13. The method of claim 9, wherein, the method further comprises: determining the configuration information according to sensing coverage information of the first sensing node and / or second sensing node; or, determining the configuration information according to location information of the first sensing node and / or second sensing node. 14.A sensing method, applied to a second sensing node, comprising: indicating, to a control node or a first sensing node, at least one of the following: first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node are used for determining target sensing node and / or target sensing transceiver mode information; wherein the first information comprises one or more of the following: participating sensing result information, sensing transceiver mode information, and sensing parameter information corresponding to the location information of the sensing target.

15. The method of claim 14, wherein, the method further comprises: sensing according to indication information from the control node or the first sensing node, the indication information being used for indicating the second sensing node to sense and / or target sensing transceiver mode.

16. The method of claim 14, wherein, before the indicating, to the control node or the first sensing node, the first information, the method further comprises: determine the first information according to the location information of the sensing target and / or the sensing quality information.

17. A first sensing node comprising a memory, a transceiver and a processor; wherein, the memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations: determine target sensing node and / or target sensing transceiving mode information according to at least one of the location information of the sensing target, configuration information from a control node and first information indicated by a second sensing node; or, indicate sensing node and / or sensing transceiving mode switching to the control node, and / or indicate the location information of the sensing target to the control node; the indication of the sensing node and / or the sensing transceiving mode switching and the indication of the location information of the sensing target are used to determine the target sensing node and / or the target sensing transceiving mode information.

18. The first awareness node of claim 17, wherein, the indication of the sensing node and / or the sensing transceiving mode switching to the control node comprises: indicate the sensing node and / or the sensing transceiving mode switching to the control node according to the location information of the sensing target; or indicate the sensing node and / or the sensing transceiving mode switching to the control node according to the location information of the sensing target and configuration information from the control node.

19. The first awareness node of claim 17, wherein, the processor is further configured to read the computer program in the memory and perform the following operations: indicate the target sensing node and / or the target sensing transceiving mode information to the target sensing node; or indicate the target sensing node and / or the target sensing transceiving mode information to the control node.

20. The first awareness node of claim 17, wherein, the determination of the target sensing node and / or the target sensing transceiving mode information according to at least one of the location information of the sensing target, configuration information from a control node and first information indicated by a second sensing node comprises: determine the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target; or determine the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target and configuration information from the control node.

21. The first awareness node of claim 17, wherein, the determination of the target sensing node and / or the target sensing transceiving mode information according to at least one of the location information of the sensing target, configuration information from a control node and first information indicated by a second sensing node comprises: determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node; or determine the target sensing node and / or the target sensing transceiving mode information according to the first information indicated by the second sensing node and the location information of the sensing target; wherein the first information indicated by the second sensing node comprises one or more of participation sensing result information, sensing transceiving mode information, and sensing parameter information corresponding to the location information of the sensing target.

22. The first awareness node of claim 21, wherein, the processor is further configured to read the computer program in the memory and perform the following operations: indicate the location information of the sensing target and / or sensing quality information to the second sensing node.

23. The first awareness node of claim 20, wherein, the determination of the target sensing node and / or the target sensing transceiving mode information according to the location information of the sensing target comprises: determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the sensing target and the location information of the second sensing node.

24. The first awareness node of claim 17, wherein, The indicating the location information of the sensing target to the control node comprises: indicating the location information of the sensing target to the control node according to the location information of the sensing target; or, indicating the location information of the sensing target to the control node according to the location information of the sensing target and the configuration information from the control node.

25. A control node, comprising a memory, a transceiver and a processor; wherein, The memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations: sending configuration information to a first sensing node, and / or determining target sensing node and / or target sensing and / or transmitting mode information; The configuration information is used for at least one of the following situations: The first sensing node determines the target sensing node and / or the target sensing and / or transmitting mode information according to the configuration information; The first sensing node indicates the location information of the sensing target to the control node according to the configuration information; The first sensing node indicates the sensing node and / or the sensing and / or transmitting mode switching to the control node according to the configuration information.

26. A control node according to claim 25, wherein The determining the target sensing node and / or the target sensing and / or transmitting mode information comprises: determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the sensing target; determining the target sensing node and / or the target sensing and / or transmitting mode information according to the first information indicated by the second sensing node; or, determining the target sensing node and / or the target sensing and / or transmitting mode information according to the first information indicated by the second sensing node and the location information of the sensing target; The first information indicated by the second sensing node comprises one or more of the following: participation sensing result information, sensing and / or transmitting mode information, and sensing parameter information corresponding to the location information of the sensing target.

27. A control node according to claim 26, wherein The determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the sensing target comprises: determining the target sensing node and / or the target sensing and / or transmitting mode information according to the location information of the second sensing node or the location information of the second sensing node and the location information of the sensing target.

28. A control node according to claim 26, wherein The processor is further configured to read the computer program in the memory and perform the following operations: indicating the location information of the sensing target and / or sensing quality information to the second sensing node.

29. A control node according to claim 25, wherein The processor is further configured to read the computer program in the memory and perform the following operations: determining the configuration information according to the sensing coverage information of the first sensing node and / or the second sensing node; or, determining the configuration information according to the location information of the first sensing node and / or the second sensing node.

30. A second sensing node, comprising a memory, a transceiver and a processor; The memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations: wherein The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations: indicating, to a control node or a first sensing node, at least one of first information, sensing coverage information of the second sensing node, and location information of the second sensing node; the first information, the sensing coverage information of the second sensing node, and the location information of the second sensing node being used to determine target sensing node and / or target sensing transceiving mode information; The first information includes one or more of participation sensing result information, sensing transceiving mode information, and sensing target location information corresponding sensing parameter information.

31. The second awareness node of claim 30, wherein, The processor is further configured to read the computer program in the memory and perform the following operations: performing sensing according to indication information from the control node or the first sensing node, the indication information being used to instruct the second sensing node to perform sensing and / or target sensing transceiving mode.

32. The second awareness node of claim 30, wherein, Before the indicating, to the control node or the first sensing node, of the first information, the processor is further configured to read the computer program in the memory and perform the following operations: determining the first information according to sensing target location information and / or sensing quality information.

33. A sensing apparatus, the apparatus being applied to a first sensing node, the apparatus comprising: a first determining unit configured to determine target sensing node and / or target sensing transceiving mode information according to at least one of sensing target location information, configuration information from a control node, and first information indicated by a second sensing node; or, a first indicating unit configured to indicate, to a control node, sensing node and / or sensing transceiving mode switching, and / or indicate, to the control node, sensing target location information; the indicating of the sensing node and / or the sensing transceiving mode switching and the indicating of the sensing target location information being used to determine target sensing node and / or target sensing transceiving mode information.

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