Communication and sensing method and apparatus, and storage medium and program product

Abstract

Provided are a communication and sensing method and apparatus, and a storage medium and a program product. The method is executed by a first sensing node, and the method comprises: acquiring sensing information obtained by means of sensing a first terminal; and sending a switching request message on the basis of the sensing information, wherein the switching request message is used for requesting the switching of a communication and sensing service node of the first terminal.

Description

Communication and sensing methods and devices, storage media and software products

[0001] This disclosure claims priority to Chinese patent application No. 202411514378.3, filed on October 28, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of communication technology, and in particular to a communication and sensing method and apparatus, storage medium and program product. Background Technology

[0003] Mobility management is a crucial function in mobile communication systems, responsible for managing and addressing user mobility issues within the network to ensure service continuity when users move between different base stations or cells. Mobility management typically involves signal measurements, including physical layer (L1) measurements and radio resource management (RRM) measurements. The network can manage the mobility of a terminal by analyzing measurement reports submitted by the terminal itself. Summary of the Invention

[0004] In a first aspect, embodiments of this disclosure provide a communication and sensing method, executed by a first sensing node. The communication and sensing method includes:

[0005] Acquire the perception information obtained from the first terminal;

[0006] Based on the sensing information, a handover request message is sent, which is used to request the switching of the first terminal's sensing service node.

[0007] Secondly, embodiments of this disclosure provide another communication and sensing method, executed by a target sensing node. This communication and sensing method includes:

[0008] Send the sensing measurement report of the first terminal to the first sensing node;

[0009] Receive a handover request message, which is used to request the first terminal to be switched from the first sensor node to the target sensor node.

[0010] Thirdly, embodiments of this disclosure provide another communication and sensing method, executed by a first terminal. This communication and sensing method includes:

[0011] Receive a perception configuration message from the first sensing node. The perception configuration message includes a preset perception event. The first sensing node is the current sensing service node of the first terminal.

[0012] Acquire sensing signals from at least one synesthesia node.

[0013] Fourthly, embodiments of this disclosure provide another communication and sensing method, executed by a first sensing node. This communication and sensing method includes:

[0014] A sensing configuration message is sent to the first terminal. The sensing configuration message includes a preset sensing event. The sensing configuration message is used to trigger the first terminal to activate or deactivate communication signal measurement and / or sensing signal measurement.

[0015] Fifthly, embodiments of this disclosure provide a communication and sensing device applied to a first sensing node. The communication and sensing device includes: an acquisition module and a transmission module;

[0016] The acquisition module is used to acquire the perception information obtained from the first terminal.

[0017] The sending module is used to send a switching request message based on the sensing information. The switching request message is used to request the switching of the sensing service node of the first terminal.

[0018] Sixthly, embodiments of this disclosure provide another communication and sensing device applied to a target sensing node. The communication and sensing device includes: a transmitting module and a receiving module;

[0019] The sending module is used to send the perception measurement report of the first terminal to the first sensing node;

[0020] The receiving module is used to receive a switching request message, which requests the first terminal to switch from the first sensing node to the target sensing node.

[0021] In a seventh aspect, embodiments of this disclosure provide another communication and sensing device applied to a first terminal. The communication and sensing device includes: a receiving module;

[0022] The receiving module is used to receive a perception configuration message from the first sensing node. The perception configuration message includes a preset perception event, and the first sensing node is the current sensing service node of the first terminal.

[0023] The receiving module is also used to acquire sensing signals from at least one sensing node.

[0024] Eighthly, embodiments of this disclosure provide another communication and sensing device applied to a first sensing node. The communication and sensing device includes: a transmitting module;

[0025] The sending module is used to send a sensing configuration message to the first terminal. The sensing configuration message includes a preset sensing event and is used to trigger the first terminal to activate or deactivate communication signal measurement and / or sensing signal measurement.

[0026] Ninthly, embodiments of this disclosure provide a communication and sensing device. The communication and sensing device includes: a processor and a memory; the memory stores processor-executable instructions; when the processor is configured to execute the instructions, the communication and sensing device implements the method provided by any one of the first to fourth aspects described above.

[0027] In a tenth aspect, embodiments of this disclosure provide a computer-readable storage medium that stores computer instructions that, when executed on a computer, cause the computer to perform the method provided in any one of the first to fourth aspects.

[0028] Eleventhly, embodiments of this disclosure provide a computer program product containing computer instructions that, when executed on a computer, cause the computer to perform the method provided in any one of the first to fourth aspects. Attached Figure Description

[0029] The accompanying drawings are provided to further understand the technical solutions of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure.

[0030] Figure 1 is a schematic diagram of the network architecture of a sensing system according to some embodiments.

[0031] Figure 2 is a schematic diagram of the network architecture of a sensory system according to some embodiments.

[0032] Figure 3 is a flowchart illustrating a communication and sensing method according to some embodiments.

[0033] Figure 4 is a flowchart illustrating another communication and sensing method according to some embodiments.

[0034] Figure 5 is a flowchart illustrating another communication and sensing method according to some embodiments.

[0035] Figure 6 is an interactive schematic diagram of a communication and sensing method according to some embodiments.

[0036] Figure 7 is an interactive schematic diagram of another communication and sensing method according to some embodiments.

[0037] Figure 8 is an interactive schematic diagram of another communication and sensing method according to some embodiments.

[0038] Figure 9 is an interactive schematic diagram of another communication and sensing method according to some embodiments.

[0039] Figure 10 is a flowchart illustrating another communication and sensing method according to some embodiments.

[0040] Figure 11 is a flowchart illustrating another communication and sensing method according to some embodiments.

[0041] Figure 12 is an interactive schematic diagram of another communication and sensing method according to some embodiments.

[0042] Figure 13 is a schematic diagram of the composition of a communication and sensing device according to some embodiments.

[0043] Figure 14 is a schematic diagram of the composition of another communication and sensing device according to some embodiments.

[0044] Figure 15 is a schematic diagram of the composition of another communication and sensing device according to some embodiments.

[0045] Figure 16 is a schematic diagram of the composition of another communication and sensing device according to some embodiments.

[0046] Figure 17 is a schematic diagram of the structure of a communication and sensing device according to some embodiments. Detailed Implementation

[0047] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0048] Unless the context otherwise requires, throughout the specification and claims, the term "comprise" and its other forms, such as the third-person singular "comprises" and the present participle "comprising," are interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example," or "some examples," etc., are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples.

[0049] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0050] In this disclosure, expressions such as "exemplarily" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design described as "exemplarily" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of expressions such as "exemplarily" or "for example" is intended to present the relevant concepts in a detailed manner.

[0051] In addition, the use of “based on” implies openness and inclusivity, because processes, steps, calculations or other actions “based on” one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0052] To facilitate understanding, a brief introduction and explanation of some terms or basic concepts of technology involved in the embodiments of this disclosure will be given first.

[0053] 1. Integrated sensor technology

[0054] Integrated Sensing and Communication (ISAC) refers to the unified design of communication and sensing functions through joint design of air interface and protocols, multiplexing of time-frequency-space resources, and sharing of hardware devices. This enables wireless networks to achieve high-precision and refined sensing functions while conducting high-quality communication interactions, thereby improving overall network performance and service capabilities. This technology utilizes the transmission, reflection, and scattering characteristics of radio waves to acquire information such as distance, speed, and angle through wireless signals, thus achieving perception of the physical world. This technology can provide services such as high-precision positioning, gesture capture, motion recognition, detection and tracking of passive objects, imaging, and environmental reconstruction.

[0055] ISAC technology enables perception-assisted communication, enhancing communication performance by leveraging environmental features acquired through sensing, such as beamforming and channel state information tracking. This technology also supports communication-assisted collaborative sensing, utilizing communication networks to support multi-node collaborative sensing and improve sensing effectiveness.

[0056] The sensing modes can be divided into base station self-transmission and self-reception, base station A transmitting and base station B receiving, user equipment (UE) transmitting and base station receiving, base station transmitting and UE receiving, UE self-transmission and self-reception, UE A transmitting and UE B receiving, etc.

[0057] 2. Mobility Enhancement Technology

[0058] 2.1 Conditional handover (CHO).

[0059] To improve handover reliability (i.e., handover robustness), 5G (5th generation mobile communication technology) introduces conditional handover. Conditional Handover (CHO) is defined as a handover performed by the UE when execution conditions are met. Upon receiving the CHO configuration, the UE begins evaluating the execution conditions and stops evaluating them after the handover is triggered. The CHO configuration includes the candidate cell configuration generated by the candidate target node and the corresponding execution conditions for the candidate cell.

[0060] 2.2 Conditional Primary Secondary Cell (PSCell) Addition / Modification (CPAC)

[0061] To improve the reliability (i.e., handover robustness) of PSCell / secondary node (SN) additions or handovers and reduce downtime, 5G introduces Conditional Handover PSCell Addition / Modification (CPAC). CPAC is defined as a PSCell addition / modification performed by the UE when execution conditions are met. The UE begins evaluating execution conditions after receiving the CPAC configuration and stops evaluating them after triggering the PSCell addition / modification. The CPAC configuration includes candidate PSCell configurations generated by the candidate SN and the corresponding execution conditions for the candidate PSCells. The CPAC process can be initiated by the master node (MN) or the SN, including inter-SN CPAC (CPAC across SNs) and intra-SN CPAC (CPAC within the same SN).

[0062] Furthermore, 5G supports continuous CPAC (SCPAC). Based on the pre-configured SCPAC configuration of candidate PSCells, the UE can perform conditional PSCell addition or modification procedures after PSCell addition, PSCell modification, PCell modification, or SCG release, without reconfiguration and re-initiating the CPAC procedure. After completing PSCell addition, PSCell modification, PCell modification, or SCG release, the UE retains the configured SCPAC configuration (unless the network instructs it to be released) and evaluates the execution conditions of the candidate PSCell (if the network provides the execution conditions for subsequent SCPAC execution). The SCPAC procedure can be initiated by the MN or SN, including inter-SN SCPAC and intra-SN SCPAC.

[0063] 2.3 Layer 1 / L2 triggered mobility (LTM).

[0064] To reduce handover interruption latency and handover signaling overhead, 5G introduces LTM (Low-Terminal Handover Mechanism). LTM is the process by which the base station triggers cell handover via a cell handover command based on Media Access Control (MAC) CE signaling. The cell handover command instructs the base station to pre-configure the LTM candidate cell configuration via RRC signaling, and the UE switches to the corresponding target cell according to the handover command.

[0065] The LTM process consists of four parts: LTM preparation, advance synchronization, LTM cell handover execution, and LTM cell handover completion. Successive LTM processes can reuse pre-configured LTM candidate cell configurations, completing cell handover by repeating advance synchronization, LTM cell handover execution, and LTM cell handover completion steps, without needing to release other LTM candidate cell configurations after each LTM cell handover.

[0066] Under NR-DC, LTM can be applied to master cell group (MCG) handover and secondary cell group (SCG) handover.

[0067] 2.4 Condition-Based Layer 1 / Layer 2 Triggered Mobility (CLTM)

[0068] Building upon LTM, 5G further introduces condition-triggered LTM, or CLTM, which improves handover robustness while reducing handover interruption latency. The base station pre-configures LTM candidate cell configurations and corresponding execution conditions via RRC signaling. Upon receiving the CLTM configuration, the UE begins evaluating the execution conditions and, when the corresponding execution conditions are met, automatically triggers CLTM to execute on the appropriate candidate cell.

[0069] Under NR-DC, CLTM can be applied to MCG switching and SCG switching.

[0070] The above is an introduction to the technical terms involved in the embodiments of this disclosure, which will not be repeated below.

[0071] To reduce energy consumption during terminal mobility management, this disclosure provides a communication and sensing method executed by a first sensing node. The method includes: acquiring sensing information obtained from sensing a first terminal; and sending a handover request message based on the sensing information, wherein the handover request message is used to request a handover of the sensing service node of the first terminal.

[0072] The methods provided in the embodiments of this disclosure can be applied to various sensing / synthetic systems.

[0073] As shown in Figure 1, this disclosure provides a sensing system with a distributed sensing network architecture, also known as a multi-station collaborative sensing network architecture. This system enables multiple nodes to send and receive sensing signals, and then jointly process the sensing information from these nodes. This improves sensing accuracy, expands the sensing range, and enhances sensing continuity, thereby meeting the needs for capturing and tracking sensing targets. The system includes at least one sensing site (SS) 101 and a sensing center (SC) 102.

[0074] Sensing station 101 can be a base station, a central unit (CU), a distributed unit (DU), a transmission and receive point (TRP), etc., and is typically located in the radio access network. The various sensing stations 101 can form a distributed sensing network. Each sensing station 101 has functions such as sensing targets, transmitting / receiving sensing signals, and processing sensing signals. Furthermore, sensing stations 101 also have information connection channels with other adjacent sensing stations 101. For example, they can exchange information with each other via the Sn interface (or other interfaces) and report / transmit sensing information to the sensing center. For instance, they can report sensing measurement reports via the S1 interface (or other interfaces), which can also be called sensing information reports.

[0075] The sensing center 102 can also be a sensing function (SF) entity. It is used to manage / control the sensing process of each sensing station 101 based on detailed sensing requirements and via the S1 interface. This includes configuring sensing resources and processing sensing results for each sensing station 101. The sensing center 102 can be a sensing network element located in the core network, or it can be a sensing network element located in the access network, such as a base station, a base station centralized unit (CU), or a newly added network element on the access network RAN ​​side. Alternatively, the sensing center 102 can also be located in a central computer room of a region, in which case it can serve as the sensing control center and computing server center for all sensing stations 101 in that region.

[0076] In this system, due to its multi-station collaborative sensing network architecture, the sensing areas of different stations may overlap, meaning multiple sensing stations 101 can simultaneously sense the same target. Therefore, in this sensing network architecture, it is necessary to fuse and deduplicate the target trajectories of the same target sensed by each distributed sensing station 101, and also to construct a global identity for the target to facilitate the entire sensing network's identification of sensing station 101 switching and mobility management. For target trajectory deduplication and global identity construction, at least the following methods can be used:

[0077] Method 1: Sensing stations 101 report the trajectories of the sensed targets they detect to sensing center 102. Sensing center 102 matches and deduplicates the trajectory reports of the sensed targets from all sensing stations 101, and then assigns a global identity to the sensed target, such as generating a global sensing identifier (ID) for the sensed target. Subsequently, sensing center 102 can notify each sensing station 101 of the global sensing ID of the sensed target.

[0078] Method 2: Each sensing station 101 can have its own spatial grid, which can be divided based on the sensing area of ​​each sensing station 101. The spatial grids of sensing stations 101 also overlap with those of adjacent sensing stations 101. When a sensing target in an overlapping spatial grid is sensed by multiple sensing stations 101, a designated sensing station 101 (e.g., a sensing anchor base station) can fuse the trajectory reports of the sensing target from multiple sensing stations 101, and then report the fused trajectory report to the sensing center 102. During this process, the designated sensing station 101 can generate a global sensing ID corresponding to the sensing target and report / notify the global sensing ID to the sensing center 102 and / or other sensing stations 101.

[0079] Method 3: Each sensing station 101 determines a sensing fusion station (i.e., a sensing anchor base station) through collaborative fusion requests and sensing information exchange with neighboring sensing stations 101. The sensing fusion station then performs target trajectory fusion for multiple sensing stations 101 and reports it to the sensing center 102. This process can involve the determined sensing station 101 assigning a global sensing ID to the sensing target and reporting / notifying the global sensing ID to the sensing center 102 and / or other sensing stations 101.

[0080] A station that fuses and deduplicates the trajectories of the same perceived target detected by multiple sensing stations (101) is called a sensing fusion station (or sensing anchor base station). Other stations that detect the same target can act as cooperative sensing stations. Cooperative sensing stations can send their respective sensing information to the sensing fusion station, which then fuses and deduplicates the target trajectories to generate fused sensing information, which is then reported to the sensing center. The sensing fusion station can also send the fused and deduplicated sensing information to each cooperative base station to assist them in sensing, such as helping them better eliminate false alarms, detect unauthorized drone flights, and reduce the amount of information transmitted between base stations and sensing nodes during target detection, localization, and tracking.

[0081] As shown in Figure 2, this disclosure also provides a sensing system, which is a sensing fusion network architecture, including at least one sensing station 201 and a sensing center 202.

[0082] Similar to the sensing station 101 described above, the communication station 201 can also be a base station, a centralized base station unit, a distributed base station unit, a transmitter / receiver point, etc., which will not be elaborated further here. The communication station 201 not only possesses the functions of the sensing station 101, but also the functions of a traditional communication station, such as communication / sensing signal processing, information transmission, and resource configuration. The various communication stations 201 can also exchange information based on the Sn interface (or other interfaces), and report / transmit communication / sensing information to the communication center 202 through the S1 interface (or other interfaces).

[0083] The Sensing Center 202 is used for process control / management, resource allocation, and result processing of communication and sensing at each Sensing Station 201 based on the S1 interface (or other interfaces) according to communication and sensing requirements. The Sensing Center 202 can be a sensing network element located in the core network, a comprehensive network element functional unit, or a collection of multiple network element functional units (e.g., a combination of a sensing center and an AMF). Alternatively, the Sensing Center 202 can also be located in a regional central computer room, serving as the control and computing center for all Sensing Stations 201 in that region.

[0084] For example, for a UE that serves as a sensing target, such as a UAV UE, the base station can simultaneously provide communication and sensing functions for the UE. Considering the consistency between communication and sensing, the communication base station accessed by the UE can be used as a sensing fusion site (or sensing anchor base station), meaning the communication base station and the sensing anchor base station are identical (e.g., a synesthetic anchor base station). This synesthetic anchor base station can collaborate with other adjacent sensing / synesthetic sites for sensing, and then fuse and process the collaborative sensing information before reporting it to the sensing center.

[0085] In addition, a sensing fusion center, such as sensing center 202, or a functional entity that integrates the functions of the aforementioned sensing center and the Access and Mobility Management Function (AMF) in traditional wireless communication, can be introduced to manage / control the sensing and communication processes of each site.

[0086] It should be noted that Figure 1 or Figure 2 is only an exemplary framework diagram. The number of devices or nodes included in Figure 1 or Figure 2 and the names of each device are not limited. In addition to the functional nodes shown in Figure 1 or Figure 2, the system architecture may also include other nodes or devices, such as core network devices.

[0087] The system architecture and business scenarios described in the embodiments of this disclosure are intended to more clearly illustrate the technical solutions of the embodiments of this disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of this disclosure. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this disclosure are also applicable to similar technical problems.

[0088] The embodiments provided in this disclosure will now be described with reference to the accompanying drawings.

[0089] As shown in Figure 3, this disclosure provides a communication and sensing method, which is executed by a first sensing node, which can be the aforementioned sensing station 101, sensing station 201, etc. The method includes: S101 to S102.

[0090] S101. Obtain the perception information obtained from the first terminal.

[0091] The aforementioned sensing information may include information from the sensing measurement report obtained by the sensing node sensing the first terminal.

[0092] For example, the perception information obtained above can be determined based on the perception measurement report obtained by the first sensing node sensing the first terminal, and / or based on the perception measurement report obtained by other sensing nodes sensing the first terminal. Other sensing nodes may include second sensing nodes.

[0093] In one implementation, the first sensing node can receive a sensing measurement report from the second sensing node, and then obtain the sensing information obtained by sensing the first terminal based on the sensing measurement report from the second sensing node and / or the sensing measurement report from the first sensing node.

[0094] The second sensing node is a cooperative sensing node capable of assisting the first sensing node in the sensing process of the first terminal. The first sensing node is a node used for mobility management of the first terminal. In some instances, the second sensing node is close to the first sensing node, and the second sensing node can be an adjacent node of the first sensing node. For example, the first sensing node can be a sensing anchor base station in the aforementioned sensing site 101, in which case the second sensing node can be another sensing site 101 capable of cooperating in the sensing process of the first terminal. Alternatively, the first sensing node can be a sensing anchor base station in the aforementioned sensing site 201, in which case the second sensing node can be another sensing site 201 capable of cooperating in the sensing process of the first terminal. Furthermore, the sensing measurement report from the second sensing node is used to indicate the sensing information obtained by the second sensing node in sensing the first terminal.

[0095] It should be noted that each sensing node needs to register with the third sensing node, reporting its sensing capabilities, sensing area, and sensing information. The third sensing node can be used for sensing management between the first and second sensing nodes, such as in the aforementioned sensing center 102. Alternatively, the third sensing node can be used for sensing and communication management between the first and second sensing nodes, such as in the aforementioned sensing center 202. Thus, the third sensing node can understand which sensing nodes the sensing target is within, and select collaborating nodes (i.e., second sensing nodes) for the first sensing node. The third sensing node can notify the first sensing node of the identified second sensing nodes, and also notify each second sensing node of the communication and / or sensing information of the first sensing node to the sensing target (first terminal), as well as the information of the first sensing node itself. Furthermore, the second sensing node can match and correlate the received communication and / or sensing information with the information it has obtained through its own sensing, thereby determining the sensing target (first terminal) that requires collaborative sensing.

[0096] Each second sensing node (sensing collaboration node) can send its own sensing measurement report for the sensing target (first terminal) to the first sensing node. That is, the first sensing node can collaborate with the second sensing nodes in sensing, for example, using the sensing information from the second sensing nodes to assist in wireless communication handover strategies. The sending of the sensing measurement report can include the following methods: periodic sending, sending under preset conditions, or sending based on a request message from the first sensing node. Furthermore, the first sensing node can fuse and deduplicate the sensing measurement report of the first terminal it obtains with the sensing measurement reports sent by each of the second sensing nodes, and then send the processed sensing measurement report of the first terminal to the third sensing node. In addition, the first sensing node can also send the processed sensing measurement report of the first terminal to each of the second sensing nodes. Each second sensing node can match the received processed sensing measurement report of the first terminal with its own sensing measurement report, thereby assisting in optimizing its own sensing scheme and sensing results.

[0097] In some embodiments, a perception measurement report may include at least one of the following:

[0098] The identification information of the sensing node, the identification information of the first terminal, the identification information of the sensing trigger event, the sensing signal quality information, the distance between the first terminal and the sensing node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the sensing confidence level.

[0099] It should be understood that the perception information obtained from the first terminal may also include at least one of the information included in the aforementioned perception measurement report.

[0100] The information in the perception measurement report will be described in detail below:

[0101] Identification information of synesthetic nodes

[0102] The identification information of the aforementioned sensory nodes is used to indicate the sensory nodes that perform sensing on the target to obtain the sensing measurement report. That is, the sensing measurement report from the second sensory node may include the identification information of the second sensory node, and the sensing measurement report from the first sensory node may include the identification information of the first sensory node.

[0103] Identification information of the first terminal

[0104] The identification information of the first terminal is used to uniquely identify the first terminal. The identification information of the first terminal can be the device identifier of the first terminal, or the perception identifier of the first terminal as a sensing target in the current sensing scenario, such as the aforementioned global perception ID. The identification information of the first terminal can include the communication ID, perception ID, and synesthetic ID in the current sensing scenario. The communication ID is used to uniquely identify the first terminal during communication, the perception ID is used to uniquely identify the first terminal during the sensing process, and the synesthetic ID is used to identify the first terminal in a scenario where communication and perception are fused.

[0105] In one example, the first sensing node can associate the communication ID of the first terminal with its sensing ID. It can also generate a sensing ID corresponding to the first terminal.

[0106] For example, the first sensing node may first request the first terminal (e.g., one with positioning capabilities such as GPS) to report its location trajectory information. The location trajectory information may include the first terminal's location information and / or trajectory information, such as the flight path information of a drone (the first terminal), including the 3D coordinates and / or time information of flight path points. Then, upon receiving the first terminal's location / trajectory information, the first sensing node may generate a communication ID for the first terminal based on the location / trajectory information. Alternatively, the first sensing node may also request the first terminal to directly report its own identification information (e.g., the first terminal's remote ID) and use this identification information as the first terminal's communication ID.

[0107] The first sensing node can also acquire the location trajectory information of the first terminal through sensing and generate or associate a corresponding sensing ID. For example, the sensing ID is the identifier ID corresponding to the location information and / or trajectory information of the first terminal acquired by the first sensing node. This sensing ID can be generated by the first sensing node itself and can be called a local sensing ID (only corresponding to the sensing information of the first sensing node sensing the first terminal). Alternatively, the sensing ID can be a global sensing ID generated by the first sensing node for the first terminal after matching and deduplicating the location trajectory information of the first terminal transmitted / reported by multiple sensing nodes (sensing stations). Or, the sensing ID can also be a global sensing ID of the first terminal notified by the third sensing node to all sensing nodes.

[0108] Furthermore, the first sensing node can match the location / trajectory information obtained by sensing with the location / trajectory information reported by the first terminal through the communication link, thereby associating the communication ID and sensing ID of the first terminal, for example, generating a corresponding sensing ID, which can be used to simultaneously identify the communication and sensing identity of the first terminal.

[0109] The first sensing node can also report the association information between the communication ID and perception ID of the first terminal, such as the corresponding sensing ID, to the third sensing node. The third sensing node can then notify other nodes of this association information, such as the second sensing node used for collaborative sensing. Alternatively, the first sensing node can directly notify other nodes of this association information.

[0110] In another example, the third sensing node can associate the communication ID of the first terminal with its sensing ID. It can also generate a sensing ID corresponding to the first terminal.

[0111] The first sensing node can request the first terminal to report its location / trajectory information. Alternatively, the first sensing node can also request the first terminal to directly report its own identification information. Then, the first sensing node can send the acquired location / trajectory information and / or identification information of the first terminal to the third sensing node. The third sensing node can generate a communication ID for the first terminal based on the location / trajectory information, or the third sensing node can use the identification information reported by the first terminal as the communication ID of the first terminal.

[0112] The first sensing node can also acquire the location / trajectory information of the first terminal through sensing and send it to the third sensing node. The third sensing node then generates a sensing ID for the first terminal. This sensing ID can be a global sensing ID generated by the third sensing node for the first terminal after matching and deduplicating the location / trajectory information of the first terminal transmitted / reported by multiple sensing nodes (sensing stations).

[0113] Furthermore, the third sensing node can match the location / trajectory information obtained through sensing with the location / trajectory information reported by the first terminal through the communication link, thereby associating the communication ID and sensing ID of the first terminal, for example, generating a corresponding sensing ID. This sensing ID can be used to simultaneously identify the communication and sensing identities of the first terminal. The third sensing node can then notify other nodes of this association information, such as the first sensing node and / or the second sensing node used for collaborative sensing.

[0114] It should be noted that when multiple sensing nodes cooperate to sense the same sensing target (the first terminal), a unified sensory identity (the identification information of the first terminal) can be established for the sensing target among these multiple sensing nodes. This makes it easier to identify the sensing information of different sensing nodes for the sensing target, thereby enabling more accurate processing of the sensing information.

[0115] Identification information of the perceived trigger event.

[0116] Perception-triggered events include at least one of the following:

[0117] The quality of the sensing signal of the first synesthetic node is greater than the first quality threshold;

[0118] The quality of the sensing signal of the first sensing node is less than the second quality threshold;

[0119] The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value.

[0120] The quality of the sensing signal of the second sensing node is less than the third quality threshold;

[0121] The quality of the sensing signal of the second sensor node is greater than the fourth quality threshold;

[0122] The quality of the sensing signal of the first synesthetic node is less than the fifth quality threshold, and the quality of the sensing signal of the second synesthetic node is greater than the sixth quality threshold.

[0123] The distance between the first sensing node and the first terminal is greater than the first distance threshold;

[0124] The distance between the first sensing node and the first terminal is less than the second distance threshold;

[0125] The distance between the first sensing node and the first terminal is greater than the sum of the distance between the second sensing node and the first terminal and the distance offset value;

[0126] The distance between the second sensing node and the first terminal is less than the third distance threshold;

[0127] The distance between the second sensor node and the first terminal is greater than the fourth distance threshold;

[0128] The distance between the first sensing node and the first terminal is less than the fifth distance threshold, and the distance between the second sensing node and the first terminal is greater than the sixth distance threshold.

[0129] This identification information is used to indicate the currently satisfied perception trigger event. For example, this identification information can be configured / generated by a first or third synesthetic node. Furthermore, this identification information can be notified to other nodes by the first or third synesthetic node, such as a second synesthetic node used for collaborative perception.

[0130] For example, each sensing node can store a sensing trigger event and its corresponding identification information. It should be understood that during the sensing process of the same sensing target (e.g., the first terminal), the identification information stored in each sensing node is consistent for the same sensing trigger event.

[0131] For example, the aforementioned sensing trigger events can each have their own corresponding event number, which serves as the identification information for the sensing trigger event. For instance, the event numbers for the aforementioned sensing trigger events can be Sensing Trigger Event 1 through Sensing Trigger Event 12. Taking the sensing signal quality of the first sensor node being greater than the first quality threshold as an example, the corresponding identification information could be "Sensing Trigger Event 1". Alternatively, the event numbers can be Quality Trigger Event 1 through Quality Trigger Event 6 and Distance Trigger Event 1 through Distance Trigger Event 6. Taking the sensing signal quality of the first sensor node being greater than the first quality threshold as an example, the corresponding identification information could be "Quality Trigger Event 1". It should be understood that sensing trigger events can also have other possible event numbers, which will not be elaborated here.

[0132] Alternatively, the identification information of the sensing trigger event may also include the trigger information of the sensing trigger event and detailed thresholds, for example, the identification information of the sensing trigger event "the sensing signal quality of the first sensor node is greater than the first quality threshold" may be "sensing signal quality, first quality threshold".

[0133] Alternatively, the identification information of the sensing trigger event may also include other information that can be used to uniquely identify each sensing trigger event, such as character combinations used to indicate each sensing trigger event, etc., which will not be elaborated here.

[0134] Sensing signal quality information

[0135] Sensing signal quality includes at least one of the following:

[0136] The signal-to-noise ratio (SNR) of the sensed signal, the reference signal received power (RSRP), the reference signal received quality (RSRQ), the signal-to-interference plus noise ratio (SINR), and the sensed confidence level.

[0137] The distance between the first terminal and the sensing node

[0138] The sensing measurement report of the first terminal from the first sensing node includes the distance between the first terminal and the first sensing node. The sensing measurement report of the first terminal from the second sensing node includes the distance between the first terminal and the second sensing node.

[0139] The location of the first terminal can be its precise location in geographic space. These locations are usually expressed in terms of latitude and longitude or coordinates relative to a fixed point.

[0140] In some embodiments, the location of the first terminal and the distance between the first terminal and the sensing node can be calculated and determined using information such as the signal propagation time and signal strength of the (reference) signal.

[0141] Information such as the moving speed, direction of movement, and trajectory of the first terminal can be determined by the sensing node's perception of the first terminal's position changes over a certain period of time.

[0142] Perceived confidence

[0143] Perceived confidence can be used to indicate the reliability and accuracy of perceived results (perceived measurement reports).

[0144] In some embodiments, the first sensing node may also receive communication signal quality information sent by the first terminal.

[0145] For example, the communication signal quality information may include reference signal receiving power (RSRP), reference signal receiving quality (RSRQ), and signal to interference plus noise ratio (SINR) obtained from signal measurements of the serving cell and neighboring cells.

[0146] At this time, the first sensing node can also obtain the sensing information obtained by sensing the first terminal based on the communication signal quality information reported by the first terminal itself, the sensing measurement report from the second sensing node and / or the sensing measurement report from the first sensing node.

[0147] In some embodiments, each second sensing node may also receive communication signal quality information sent by the first terminal.

[0148] In some embodiments, the triggering event for communication signal quality measurement may include at least one of the following:

[0149] Event A1: Serving cell quality exceeds threshold;

[0150] Event A2: The quality of the serving cell is less than the threshold;

[0151] Event A3: The quality of the neighboring cell is greater than the quality of the primary serving cell (SpCell) plus the offset;

[0152] Event A4: The quality of the neighboring cell exceeds the threshold;

[0153] Event A5: The quality of the primary serving cell (SpCell) is less than threshold 1, and the quality of neighboring cells is greater than threshold 2.

[0154] In some embodiments, the first sensing node can also send trigger configuration information to the second sensing nodes. In one example, as shown in FIG4, before executing S101 above, the first sensing node can execute S100 to send trigger configuration information to each of the second sensing nodes.

[0155] The above trigger configuration information is used to configure the trigger conditions for perception measurement reports.

[0156] In some embodiments, the third sensing node may also send trigger configuration information to the first sensing node and / or the second sensing node.

[0157] In some embodiments, the trigger configuration information includes at least one of the following:

[0158] The identification information of the sensing node (e.g., the identification information of the first sensing node and the identification information of the second sensing node), the identification information of the first terminal, the triggering method, the identification information of the sensing trigger event, the threshold value and / or bias value corresponding to the sensing trigger event, the hysteresis coefficient, the triggering time, the triggering time interval, the number of sensing measurement reports that can be sent, the indication information used to indicate whether the second sensing node is triggered to send a sensing measurement report to the first terminal when the departure condition of the sensing trigger event is met, the maximum number of terminals included in a sensing measurement report, and the filtering parameters of the sensing signal.

[0159] For example, the identification information of a sensing node is used to uniquely identify the sensing node. This identification information can be an identifier used to uniquely identify the sensing node, such as the unique ID of the first sensing node in the sensing network architecture, used to distinguish it from other base stations or nodes and ensure the correct transmission and processing of communication or sensing data. Similarly, each second sensing node can also have its own identification information.

[0160] The identification information of the first terminal can be found in the description of the identification information of the first terminal in the aforementioned perception measurement report, and will not be repeated here.

[0161] The triggering method can be used to indicate the triggering type of the perception measurement report, such as periodic triggering, event-based triggering, or event-based periodic triggering. Periodic triggering means that the perception measurement report can be sent at certain time intervals. Event-based triggering means that the perception measurement report can be sent when specific event conditions are met. For example, if one or more of the above-mentioned perception triggering events are met, the second sensing node can send a perception measurement report. Event-based periodic triggering means that the perception measurement report is sent at certain time intervals when specific event conditions are met.

[0162] The identification information of the sensing trigger event here may include the identification information of one or more of the aforementioned sensing trigger events. That is, if one or more of these events are met, the second sensing node can send a sensing measurement report.

[0163] The threshold and / or bias value corresponding to the sensing trigger event are used to determine whether the sensing event has occurred.

[0164] The hysteresis coefficient is a coefficient related to the entry and exit conditions of a sensing trigger event. It can be used to increase or decrease the sensitivity of trigger sensing measurement report transmission, thereby avoiding frequent triggering or false alarms due to small fluctuations.

[0165] The trigger time (Time To Trigger) is the time required for the corresponding sensing trigger event to be met before the sensing measurement report is sent. In other words, the sensing measurement report is sent when the corresponding sensing trigger event meets the trigger time.

[0166] The trigger interval (Report Interval) refers to the time interval at which perception measurement reports are periodically sent; that is, perception measurement reports can be sent periodically according to this time interval.

[0167] The allowed number of perception measurement reports (Report Amount) is the maximum number of perception measurement reports that can be sent. That is, once this number is reached, sending new perception measurement reports can stop until the next periodic sending time interval or the event trigger condition is met again.

[0168] This is an indication message used to indicate whether the second sensing node should send a sensing measurement report to the first terminal when the departure condition of the sensing trigger event is met. It can be an indicator, such as "Report On Leave," which indicates whether sending a sensing information report is triggered when the sensing measurement result meets the departure condition of the sensing trigger event.

[0169] The maximum number of terminals included in a perception measurement report can be used to limit the number of UEs in each report, which can help reduce the size and complexity of the reports, thereby improving the network's transmission efficiency and processing capacity.

[0170] The filter coefficients of the sensed signal include coefficients used to filter the sensed signal, which can help remove noise and interference from the sensed signal, thereby improving the quality and accuracy of the signal.

[0171] Therefore, the second sensing node can determine, based on the trigger configuration information, whether the (sensing result of the first terminal) meets the trigger condition corresponding to the trigger configuration information. If the trigger condition is met, the second sensing node sends a sensing measurement report to the first sensing node.

[0172] For example, taking the trigger configuration information including the identification information of sensing trigger event 4 as an example, sensing trigger event 4 includes "the sensing signal quality of the second sensing node is less than the third quality threshold". If the sensing signal quality obtained by the second sensing node from sensing the first terminal within the trigger time meets the sensing trigger event 4, the second sensing node can send a sensing measurement report obtained from measuring the first terminal to the first sensing node. The information contained in this sensing measurement report can be referred to the relevant descriptions above, and will not be repeated here.

[0173] For example, consider a periodic transmission triggered by an event. The trigger configuration information might include the time interval for periodically sending perception information reports and the maximum number of perception information reports allowed to be sent. Thus, after the trigger event / condition is met, the second sensing node can periodically send perception measurement reports to the first sensing node according to the configured time intervals until the number of reports sent reaches the configured maximum number of reports allowed to be sent.

[0174] It should be noted that the first or third sensory node can also be configured with one or more of the above-mentioned sensing trigger events as triggering conditions for information interaction between each collaborative sensory node (second sensory node) and the first sensory node. For example, if the triggering condition is met, the second sensory node sends a sensing measurement report to the first sensory node.

[0175] S102. Based on the sensing information, send a handover request message.

[0176] The handover request message is used to request a switch of the first terminal's sensing service node. The first terminal's sensing service node is the node currently providing communication and / or sensing services to the terminal. Examples include the aforementioned sensing anchor base station and sensing anchor base station.

[0177] In some embodiments, the switch request message includes at least one of the following:

[0178] The identification information of the first terminal, the identification information of the first sensor node, the identification information of the target sensor node, the switching time of the sensor node, the configuration information of the sensing resources, the sensing requirements for sensing the first terminal, the sensing index information for sensing the first terminal, the sensing mode information for sensing the first terminal, and the information of the cooperative sensor nodes.

[0179] The target sensing node is the target sensing service node for the first terminal to switch to. That is, when the switching request message includes the identification information of the target sensing node, the switching request message can be used to request the first terminal to switch its sensing service node from the first sensing node to the target sensing node. In some embodiments, the target sensing node can be determined from at least one second sensing node (cooperative sensing node).

[0180] The switching time of the synesthetic node can be the estimated time for the first terminal to switch from the first synesthetic node to the target synesthetic node.

[0181] The configuration information of sensing resources is used to describe the configuration of sensing resources allocated to the first terminal, such as the allocation of resources like frequency, bandwidth, and time slots.

[0182] The sensing requirement information for sensing the first terminal is used for the purpose of sensing the first terminal in this instance. For example, the sensing requirement information may include the location, trajectory information, moving speed, and / or moving direction of the first terminal.

[0183] The sensing metrics used to assess the first terminal are used to evaluate sensing performance or quality. Examples include sensing positioning accuracy, accuracy of sensing movement speed / direction, resolution, and / or sensing latency information.

[0184] Sensing mode information for sensing the first terminal, such as active sensing, passive sensing, continuous sensing, periodic sensing, etc.

[0185] The information of the collaborative synesthetic node is also the relevant information of the second synesthetic node, such as the identification information and quantity information of the second synesthetic node.

[0186] In some embodiments, a handover request message is sent if preset conditions are met.

[0187] The preset conditions may include: satisfying any one or a combination of the above-mentioned sensing trigger event and communication signal quality measurement trigger event. In some embodiments, the first sensing node may use the sensing trigger event and communication signal quality measurement trigger event to assist in determining the handover preparation and / or execution process of CHO, LTM or similar handover functions. For example, the first sensing node may prepare one or more candidate target base stations based on the collected sensing information (such as selecting one or more nodes from the second sensing node as candidate target sensing nodes).

[0188] In some embodiments, the first sensing node may also determine whether to adjust / activate / deactivate communication measurements based on any one or a combination of the above-mentioned sensing trigger event and communication signal quality measurement trigger event.

[0189] For example, the first sensing node can also adjust the first terminal's measurement of communication signals and / or the configuration of measurement resources based on the sensing information, thereby reducing the overhead of signal measurement resources and lowering the measurement power consumption of the first terminal. For instance, based on the sensing information and any one or a combination of the aforementioned sensing trigger events and communication signal quality measurement trigger events, the first sensing node can dynamically activate / deactivate (or enable / stop) the first terminal's measurement of communication measurement reference signals (such as SSB, CSI-RS), such as through MAC CE or DCI indication.

[0190] In one implementation, the first sensor node can send the switching request message to the third sensor node.

[0191] For example, the first sensing node can determine the target sensing node for the first terminal to switch among at least one second sensing service node based on sensing information. Then, it sends a switching request message to the third sensing node, where the switching request message includes the identification information of the target sensing node.

[0192] Furthermore, the first sensing node can receive a consent switching instruction message from the third sensing node.

[0193] For example, the third sensing node can send a switching request message to the target sensing node, and then receive a consent request indication message from the target sensing node, and forward the consent request indication message to the first communication node.

[0194] In one example, a third sensing node is used for perception management between the first and second sensing nodes. In this case, the aforementioned consent handover instruction message is used to instruct the first sensing node to perform a handover of the first terminal's perception service node. In some embodiments, the first sensing node may also send a communication handover request message to the second sensing node, the communication handover request message being used to request a handover of the first terminal's communication service node.

[0195] In another example, the third sensing node is used for sensing and communication management between the first and second sensing nodes. In this case, the aforementioned consent handover instruction message is used to instruct the first sensing node to perform a handover of the sensing service node for the first terminal.

[0196] In some embodiments, the aforementioned consent handover instruction message can be used to indicate acceptance of the handover request from the first sensing node, or acceptance of a portion of the handover request from the first sensing node. The consent handover instruction message may include information such as the identification information of the first terminal, the configuration information of sensing resources, the sensing requirements that can be met, and / or the sensing indicators that can be met.

[0197] In some embodiments, the first sensing node may receive a handover rejection indication message from the third sensing node. This handover rejection indication message may be used to indicate rejection of the first sensing node's handover request, or rejection of a portion of the first sensing node's handover request. The handover rejection indication message may include information such as the inability to meet the corresponding handover requirements, a reason for rejection, or that the target sensing node does not meet the corresponding sensing requirements or sensing indicators.

[0198] For example, if the target sensing node only accepts one of communication switching or sensing switching, the target sensing node can send a partial switching accept / reject message to the first sensing node through a third sensing node. This message may include configuration information for the accepted switching type (e.g., sensing or communication), an indication of the rejected switching type (e.g., rejecting communication node switching, or rejecting sensing node switching), and / or a reason value for the rejection.

[0199] In some embodiments, the first sensing node may also receive a resource release instruction message from the target sensing node.

[0200] The resource release instruction message is used to instruct the first sensing node to release the communication resources and / or sensing resources corresponding to the first terminal.

[0201] In another implementation, the first synesthetic node can directly send a switching request message to the target synesthetic node.

[0202] For example, the first sensing node can determine the target sensing node for the first terminal to switch among at least one second sensing service node based on sensing information, and then send a switching request message to the target sensing node.

[0203] It should be understood that the switching request message here may also include at least one of the following: the identification information of the first terminal, the identification information of the first sensor node, the identification information of the target sensor node, the switching time of the sensor node, the configuration information of the sensing resources, the sensing requirement information for sensing the first terminal, the sensing index information for sensing the first terminal, the sensing mode information for sensing the first terminal, and the information of the cooperating sensor node.

[0204] Furthermore, the first synesthetic node can receive a switching response message from the target synesthetic node.

[0205] The handover response message is used to indicate: accept the handover request of the first synesthetic node, reject the handover request of the first synesthetic node, accept part of the handover request of the first synesthetic node, or reject part of the handover request of the first synesthetic node.

[0206] That is, the handover response message includes an acceptance handover instruction message, indicating acceptance of the handover request from the first sensing node or a portion thereof. Alternatively, it includes a rejection handover instruction message, indicating rejection of the handover request from the first sensing node or a portion thereof.

[0207] For example, if the target sensing node only accepts one of communication handover or sensing handover, the handover response message includes a handover rejection indication message. Alternatively, the handover response message may be a partial consent / partial rejection handover indication message.

[0208] In other words, the target sensing node can directly send a partial handover accept / reject message to the first sensing node. This message may contain configuration information for the accepted handover type (e.g., sensing or communication), an indication of the rejected handover type (e.g., rejecting communication node handover, or rejecting sensing node handover), and / or a reason value for rejection.

[0209] In some embodiments, the first sensing node may also receive a resource release instruction message from the target sensing node.

[0210] The resource release instruction message is used to instruct the first sensing node to release the communication resources and / or sensing resources corresponding to the first terminal.

[0211] In some embodiments, the sensing mode can be that the base station transmits and receives data independently, or that base station A transmits data and base station B receives data.

[0212] Based on the technical solution provided in this disclosure, the sensing node makes handover decisions based on the sensing information of the terminal, thereby reducing the energy consumption of the terminal in performing signal measurements. Furthermore, for high-speed mobile terminals (with a higher handover frequency), handover decisions can also be made based on the terminal's sensing information. Compared to the terminal frequently performing reference signal measurements and reporting the results, this reduces the time delay in determining the handover decision, enabling timely handover.

[0213] As shown in Figure 5, this disclosure also provides another communication and sensing method, which is executed by a target sensing node, such as the aforementioned sensing station 101, sensing station 201, etc. The method includes: S201 to S202.

[0214] S201. Send the first terminal's sensing measurement report to the first sensing node.

[0215] In some embodiments, the perception measurement report includes at least one of the following:

[0216] The identification information of the sensing node (e.g., the identification information of the first sensing node, the identification information of the second / target sensing node), the identification information of the first terminal, the identification information of the sensing trigger event, the sensing signal quality information, the distance between the first terminal and the target sensing node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the sensing confidence level.

[0217] It should be understood that the perception measurement report of the first terminal sent by the target sensing node to the first sensing node may include the identification information of the target sensing node.

[0218] In some embodiments, before sending the sensing measurement report of the first terminal to the first sensing node, the method further includes:

[0219] Receive trigger configuration information from the first sensing node. The trigger configuration information is used to configure the trigger conditions for the sensing measurement report.

[0220] At this time, S201 can be implemented, for example, as follows: when the triggering condition is met, send the perception measurement report of the first terminal to the first sensing node.

[0221] In some embodiments, the trigger configuration information includes at least one of the following:

[0222] The identification information of the sensing node (e.g., the identification information of the first sensing node, the identification information of the second / target sensing node), the identification information of the first terminal, the triggering method, the identification information of the sensing trigger event, the threshold value and / or bias value corresponding to the sensing trigger event, the hysteresis coefficient, the triggering time, the triggering time interval, the number of sensing measurement reports allowed to be reported, the indication information used to indicate whether the second sensing node is triggered to send a sensing measurement report to the first terminal when the departure condition of the sensing trigger event is met, the maximum number of terminals included in a sensing measurement report, and the filtering parameters of the sensing signal.

[0223] In some embodiments, the perception-triggered event includes at least one of the following:

[0224] The quality of the sensing signal of the first synesthetic node is greater than the first quality threshold;

[0225] The quality of the sensing signal of the first sensing node is less than the second quality threshold;

[0226] The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value.

[0227] The quality of the sensing signal of the second sensing node is less than the third quality threshold;

[0228] The quality of the sensing signal of the second sensor node is greater than the fourth quality threshold;

[0229] The quality of the sensing signal of the first synesthetic node is less than the fifth quality threshold, and the quality of the sensing signal of the second synesthetic node is greater than the sixth quality threshold.

[0230] The distance between the first sensing node and the first terminal is greater than the first distance threshold;

[0231] The distance between the first sensing node and the first terminal is less than the second distance threshold;

[0232] The distance between the first sensing node and the first terminal is greater than the sum of the distance between the second sensing node and the first terminal and the distance offset value;

[0233] The distance between the second sensing node and the first terminal is less than the third distance threshold;

[0234] The distance between the second sensor node and the first terminal is greater than the fourth distance threshold;

[0235] The distance between the first sensing node and the first terminal is less than the fifth distance threshold, and the distance between the second sensing node and the first terminal is greater than the sixth distance threshold.

[0236] In some embodiments, the perceived signal quality includes at least one of the following:

[0237] Signal-to-noise ratio of the sensed signal, received power of the reference signal, received quality of the reference signal, signal-to-interference-plus-noise ratio, and sensed confidence level.

[0238] S202, Receive handover request message.

[0239] The switch request message is used to request the first terminal to switch from the first sensor node to the target sensor node.

[0240] In some embodiments, the switch request message includes at least one of the following:

[0241] The information includes: identification information of the first terminal, identification information of the target sensor node, sensor node switching time, configuration information of sensing resources, sensing requirements for sensing the first terminal, sensing index information for sensing the first terminal, sensing mode information for sensing the first terminal, and information of the cooperating sensor nodes.

[0242] In one implementation, the target sensor node can receive a switching request message from a third sensor node, which is used for the perception management of the first and second sensor nodes, or for the perception and communication management of the first and second sensor nodes.

[0243] In some embodiments, the target sensing node may also send a handover response message to the third sensing node, which triggers the third sensing node to send a handover consent indication message to the first sensing node. Then, upon completion of the handover, a handover completion indication message is sent to the third sensing node.

[0244] The consent handover instruction message is used to instruct the first sensing node to perform a handover of the sensing service node of the first terminal; or, the consent handover instruction message is used to instruct the first sensing node to perform a handover of the sensing service node of the first terminal.

[0245] In some embodiments, where the consent handover instruction message is used to instruct the first sensing node to perform a handover of the sensing service node of the first terminal, before sending the handover completion instruction message to the third sensing node, the target sensing node may also receive a communication handover request message sent from the first sensing node, which is used to request a handover of the communication service node of the first terminal.

[0246] In some embodiments, the handover response message may also be a handover rejection indication message.

[0247] In some embodiments, the target sensing node may also reject the communication / sensing handover request. In this case, the target sensing node may send a handover rejection indication message to the third sensing node, thereby triggering the third sensing node to send a handover rejection indication message to the first sensing node. This message may contain the type of handover rejection (e.g., sensing handover type or communication handover type) and / or a reason value for rejection, such as not meeting the corresponding sensing requirements or sensing indicators.

[0248] In some embodiments, the handover response message may be a partial consent / partial rejection handover indication message.

[0249] In some embodiments, the target sensing node accepts only one of communication switching or sensing switching. The target sensing node may send a partial switching accept / reject message to a third sensing node, thereby triggering the third sensing node to send a partial switching accept / reject message to the first sensing node. This message may contain configuration information for the accepted switching type (e.g., sensing or communication), an indication of the rejected switching type (e.g., rejecting communication node switching, or rejecting sensing node switching), and / or a reason value for rejection.

[0250] In another implementation, the target synesthetic node can receive a switching request message from the first synesthetic node.

[0251] In some embodiments, the target sensing node may also send a switching response message to the first sensing node.

[0252] In some embodiments, the target sensing node may also send a sensing path update request message to the third sensing node. The sensing path update request message is used to request an update of the sensing path or sensing path of the first terminal.

[0253] In some embodiments, the synaptic path update request message includes at least one of the following:

[0254] The first terminal's identification information, sensing demand information, sensing indicator information, sensing mode information, and collaborative sensing node information of the target sensing node.

[0255] In some embodiments, the target sensing node may also send a resource release instruction message to the first sensing node, the resource release instruction message being used to instruct the first sensing node to release the communication resources and / or sensing resources corresponding to the first terminal.

[0256] Furthermore, for a detailed description of S201, please refer to the relevant descriptions of S101-S102 above, which will not be repeated here.

[0257] Based on the technical solution provided in this disclosure, the sensing node makes handover decisions based on the terminal's sensing information, thereby reducing the energy consumption of the terminal in signal measurement. Furthermore, for high-speed mobile terminals (with a higher handover frequency), handover decisions can also be made based on the terminal's sensing information. Compared to the terminal frequently performing reference signal measurements and reporting the results, this reduces the time delay in determining the handover decision, enabling timely handover.

[0258] As shown in Figure 6, which is an interactive schematic diagram of the communication and sensing method provided in this disclosure, the third sensing node (e.g., sensing center 102) is used for sensing management between the first sensing node and the second sensing node. In this embodiment, each sensing node can also be referred to as a sensing node. The following description is in conjunction with Figure 6:

[0259] Sa0 establishes communication / sensory fusion between the first sensing node and each of the second sensing nodes.

[0260] In some embodiments, the first sensing node can interact with the first terminal and the sensing center to generate identification information for the first terminal. This identification information may include a communication ID, a sensing ID, and the association between the communication ID and the sensing ID (e.g., establishing a sensory ID), enabling sensory fusion.

[0261] In some embodiments, the sensing center can identify the various cooperating sensing nodes of the first sensing node, namely, the various second sensing nodes (e.g., second sensing node-1, second sensing node-2, etc.). At this time, the sensing center can also send the sensing-related information of the first terminal (e.g., sensing requirements, identification information of the first terminal, etc.) to the first sensing node and the various second sensing nodes.

[0262] Thus, the first sensing node interacts with each of the second sensing nodes to exchange sensing information. For example, the first sensing node can receive sensing measurement reports from each of the second sensing nodes that have sensed the first terminal, and then perform sensing information fusion processing to obtain the sensing information of the first terminal. This step can be referred to the relevant description in S101 above, and will not be repeated here.

[0263] Sa1, the second sensing node sends the sensing measurement report to the first sensing node.

[0264] The perception measurement report can be sent periodically or based on the fulfillment of specific conditions (such as the fulfillment of the triggering conditions corresponding to the perception triggering event mentioned above), or based on the request message from the first perception node.

[0265] Sa2, the first sensing node, makes a switching decision.

[0266] In some embodiments, the first sensing node may make a handover decision based on the collected sensing information and / or the measurement results reported by the first terminal. For example, the first sensing node may decide to initiate a handover process for the terminal.

[0267] Sa3. The first sensing node sends a handover request message to the sensing center. At this time, the handover request message can also be called a sensing handover request message.

[0268] The switching request message includes at least one of the following: the identification information of the first terminal, the identification information of the first sensing node, the identification information of the target sensing node, the sensing node switching time, the configuration information of sensing resources, the sensing requirement information for sensing the first terminal, the sensing index information for sensing the first terminal, the sensing mode information for sensing the first terminal, and the information of the cooperating sensing nodes.

[0269] Sa4, the perception center sends a perception switching request message to the target perception node.

[0270] Sa5, the target sensing node sends a handover response message to the sensing center.

[0271] In some embodiments, the handover response message may be a handover consent instruction message.

[0272] For example, when a target sensing node accepts a sensing switchover request, it can prepare the necessary sensing resources and send a switchover consent instruction message to the sensing center. This message may include the ID information of the first terminal, the configuration information of the sensing resources, the sensing requirements that can be met, and / or the sensing indicators that can be met, etc.

[0273] In some embodiments, the handover response message may also be a handover rejection indication message.

[0274] In some embodiments, the target sensing node may also reject the sensing switchover request. In this case, the target sensing node may send a switchover rejection indication message to the sensing center. This message may contain a reason value for rejection, such as not meeting the corresponding sensing requirements or sensing indicators.

[0275] Sa6, the perception center sends a perception switching command to the first perception node.

[0276] This sensing switch command is used by the first sensing node to switch the sensing service node of the first terminal. The command may also include the identification information of the first terminal.

[0277] Sa7, the first sensing node sends a communication switching request message to the target sensing node.

[0278] Sa8, the target sensing node returns a communication switching request response message to the first sensing node.

[0279] Sa9, handover initiated on the Radio Access Network (RAN) side.

[0280] In some embodiments, the first sensing node sends a handover command (e.g., an RRC reconfiguration message) to the first terminal.

[0281] This allows the first terminal to disconnect from the source cell and initiate a random access procedure to the target cell / target sensing node.

[0282] Sa10 and RAN side handover completed.

[0283] In some embodiments, the first terminal sends an RRC reconfiguration complete message to the target sensing node to complete the handover process.

[0284] Sa11, path switching update.

[0285] In some embodiments, the target sensing node initiates a path switching update process to a core network element (e.g., AMF, user plane function (UPF)).

[0286] Sa12, the target sensing node sends a sensing switchover completion message to the sensing center and / or reports sensing information.

[0287] Sa13, the perception center sends a perception switching notification message to each of the cooperating perception nodes (such as the second perception node) of the first perception node.

[0288] If the second sensing node ceases to be a collaborating sensing node with the target / current sensing node, the notification message instructs the second sensing node to cease sensing the first terminal and release the corresponding sensing resources. If the second sensing node continues to be a collaborating sensing node with the target / current sensing node, the notification message informs the second sensing node of the information of the target / current sensing node, so that the second sensing node can act as a collaborating sensing node with the target sensing node and transmit sensing information to the target / current sensing node.

[0289] Sa14. The target sensing node sends a resource release notification message to the first sensing node to instruct the first sensing node to release the terminal context information and the corresponding communication resources and / or sensing resources.

[0290] This disclosure does not limit the order of Sa0-Sa14 mentioned above; it is merely one implementation method.

[0291] As shown in Figure 7, which is another interactive schematic diagram of the communication and sensing method provided in this disclosure, a third sensing node (e.g., sensing center 102) is used for sensing management between the first sensing node and the second sensing node, and the third sensing node can also be called a sensing center. In this embodiment, each sensing node can also be called a sensing node. The following description is in conjunction with Figure 7:

[0292] The descriptions of Sb0-Sb2 can be found in the descriptions of Sa0-Sa2 above, and will not be repeated here.

[0293] Sb3. The first sensing node sends a handover request message to the target sensing node. At this time, the handover request message can also be called a synaptic handover request message.

[0294] In addition to the information in the handover request message in Sa3 mentioned above, the synaptic handover request may also include communication-related information, such as the information contained in the Handover Required message.

[0295] Sb4, the target sensing node sends a sensory switching response message to the first sensing node.

[0296] In some embodiments, the synaptic switching response message may be a consent switching instruction message.

[0297] For example, when a target sensing node accepts a communication / sensing handover request, the target sensing node can prepare the necessary communication / sensing resources and send a handover consent instruction message to the first sensing node. This message may include the ID information of the first terminal, the configuration information of the communication / sensing resources, the sensing requirements that can be met, and / or, the sensing indicators that can be met, etc.

[0298] In some embodiments, the handover response message may also be a handover rejection indication message.

[0299] In some embodiments, the target sensing node may also reject the communication / sensing handover request. In this case, the target sensing node may send a handover rejection indication message to the first sensing node. This message may include the type of handover rejection (e.g., sensing handover type or communication handover type) and / or the reason for rejection, such as not meeting the corresponding sensing requirements or sensing indicators.

[0300] In some embodiments, the handover response message may be a partial consent / partial rejection handover indication message. In some embodiments, the target sensing node may accept only one of communication handover or sensing handover, and may send a partial handover acceptance / rejection message to the first sensing node. This message may include configuration information for the accepted handover type (e.g., sensing or communication), an indication of the rejected handover type (e.g., rejecting communication node handover, or rejecting sensing node handover), and / or a reason value for rejection.

[0301] Sb5-Sb7 can be referred to Sa9-Sa11 above, and will not be repeated here.

[0302] Sb8. The target sensing node can send a sensing switch request message to the sensing center.

[0303] The perception switching request message may include at least one of the following: the identification information of the first terminal, the configuration information of the perception resources, the perception requirements that can be met, the perception indicators that can be met, and the perception mode.

[0304] Sb9. The perception center can send a perception switching request response message to the target perception node.

[0305] The perception switching request response message may contain at least one of the following information: the identification information of the first terminal, the configuration information of the perception resources, the perception requirement information, the perception indicator information, the perception mode, and the information of the cooperating perception nodes.

[0306] Sb10-Sb11 can be referred to as Sa13-Sa14 above, and will not be repeated here.

[0307] This disclosure does not limit the order of Sb0-Sb11 mentioned above; it is merely one implementation method.

[0308] As shown in Figure 8, which is another interactive schematic diagram of the communication and sensing method provided in this disclosure, the third sensing node (e.g., sensing center 202) is used for sensing and communication management between the first sensing node and the second sensing node, and the third sensing node can also be called a sensing center. The following description is in conjunction with Figure 8:

[0309] The descriptions of Sc0-Sc6 can be found in the descriptions of Sb0-Sb6 above, and will not be repeated here.

[0310] The sensing center here can be a comprehensive network element functional body (e.g., control / management functions that integrate communication and sensing), or it can be a collection of multiple network element functional bodies, such as a collection of sensing center and AMF (or similar network elements). The sensing center and AMF (or similar network elements) can be connected through an interface.

[0311] Sc7: The target synesthetic node sends a synesthetic path switching request message to the synesthetic center.

[0312] In some embodiments, the sensing path switching request message may also be called a sensing path update request message, which is used to request switching / updating the sensing path or sensing path of the first terminal.

[0313] The sensory path switching / update request message includes at least one of the following: the identification information of the first terminal, the sensing requirement information, the sensing indicator information, the sensing mode information, and the cooperative sensory node information of the target sensory node.

[0314] Sc8, the sensing center performs sensing and communication switching control / management.

[0315] In some embodiments, the sensing center can update the communication and sensing paths.

[0316] In some embodiments, the sensing center is a collection of multiple network element functionalities, such as a sensing center and an AMF (or a network element with similar functions), with an interface between the sensing center and the AMF. The AMF can also manage the sensing center.

[0317] Therefore, in order to switch / update the sensing path, the AMF can initiate a sensing path switching / update process to the sensing center. The AMF sends a sensing path switching request message to the sensing center, which may include the identification information of the first terminal, the configuration information of sensing resources, the sensing requirements that can be met, the sensing indicators that can be met, the sensing mode, and / or the information of the source / target sensing nodes, etc.

[0318] Accordingly, the sensing center can send a sensing path switching request response message to the AMF. This message may include the identification information of the first terminal, the configuration information of sensing resources, the sensing requirements information, the sensing index information, the sensing mode, and / or, the cooperative sensing node information of the target sensing node, etc.

[0319] In addition, the communication center (or AMF) can also initiate a communication path switching / update process to the UPF.

[0320] Sc9. The synesthetic center sends a synesthetic path switching request response message to the target synesthetic node.

[0321] For example, the response message may include communication-related information (such as information contained in a traditional Path Switch Request Acknowledge message), as well as perception-related information. Perception-related information may include the identification information of the first terminal, configuration information of perception resources, perception requirement information, perception indicator information, perception mode, and / or information of the cooperating perception nodes of the target sensing node, etc.

[0322] Sc10-Sc11 can be referred to Sa13-Sa14 above, and will not be repeated here.

[0323] This disclosure does not limit the order of Sc0-Sc11 mentioned above; it is merely one implementation method.

[0324] As shown in Figure 9, which is another interactive schematic diagram of the communication and sensing method provided in this disclosure, the third sensing node (e.g., sensing center 202) is used for sensing and communication management between the first sensing node and the second sensing node, and the third sensing node can also be called a sensing center. The following description is in conjunction with Figure 9:

[0325] Sd0-Sd2 can be referred to in the relevant descriptions in Sa0-Sa2 above, and will not be repeated here.

[0326] Sd3, the first sensing node sends a switching request message to the sensing center. This switching request message can be a sensing switching request message.

[0327] Sd4, the Sensing Center controls / manages the switching between communication and sensing.

[0328] In some embodiments, the sensing center is a collection of multiple network element functionalities, such as a sensing center and an AMF (or a network element with similar functions), with an interface between the sensing center and the AMF. The AMF can also manage the sensing center. To perform sensing path switching, the AMF sends a sensing switching request message to the sensing center, which may contain the sensing switching request information received by the AMF (i.e., the sensing switching request information received by the aforementioned sensing center).

[0329] Accordingly, the perception center sends a perception handover request response message to the AMF. This message may include the first terminal's sensing ID, the target sensing node's information (such as the target base station / cell ID), the configuration information of sensing resources, sensing requirement information, sensing indicator information, sensing mode, and / or the cooperating sensing nodes of the target sensing node.

[0330] In addition, the Sensing Center (or AMF) can also initiate update / modification procedures to the UPF to update / modify UPF-related configuration information, such as the downlink communication data path address with the target anchor base station, and update the PDU session configuration.

[0331] Sd5. The sensing center sends a handover request message to the target sensing node. This handover request message can be called a sensing handover request message.

[0332] Sd6. The target sensing node sends a switching response message to the sensing center. This switching response message can be called a sensing switching response message.

[0333] In some embodiments, the handover response message may be a handover consent instruction message.

[0334] For example, when a target sensing node accepts a communication / sensing handover request, the target sensing node can prepare the necessary communication / sensing resources and send a handover consent instruction message to the first sensing node. This message may include the ID information of the first terminal, configuration information of the communication / sensing resources, information on the sensing requirements that can be met, and / or information on the sensing indicators that can be met, etc.

[0335] In some embodiments, the handover response message may also be a handover rejection indication message.

[0336] In some embodiments, the target sensing node may also reject the communication / sensing handover request. In this case, the target sensing node may send a handover rejection indication message to the first sensing node. This message may include the type of handover rejection (e.g., sensing handover type or communication handover type) and / or the reason for rejection, such as not meeting the corresponding sensing requirements or sensing indicators.

[0337] In some embodiments, the handover response message may be a partial consent / partial rejection handover indication message.

[0338] In some embodiments, the target sensing node may accept only one of communication switching or sensing switching, and may send a partial switching accept / reject message to the first sensing node. This message may contain configuration information for the accepted switching type (e.g., sensing or communication), an indication of the rejected switching type (e.g., rejecting communication node switching, or rejecting sensing node switching), and / or a reason value for the rejection.

[0339] Sd7, the synaptic center sends a synaptic switching command to the first synaptic node.

[0340] Sd8-Sd9 can be referred to the relevant descriptions in Sa9-Sa10 above, and will not be repeated here.

[0341] Sd10, the target synesthetic node sends a synesthetic switching completion message to the synesthetic center.

[0342] For example, a sensing center is a collection of multiple network element functionalities, such as a sensing center and an AMF (or a network element with similar functions), with an interface between the sensing center and the AMF. The AMF can also manage the sensing center. The AMF sends a sensing handover completion message to the sensing center.

[0343] Sd11-Sd12 can be referred to as Sa13-Sa14 above, and will not be repeated here.

[0344] This disclosure does not impose any restrictions on the order of Sd0-Sd12 mentioned above; it is merely one implementation method.

[0345] In some embodiments, as shown in FIG10, this disclosure also provides another communication and sensing method, performed by a first terminal, such as the sensing target in the system shown in FIG1 or FIG2, the method comprising: S301 to S302.

[0346] S301, Receive the perception configuration message from the first sensing node.

[0347] The aforementioned perception configuration message includes preset perception events, and the first sensing node is the current sensing service node of the first terminal.

[0348] In some embodiments, the preset sensing event includes at least one of the following:

[0349] The quality of the sensing signal of the first synesthetic node is greater than the first quality threshold;

[0350] The quality of the sensing signal of the first sensing node is less than the second quality threshold;

[0351] The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value.

[0352] The quality of the sensing signal of the second sensing node is less than the third quality threshold;

[0353] The quality of the sensing signal of the second sensor node is greater than the fourth quality threshold;

[0354] The quality of the sensing signal of the first synesthetic node is less than the fifth quality threshold, and the quality of the sensing signal of the second synesthetic node is greater than the sixth quality threshold.

[0355] The perception result of the first synesthetic node is greater than the first perception result threshold;

[0356] The perception result of the first synesthetic node is less than the threshold of the second perception result;

[0357] The perception result of the second synesthetic node is greater than the sum of the perception result of the first synesthetic node and the perception result bias value.

[0358] The perception result of the second synesthetic node is less than the threshold of the third perception result;

[0359] The perception result of the second synesthetic node is greater than the threshold of the fourth perception result;

[0360] The perception result of the first synesthetic node is less than the threshold of the fifth perception result, and the perception result of the second synesthetic node is greater than the threshold of the sixth perception result.

[0361] In some embodiments, the sensing signal of the first sensing node is the sensing signal sent by the current serving cell / base station; the sensing signal of the second sensing node is the sensing signal sent by a neighboring cell / base station. The sensing result of the first sensing node is obtained based on the sensing signal sent by the current serving cell / base station; the sensing result of the second sensing node is obtained based on the sensing signal sent by a neighboring serving cell / base station.

[0362] In some embodiments, the perceived signal quality includes at least one of the following:

[0363] Signal-to-noise ratio of the sensed signal, received power of the reference signal, received quality of the reference signal, signal-to-interference-plus-noise ratio, and sensed confidence level.

[0364] In some embodiments, the perception result includes at least one of the following:

[0365] Doppler frequency shift, angle of arrival, signal propagation time of the sensed signal from the transmitter to the receiver, distance from the transmitter to the receiver of the sensed signal, and sensed confidence level.

[0366] In some embodiments, the awareness configuration message further includes first indication information, which is used to indicate:

[0367] The preset sensing event is used to trigger the measurement of the communication signal of the first terminal;

[0368] The preset sensing event is used to trigger the communication signal measurement and sensing signal measurement of the first terminal;

[0369] The preset sensing event is used to trigger the sensing signal measurement of the first terminal.

[0370] In some embodiments, communication signal measurements can be RRM measurements or L1 measurements, etc. That is, the first sensing node can configure the communication measurements of the first terminal. In this case, communication measurements can be configured based on granularity such as base station, cell group / set, cell, TRP (per TRP), carrier frequency, measurement object (per MeasObject), or reference signal beam (per RS / beam). When a preset sensing event is triggered, the terminal can automatically activate or deactivate the corresponding communication measurements and / or sensing measurements for the base station, cell group, cell, TRP, carrier frequency, measurement object, or reference signal beam.

[0371] S302, Acquire sensing signals from at least one sensor node.

[0372] In some embodiments, the first terminal may activate or deactivate communication signal measurement and / or sensing signal measurement based on the sensing signal.

[0373] For example, the first terminal can activate or deactivate communication signal measurement and / or sensing signal measurement when the sensing signal meets the preset conditions for the entry or triggering of a sensing event.

[0374] For example, when the perceived signal quality of the current serving cell / base station is higher than a certain threshold, the aforementioned preset sensing event "the perceived signal quality of the first sensing node is greater than the first quality threshold" is triggered, and the first terminal can stop communication measurements (such as RRM measurements or L1 measurements) of the serving cell / base station and / or neighboring cells / base stations. When the perceived signal quality of a non-serving cell / base station (or a neighboring cell / base station) is lower than a certain threshold, if the aforementioned preset sensing event "the perceived signal of the second sensing node is less than the third quality threshold" is triggered, the first terminal can stop sensing measurements and / or communication measurements (such as RRM measurements or L1 measurements) of the cell / base station.

[0375] In some embodiments, the first terminal may also send measurement or status reports to the first sensing node. For example, measurement or status reports may be sent via UE assistance information (UAI) messages or measurement report messages.

[0376] The measurement or status report can be used to indicate the measurement status information and / or measurement results of the cell / base station to the first terminal. For example, the measurement or status report may include at least one of the following:

[0377] Information about the base station, cell group, cell, TRP, carrier frequency, measurement object, or reference signal beam, such as the corresponding identifier ID or configuration value index;

[0378] Indicators that indicate whether associated communication measurements (such as RRM measurements, L1 measurements) are enabled / activated or disabled / deactivated;

[0379] Indicators that indicate whether the associated sensing measurement is turned on / activated or turned off / deactivated;

[0380] Sensing signal quality;

[0381] Information or a list of associated objects for which communication measurements are enabled / activated or disabled / deactivated, such as base stations, cell groups, cells, TRPs, carrier frequencies, measurement objects, or reference signal beams;

[0382] Information or a list of associated objects for which sensing measurements are enabled / activated or disabled / deactivated, such as base stations, cell groups, cells, TRPs, carrier frequencies, measurement objects, or reference signal beams.

[0383] In some embodiments, the first sensing node can also dynamically enable / stop or activate / deactivate communication measurements and / or sensing measurements based on the measurement or status reports reported by the first terminal, for example, through MAC CE or DCI signaling indication.

[0384] In some embodiments, the sensing mode is the sensing mode transmitted by the base station and received by the terminal.

[0385] It should be noted that the first terminal can receive / measure sensing signals from multiple sensing nodes. These sensing signals can be measurement reference signals (e.g., SSB, CSI-RS) or newly designed waveform signals. That is, the measurement of sensing signals can be used to assist or replace the measurement of traditional measurement reference signals.

[0386] Therefore, the first terminal can use the quality of the received sensing signal (such as sensing SNR, sensing signal RSRP / RSRQ / SINR, sensing confidence level, etc.) to help determine the quality of the communication link between the sensing node and the first terminal. Thus, the first terminal can enable / stop or activate / deactivate traditional reference signal measurements (such as RRM measurement, L1 measurement) and / or sensing measurements based on the results of the sensing measurements, thereby reducing the UE's measurement power consumption.

[0387] Based on the above embodiments, the terminal can use the measurement of the sensing signal to help determine whether signal measurement is needed, thereby avoiding excessive signal measurement when unnecessary and reducing the terminal's measurement power consumption.

[0388] In some embodiments, as shown in FIG11, this disclosure also provides another communication and sensing method, performed by a first sensing node, the method comprising: S401.

[0389] S401. Send a sensing configuration message to the first terminal. The sensing configuration message includes a preset sensing event. The sensing configuration message is used to trigger the first terminal to activate or deactivate communication signal measurement and / or sensing signal measurement.

[0390] In some embodiments, the preset sensing event includes at least one of the following:

[0391] The quality of the sensing signal of the first synesthetic node is greater than the first quality threshold;

[0392] The quality of the sensing signal of the first sensing node is less than the second quality threshold;

[0393] The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value.

[0394] The quality of the sensing signal of the second sensing node is less than the third quality threshold;

[0395] The quality of the sensing signal of the second sensor node is greater than the fourth quality threshold;

[0396] The quality of the sensing signal of the first synesthetic node is less than the fifth quality threshold, and the quality of the sensing signal of the second synesthetic node is greater than the sixth quality threshold.

[0397] The perception result of the first synesthetic node is greater than the first perception result threshold;

[0398] The perception result of the first synesthetic node is less than the threshold of the second perception result;

[0399] The perception result of the second synesthetic node is greater than the sum of the perception result of the first synesthetic node and the perception result bias value.

[0400] The perception result of the second synesthetic node is less than the threshold of the third perception result;

[0401] The perception result of the second synesthetic node is greater than the threshold of the fourth perception result;

[0402] The perception result of the first synesthetic node is less than the threshold of the fifth perception result, and the perception result of the second synesthetic node is greater than the threshold of the sixth perception result.

[0403] In some embodiments, the sensing signal of the first sensing node is the sensing signal sent by the current serving cell / base station; the sensing signal of the second sensing node is the sensing signal sent by a neighboring cell / base station. The sensing result of the first sensing node is obtained based on the sensing signal sent by the current serving cell / base station; the sensing result of the second sensing node is obtained based on the sensing signal sent by a neighboring serving cell / base station.

[0404] In some embodiments, the perceived signal quality includes at least one of the following:

[0405] Signal-to-noise ratio of the sensed signal, received power of the reference signal, received quality of the reference signal, signal-to-interference-plus-noise ratio, and sensed confidence level.

[0406] In some embodiments, the perception result includes at least one of the following:

[0407] Doppler frequency shift, angle of arrival, signal propagation time of the sensed signal from the transmitter to the receiver, distance from the transmitter to the receiver of the sensed signal, and sensed confidence level.

[0408] In some embodiments, the sensing configuration message further includes first indication information, which is used to indicate a preset sensing event to trigger communication signal measurement and / or sensing signal measurement of the first terminal.

[0409] Furthermore, for a detailed description of S401, please refer to the relevant descriptions of S301-S302 above, which will not be repeated here.

[0410] Based on the above embodiments, the terminal can use the measurement of the sensing signal to help determine whether signal measurement is needed, thereby avoiding excessive signal measurement when unnecessary and reducing the terminal's measurement power consumption.

[0411] In some embodiments, one or more sensing nodes can receive / measure sensing signals sent from the same sensing target (first terminal).

[0412] The sensing signal can be an uplink measurement reference signal (e.g., SRS) or a newly designed waveform signal. Sensing nodes can exchange the sensing information they receive / measure, thereby assisting in determining the quality of the communication link between the sensing node and the first terminal. In some embodiments, the sensing mode can be a sensing mode transmitted by the terminal and received by the base station.

[0413] It should be understood that in order to compare the quality of the communication / sensing link between each sensing node and the first terminal, it is necessary to determine that the sensing signals received by each sensing node are from the same sensing target (the first terminal).

[0414] As shown in Figure 12, which is an interactive schematic diagram of a communication and sensing method according to some embodiments, a third sensing node (e.g., sensing center 102 or sensing center 202) is used for sensing management or sensing and communication management between the first sensing node and the second sensing node. This third sensing node can also be referred to as a sensing / sensing center. The following description is in conjunction with Figure 12:

[0415] Se0: The first terminal establishes a communication connection with the first sensing node.

[0416] The first sensing node can be the current serving base station, such as a sensing anchor base station. In this case, the first sensing node can provide communication access services to the first terminal, and the first sensing node can also serve as a sensing fusion site, for example, implementing the functions of the aforementioned sensing center 102 or sensing center 202.

[0417] Se1, the first sensing node configures sensing resources for the first terminal.

[0418] Sensing resources can include time-frequency domain resources of the sensing signal, transmission period, measurement window, etc. Furthermore, the first sensing node (the current serving base station / cell) can also send the configured sensing resources to the first terminal, for example, through an RRC message or a new sensing resource configuration message, so that the first terminal can send sensing signals on the corresponding sensing resources.

[0419] Se2, the interaction between the first synesthetic node and adjacent synesthetic nodes to perceive resource allocation.

[0420] In some embodiments, the first sensing node may send a message to an adjacent sensing node (such as a second sensing node) to configure sensing resources for the first terminal.

[0421] In one example, the first sensing node can directly send a message to the adjacent sensing nodes to configure sensing resources for the first terminal.

[0422] For example, the current serving base station / cell (first sensing node) can interact with neighboring base stations (e.g., cooperative sensing nodes) to configure sensing resources for the first terminal to determine that the source of the sensing signals received by the neighboring sensing nodes comes from the same terminal.

[0423] In another example, the first sensing node can also send the configuration of sensing resources for the first terminal to adjacent sensing nodes through the sensing / perception center.

[0424] For example, the first sensing node can send a configuration of sensing resources for the first terminal to the sensing / perception center. Then, the sensing / perception center sends the received sensing configuration resources to adjacent sensing nodes.

[0425] Se3. Determine the collaborative sensing node (second sensor node) and generate the identification information of the first terminal.

[0426] This identification information may include a global awareness / sensory ID.

[0427] For example, each sensing node can send its received sensing signals and relevant information about the first terminal (e.g., sensing signal quality, the first terminal's position / trajectory information, speed information, direction of movement, etc.) to the first sensing node or sensing / sensing center. The first sensing node or sensing / sensing center can compare the position / trajectory, speed, and direction of movement of the sensing target to determine that the sensing information collected by each sensing node pertains to the same sensing target, thereby assigning a global sensing / sensing ID to the sensing target (first terminal). The first sensing node or sensing / sensing center then sends the global sensing / sensing ID to adjacent sensing nodes.

[0428] This disclosure does not limit the order of Se1-Se3 mentioned above; it is merely one implementation method.

[0429] Se4: Adjacent sensory nodes (cooperative sensory nodes) and the current service node (first sensory node) interact to perceive information.

[0430] For example, collaborative sensing nodes interact with the current service node and the first sensing node to exchange perception measurement reports and results.

[0431] For example, each collaborative sensing node can send the sensing information of the first terminal to the first sensing node. The sending of sensing information can be periodic, or based on the fulfillment of certain specific conditions (such as based on a sensing event trigger), or based on a request message from the first sensing node.

[0432] The sensing information may include the global sensing / sensing ID of the first terminal, the distance between the first terminal and the sensing node, the trajectory / location information of the first terminal, the moving speed of the first terminal, the moving direction of the first terminal, the quality of the sensing signal, and / or the sensing confidence level, etc.

[0433] Se5, Initiate the switchover process.

[0434] In some embodiments, the first sensing node can determine whether it is necessary to trigger the switching of the sensing service node of the first terminal based on the received sensing information.

[0435] When it is necessary to trigger the switching of the first terminal's sensor service node, select the appropriate target sensor node and initiate the switching process.

[0436] The foregoing primarily describes the solutions provided in this disclosure from the perspective of interaction between various devices or network elements. It is understood that each device or network element, in order to achieve the aforementioned functions, includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the algorithmic steps of the examples described in conjunction with the embodiments disclosed herein, this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0437] Figure 13 is a schematic diagram of the composition of a communication and sensing device according to some embodiments. As shown in Figure 13, the communication and sensing device 1300 can be applied to a first sensing node and includes an acquisition module 1301 and a transmission module 1302.

[0438] The acquisition module 1301 is used to acquire the perception information obtained from the first terminal.

[0439] The sending module 1302 is used to send a switching request message based on the sensing information. The switching request message is used to request the switching of the sensing service node of the first terminal.

[0440] In some embodiments, the acquisition module 1301 is used for:

[0441] Receive a perception measurement report from the second sensing node; the perception measurement report is used to indicate the perception information obtained by the second sensing node from the first terminal.

[0442] Based on the perception measurement reports from the second and first sensing nodes, the perception information obtained by sensing the first terminal is obtained. The second sensing node is a cooperative sensing node that can cooperate with the first sensing node in the sensing process of the first terminal.

[0443] In some embodiments, the perception measurement report includes at least one of the following:

[0444] The identification information of the second sensor node, the identification information of the first terminal, the identification information of the sensing trigger event, the sensing signal quality information, the distance between the first terminal and the second sensor node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the sensing confidence level.

[0445] In some embodiments, before receiving a perception measurement report from the first sensing node, the sending module 1302 is further configured to send trigger configuration information to the second sensing node, the trigger configuration information being used to configure the triggering conditions for the perception measurement report.

[0446] In some embodiments, the trigger configuration information includes at least one of the following:

[0447] The information includes the identification information of the first sensing node, the identification information of the first terminal, the triggering method, the identification information of the sensing trigger event, the threshold value and / or bias value corresponding to the sensing trigger event, the hysteresis coefficient, the triggering time, the triggering time interval, the number of sensing measurement reports allowed to be sent, the indication information used to indicate whether the second sensing node is triggered to send a sensing measurement report to the first terminal when the departure condition of the sensing trigger event is met, the maximum number of terminals included in a sensing measurement report, and the filtering parameters of the sensing signal.

[0448] In some embodiments, the perception-triggered event includes at least one of the following:

[0449] The quality of the sensing signal of the first synesthetic node is greater than the first quality threshold;

[0450] The quality of the sensing signal of the first sensing node is less than the second quality threshold;

[0451] The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value.

[0452] The quality of the sensing signal of the second sensing node is less than the third quality threshold;

[0453] The quality of the sensing signal of the second sensor node is greater than the fourth quality threshold;

[0454] The quality of the sensing signal of the first synesthetic node is less than the fifth quality threshold, and the quality of the sensing signal of the second synesthetic node is greater than the sixth quality threshold.

[0455] The distance between the first sensing node and the first terminal is greater than the first distance threshold;

[0456] The distance between the first sensing node and the first terminal is less than the second distance threshold;

[0457] The distance between the first sensing node and the first terminal is greater than the sum of the distance between the second sensing node and the first terminal and the distance offset value;

[0458] The distance between the second sensing node and the first terminal is less than the third distance threshold;

[0459] The distance between the second sensor node and the first terminal is greater than the fourth distance threshold;

[0460] The distance between the first sensing node and the first terminal is less than the fifth distance threshold, and the distance between the second sensing node and the first terminal is greater than the sixth distance threshold.

[0461] In some embodiments, the perceived signal quality includes at least one of the following:

[0462] Signal-to-noise ratio of the sensed signal, received power of the reference signal, received quality of the reference signal, signal-to-interference-plus-noise ratio, and sensed confidence level.

[0463] In some embodiments, the switch request message includes at least one of the following:

[0464] The identification information of the first terminal, the identification information of the target sensor node, the switching time of the sensor node, the configuration information of the sensing resources, the sensing requirements for sensing the first terminal, the sensing index information for sensing the first terminal, the sensing mode information for sensing the first terminal, and the information of the cooperative sensor nodes.

[0465] The target sensing node is the target sensing service node for the first terminal to switch to, and the target sensing node is determined in at least one second sensing node.

[0466] In some embodiments, the sending module 1302 is configured to: determine the target sensing node for the first terminal to switch in at least one second sensing service node based on sensing information; and send a switching request message to a third sensing node, the switching request message including the identification information of the target sensing node.

[0467] In some embodiments, the third sensing node is used for the perception management of the first sensing node and the second sensing node; or, the third sensing node is used for the perception and communication management of the first sensing node and the second sensing node.

[0468] In some embodiments, the acquisition module 1301 is configured to receive a consent switching indication message from a third sensing node.

[0469] In some embodiments, the consent handover instruction message is used to instruct the first sensing node to perform a handover of the sensing service node of the first terminal; or, the consent handover instruction message is used to instruct the first sensing node to perform a handover of the sensing service node of the first terminal.

[0470] In some embodiments, when the consent handover instruction message is used to instruct the first sensing node to perform a handover of the first terminal's sensing service node, before sending the handover completion instruction message to the third sensing node, the sending module 1302 is further configured to: send a communication handover request message to the second sensing node, the communication handover request message being used to request a handover of the first terminal's communication service node.

[0471] In some embodiments, the sending module 1302 is further configured to: determine the target sensing node for the first terminal to switch in at least one second sensing service node based on sensing information; and send a switching request message to the target sensing node.

[0472] In some embodiments, the acquisition module 1301 is further configured to: receive a handover response message from the target sensor node. The handover response message is used to indicate:

[0473] Accept the switching request from the first synesthetic node;

[0474] Reject the switching request from the first synesthetic node;

[0475] The portion of the content that accepts the switching request from the first synesthetic node;

[0476] Alternatively, reject part of the switching request from the first synesthetic node.

[0477] In some embodiments, the acquisition module 1301 is further configured to: receive a resource release indication message from the target sensing node, the resource release indication message being used to instruct the first sensing node to release the communication resources and / or sensing resources corresponding to the first terminal.

[0478] For a more detailed description of the acquisition module 1301, the sending module 1302, the various technical features, and the beneficial effects, please refer to the corresponding method embodiment section above, which will not be repeated here.

[0479] Figure 14 is a schematic diagram of the composition of a communication and sensing device according to some embodiments. As shown in Figure 14, the communication and sensing device 1400 can be applied to a target sensing node and includes a transmitting module 1401 and a receiving module 1402.

[0480] The sending module 1401 is used to send the sensing measurement report of the first terminal to the first sensing node.

[0481] The receiving module 1402 is used to receive a handover request message, which is used to request the first terminal to be switched from the first sensing node to the target sensing node.

[0482] In some embodiments, the perception measurement report includes at least one of the following:

[0483] The identification information of the target sensor node, the identification information of the first terminal, the identification information of the sensing trigger event, the sensing signal quality information, the distance between the first terminal and the target sensor node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the sensing confidence level.

[0484] In some embodiments, before sending the perception measurement report of the first terminal to the first sensing node, the receiving module 1402 is further configured to receive trigger configuration information from the first sensing node, the trigger configuration information being used to configure the triggering conditions of the perception measurement report.

[0485] In some embodiments, the sending module is configured to send a sensing measurement report of the first terminal to the first sensing node when a triggering condition is met.

[0486] In some embodiments, the trigger configuration information includes at least one of the following:

[0487] The information includes the identification information of the first sensing node, the identification information of the first terminal, the triggering method, the identification information of the sensing trigger event, the threshold value and / or bias value corresponding to the sensing trigger event, the hysteresis coefficient, the triggering time, the triggering time interval, the number of sensing measurement reports allowed to be reported, the indication information used to indicate whether the second sensing node should be triggered to send a sensing measurement report to the first terminal when the departure condition of the sensing trigger event is met, the maximum number of terminals included in a sensing measurement report, and the filtering parameters of the sensing signal.

[0488] In some embodiments, the perception-triggered event includes at least one of the following:

[0489] The quality of the sensing signal of the first synesthetic node is greater than the first quality threshold;

[0490] The quality of the sensing signal of the first sensing node is less than the second quality threshold;

[0491] The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value.

[0492] The quality of the sensing signal of the second sensing node is less than the third quality threshold;

[0493] The quality of the sensing signal of the second sensor node is greater than the fourth quality threshold;

[0494] The quality of the sensing signal of the first synesthetic node is less than the fifth quality threshold, and the quality of the sensing signal of the second synesthetic node is greater than the sixth quality threshold.

[0495] The distance between the first sensing node and the first terminal is greater than the first distance threshold;

[0496] The distance between the first sensing node and the first terminal is less than the second distance threshold;

[0497] The distance between the first sensing node and the first terminal is greater than the sum of the distance between the second sensing node and the first terminal and the distance offset value;

[0498] The distance between the second sensing node and the first terminal is less than the third distance threshold;

[0499] The distance between the second sensor node and the first terminal is greater than the fourth distance threshold;

[0500] The distance between the first sensing node and the first terminal is less than the fifth distance threshold, and the distance between the second sensing node and the first terminal is greater than the sixth distance threshold.

[0501] In some embodiments, the perceived signal quality includes at least one of the following:

[0502] Signal-to-noise ratio of the sensed signal, received power of the reference signal, received quality of the reference signal, signal-to-interference-plus-noise ratio, and sensed confidence level.

[0503] In some embodiments, the switch request message includes at least one of the following:

[0504] The information includes: identification information of the first terminal, identification information of the target sensor node, sensor node switching time, configuration information of sensing resources, sensing requirements for sensing the first terminal, sensing index information for sensing the first terminal, sensing mode information for sensing the first terminal, and information of the cooperating sensor nodes.

[0505] In some embodiments, the receiving module 1402 is configured to: receive a switching request message from a third sensing node, wherein the third sensing node is used for perception management between the first sensing node and the second sensing node, or the third sensing node is used for perception and communication management between the first sensing node and the second sensing node.

[0506] In some embodiments, the sending module 1401 is further configured to send a handover response message to the third sensing node, the handover response message being used to trigger the third sensing node to send a handover consent indication message to the first sensing node; and, if the handover is completed, to send a handover completion indication message to the third sensing node.

[0507] In some embodiments, the consent handover instruction message is used to instruct the first sensing node to perform a handover of the sensing service node of the first terminal; or, the consent handover instruction message is used to instruct the first sensing node to perform a handover of the sensing service node of the first terminal.

[0508] In some embodiments, when the consent handover instruction message is used to instruct the first sensing node to perform a switching of the sensing service node of the first terminal, the receiving module 1402 is further configured to receive a communication handover request message sent from the first sensing node, the communication handover request message being used to request a switching of the communication service node of the first terminal.

[0509] In some embodiments, the receiving module 1402 is further configured to receive a switching request message from the first sensing node.

[0510] In some embodiments, the sending module 1401 is further configured to send a switching response message to the first sensing node.

[0511] In some embodiments, the sending module 1401 is further configured to send a sensing path update request message to the third sensing node, the sensing path update request message being used to request an update of the sensing path or sensing path of the first terminal.

[0512] In some embodiments, the synaptic path update request message includes at least one of the following:

[0513] The first terminal's identification information, sensing demand information, sensing indicator information, sensing mode information, and collaborative sensing node information of the target sensing node.

[0514] In some embodiments, the sending module 1401 is further configured to send a resource release indication message to the first sensing node, the resource release indication message being used to instruct the first sensing node to release the communication resources and / or sensing resources corresponding to the first terminal.

[0515] For a more detailed description of the above-mentioned sending module 1401, receiving module 1402, and various technical features, as well as the description of the beneficial effects, please refer to the corresponding method embodiment section above, which will not be repeated here.

[0516] Figure 15 is a schematic diagram of the composition of a communication and sensing device according to some embodiments. As shown in Figure 15, the communication and sensing device 1500 can be applied to a first terminal and includes a receiving module 1501. In some embodiments, the communication and sensing device 1500 may further include a processing module 1502.

[0517] The receiving module 1501 is used to receive a perception configuration message from the first sensing node. The perception configuration message includes a preset perception event, and the first sensing node is the current sensing service node of the first terminal.

[0518] The receiving module 1501 is also used to acquire sensing signals from at least one sensing node.

[0519] In some embodiments, the processing module 1502 is configured to activate or deactivate communication signal measurement and / or sensing signal measurement based on the sensing signal.

[0520] In some embodiments, the processing module 1502 is configured to activate or deactivate communication signal measurement and / or sensing signal measurement when the sensing signal meets the entry or triggering conditions of a preset sensing event.

[0521] In some embodiments, the preset sensing event includes at least one of the following:

[0522] The quality of the sensing signal of the first synesthetic node is greater than the first quality threshold;

[0523] The quality of the sensing signal of the first sensing node is less than the second quality threshold;

[0524] The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value.

[0525] The quality of the sensing signal of the second sensing node is less than the third quality threshold;

[0526] The quality of the sensing signal of the second sensor node is greater than the fourth quality threshold;

[0527] The quality of the sensing signal of the first synesthetic node is less than the fifth quality threshold, and the quality of the sensing signal of the second synesthetic node is greater than the sixth quality threshold.

[0528] The perception result of the first synesthetic node is greater than the first perception result threshold;

[0529] The perception result of the first synesthetic node is less than the threshold of the second perception result;

[0530] The perception result of the second synesthetic node is greater than the sum of the perception result of the first synesthetic node and the perception result bias value.

[0531] The perception result of the second synesthetic node is less than the threshold of the third perception result;

[0532] The perception result of the second synesthetic node is greater than the threshold of the fourth perception result;

[0533] The perception result of the first synesthetic node is less than the threshold of the fifth perception result, and the perception result of the second synesthetic node is greater than the threshold of the sixth perception result.

[0534] In some embodiments, the perceived signal quality includes at least one of the following:

[0535] Signal-to-noise ratio of the sensed signal, received power of the reference signal, received quality of the reference signal, signal-to-interference-plus-noise ratio, and sensed confidence level.

[0536] In some embodiments, the perception result includes at least one of the following:

[0537] Doppler frequency shift, angle of arrival, signal propagation time of the sensed signal from the transmitter to the receiver, distance from the transmitter to the receiver of the sensed signal, and sensed confidence level.

[0538] In some embodiments, the awareness configuration message further includes first indication information, which is used to indicate:

[0539] The preset sensing event is used to trigger the measurement of the communication signal of the first terminal;

[0540] The preset sensing event is used to trigger the communication signal measurement and sensing signal measurement of the first terminal;

[0541] The preset sensing event is used to trigger the sensing signal measurement of the first terminal.

[0542] For a more detailed description of the receiving module 1501, the processing module 1502, the various technical features, and the beneficial effects, please refer to the corresponding method embodiment section above, which will not be repeated here.

[0543] Figure 16 is a schematic diagram of the composition of a communication and sensing device according to some embodiments. As shown in Figure 16, the communication and sensing device 1600 can also be applied to a first sensing node, including a transmitting module 1601.

[0544] The sending module 1601 is used to send a sensing configuration message to the first terminal. The sensing configuration message includes a preset sensing event and is used to trigger the first terminal to activate or deactivate communication signal measurement and / or sensing signal measurement.

[0545] In some embodiments, the preset sensing event includes at least one of the following:

[0546] The quality of the sensing signal of the first synesthetic node is greater than the first quality threshold;

[0547] The quality of the sensing signal of the first sensing node is less than the second quality threshold;

[0548] The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value.

[0549] The quality of the sensing signal of the second sensing node is less than the third quality threshold;

[0550] The quality of the sensing signal of the second sensor node is greater than the fourth quality threshold;

[0551] The quality of the sensing signal of the first synesthetic node is less than the fifth quality threshold, and the quality of the sensing signal of the second synesthetic node is greater than the sixth quality threshold.

[0552] The perception result of the first synesthetic node is greater than the first perception result threshold;

[0553] The perception result of the first synesthetic node is less than the threshold of the second perception result;

[0554] The perception result of the second synesthetic node is greater than the sum of the perception result of the first synesthetic node and the perception result bias value.

[0555] The perception result of the second synesthetic node is less than the threshold of the third perception result;

[0556] The perception result of the second synesthetic node is greater than the threshold of the fourth perception result;

[0557] The perception result of the first synesthetic node is less than the threshold of the fifth perception result, and the perception result of the second synesthetic node is greater than the threshold of the sixth perception result.

[0558] In some embodiments, the perceived signal quality includes at least one of the following:

[0559] Signal-to-noise ratio of the sensed signal, received power of the reference signal, received quality of the reference signal, signal-to-interference-plus-noise ratio, and sensed confidence level.

[0560] In some embodiments, the perception result includes at least one of the following:

[0561] Doppler frequency shift, angle of arrival, signal propagation time of the sensed signal from the transmitter to the receiver, distance from the transmitter to the receiver of the sensed signal, and sensed confidence level.

[0562] In some embodiments, the sensing configuration message further includes first indication information, which is used to indicate a preset sensing event to trigger communication signal measurement and / or sensing signal measurement of the first terminal.

[0563] For a more detailed description of the above-mentioned sending module 1601, as well as a more detailed description of its various technical features and beneficial effects, please refer to the corresponding method embodiment section above, which will not be repeated here.

[0564] It should be noted that the modules in Figures 13, 14, 15, or 16 can also be called units. For example, the transmitting module can be called a transmitting unit. Furthermore, in the embodiments shown in Figures 13, 14, 15, or 16, the names of the modules may not be those shown in the figures. For example, the transmitting module can also be called a communication module, and the receiving module can also be called a communication module.

[0565] If the units or modules in Figures 13, 14, 15, or 16 are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this disclosure, in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this disclosure. Storage media for storing computer software products include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0566] When the functions of the integrated modules described above are implemented in hardware, this disclosure provides a schematic diagram of a communication device, which may include the aforementioned communication and sensing devices 1300, 1400, 1500, or 1600. As shown in FIG17, the communication and sensing device 1700 includes: a processor 1702, a communication interface 1703, and a bus 1704. In some embodiments, the communication and sensing device 1700 may further include a memory 1701.

[0567] Processor 1702 may implement or execute various exemplary logic blocks, modules, and circuits described in connection with this disclosure. Processor 1702 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. Processor 1702 may implement or execute various exemplary logic blocks, modules, and circuits described in connection with this disclosure. Processor 1702 may also be a combination of functions implementing computation, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0568] The communication interface 1703 is used to connect to other devices via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0569] The memory 1701 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0570] In one implementation, the memory 1701 can exist independently of the processor 1702. The memory 1701 can be connected to the processor 1702 via a bus 1704 and is used to store instructions or program code. When the processor 1702 calls and executes the instructions or program code stored in the memory 1701, it can implement the method provided in the embodiments of this disclosure.

[0571] In another implementation, the memory 1701 can also be integrated with the processor 1702.

[0572] Bus 1704 can be an extended industry standard architecture (EISA) bus, etc. Bus 1704 can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in Figure 17, but this does not mean that there is only one bus or one type of bus.

[0573] Through the above description of the implementation methods, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment or device can be divided into different functional modules to complete all or part of the functions described above.

[0574] This disclosure also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be executed by computer instructions instructing related hardware. The program can be stored in the computer-readable storage medium, and when executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be any of the foregoing embodiments or memory. The computer-readable storage medium can also be an external storage device of the above-mentioned device or apparatus, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the above-mentioned device or apparatus. Further, the computer-readable storage medium can include both internal storage units and external storage devices of the above-mentioned device or apparatus. The computer-readable storage medium is used to store the above-mentioned computer program and other programs and data required by the above-mentioned device or apparatus. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output. The readable storage medium includes non-transitory computer-readable storage media.

[0575] This disclosure also provides a computer program product comprising a computer program that, when run on a computer, causes the computer to perform any of the methods provided in the above embodiments.

[0576] Although this disclosure has been described herein in conjunction with various embodiments, those skilled in the art will understand and implement other variations of the disclosed embodiments by reviewing the accompanying drawings, the disclosure, and the appended claims in carrying out the claimed disclosure. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce a good effect.

[0577] Although this disclosure has been described in conjunction with detailed features and embodiments, it will be apparent that various modifications and combinations can be made thereto without departing from the spirit and scope of this disclosure. Accordingly, this specification and drawings are merely exemplary illustrations of the disclosure as defined by the appended claims and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this disclosure. It is obvious that those skilled in the art can make various alterations and modifications to this disclosure without departing from its spirit and scope. Thus, this disclosure is also intended to include any such modifications and modifications that fall within the scope of the claims of this disclosure and their equivalents.

[0578] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A communication and sensing method, wherein, The method is executed by a first sensor node, and the method includes: Acquire the perception information obtained from the first terminal; Based on the perceived information, a switching request message is sent, which is used to request a switch of the sensor service node of the first terminal.

2. The method according to claim 1, wherein, The step of acquiring the perception information obtained from the first terminal includes: Receive a perception measurement report from the second sensing node; the perception measurement report is used to indicate the perception information obtained by the second sensing node from the first terminal; Based on the perception measurement report from the second sensing node and the perception measurement report from the first sensing node, the perception information obtained by sensing the first terminal is obtained. The second sensing node is a cooperative sensing node that can cooperate with the first sensing node in the sensing process of the first terminal.

3. The method according to claim 2, wherein, The perception measurement report includes at least one of the following: The identification information of the second sensing node, the identification information of the first terminal, the identification information of the sensing trigger event, the sensing signal quality information, the distance between the first terminal and the second sensing node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the sensing confidence level.

4. The method according to claim 2, wherein, Before receiving the sensing measurement report from the first sensing node, the method further includes: Trigger configuration information is sent to the second sensing node, and the trigger configuration information is used to configure the trigger conditions for the sensing measurement report.

5. The method according to claim 4, wherein, The trigger configuration information includes at least one of the following: The identification information of the first sensing node, the identification information of the first terminal, the triggering method, the identification information of the sensing trigger event, the threshold value and / or bias value corresponding to the sensing trigger event, the hysteresis coefficient, the triggering time, the triggering time interval, the number of sensing measurement reports allowed to be sent, the indication information used to indicate whether the second sensing node is triggered to send a sensing measurement report to the first terminal when the departure condition of the sensing trigger event is met, the maximum number of terminals included in a sensing measurement report, and the filtering parameters of the sensing signal.

6. The method according to claim 5, wherein, The perception-triggered event includes at least one of the following: The quality of the sensing signal of the first sensing node is greater than the first quality threshold; The quality of the sensing signal of the first sensing node is less than the second quality threshold; The sensing signal quality of the second sensing node is greater than the sum of the sensing signal quality of the first sensing node and the quality bias value; The quality of the sensing signal of the second sensing node is less than the third quality threshold; The quality of the sensing signal of the second sensing node is greater than the fourth quality threshold; The quality of the sensing signal of the first sensing node is less than the fifth quality threshold, and the quality of the sensing signal of the second sensing node is greater than the sixth quality threshold. The distance between the first sensing node and the first terminal is greater than a first distance threshold; The distance between the first sensing node and the first terminal is less than the second distance threshold; The distance between the first sensing node and the first terminal is greater than the sum of the distance between the second sensing node and the first terminal and the distance offset value; The distance between the second sensing node and the first terminal is less than the third distance threshold; The distance between the second sensing node and the first terminal is greater than the fourth distance threshold; The distance between the first sensing node and the first terminal is less than the fifth distance threshold, and the distance between the second sensing node and the first terminal is greater than the sixth distance threshold.

7. The method according to claim 6, wherein, The quality of the sensed signal includes at least one of the following: Signal-to-noise ratio of the sensed signal, received power of the reference signal, received quality of the reference signal, signal-to-interference-plus-noise ratio, and sensed confidence level.

8. The method according to claim 1, wherein, The handover request message includes at least one of the following: The identification information of the first terminal, the identification information of the target sensor node, the switching time of the sensor node, the configuration information of the sensing resources, the sensing requirement information for sensing the first terminal, the sensing index information for sensing the first terminal, the sensing mode information for sensing the first terminal, and the information of the cooperative sensor node. The target sensing node is the target sensing service node that the first terminal switches to, and the target sensing node is determined in at least one second sensing node.

9. The method according to claim 1, wherein, Based on the perceived information, sending the handover request message includes: Based on the perceived information, the target sensing node for the first terminal to switch is determined in at least one second sensing service node; The handover request message is sent to the third sensor node, and the handover request message includes the identification information of the target sensor node.

10. The method according to claim 9, wherein, The third sensor node is used for perception management between the first sensor node and the second sensor node; or, The third sensing node is used for the sensing and communication management between the first sensing node and the second sensing node.

11. The method of claim 9, further comprising: Receive a consent switching instruction message from the third sensing node.

12. The method according to claim 11, wherein, The consent switching instruction message is used to instruct the first sensing node to perform a switching of the sensing service node of the first terminal; or, the consent switching instruction message is used to instruct the first sensing node to perform a switching of the sensing service node of the first terminal.

13. The method according to claim 12, wherein, When the consent handover indication message is used to instruct the first sensing node to perform a sensing service node handover for the first terminal, the method further includes the following steps before sending the handover completion indication message to the third sensing node: A communication switching request message is sent to the second sensing node, the communication switching request message being used to request a switch of the communication service node of the first terminal.

14. The method according to claim 1, wherein, Sending the switching request message based on the perceived information includes: Based on the perceived information, the target sensing node for the first terminal to switch is determined in at least one second sensing service node; The handover request message is sent to the target sensor node.

15. The method of claim 14, further comprising: Receive a handover response message from the target sensor node; wherein the handover response message is used to indicate: Accept the switching request from the first sensor node; The switching request from the first sensor node is rejected; The portion of the content that accepts the switching request from the first sensor node; Alternatively, reject part of the switching request from the first sensor node.

16. The method according to any one of claims 10-15, further comprising: The first sensing node receives a resource release instruction message from the target sensing node, the resource release instruction message being used to instruct the first sensing node to release the communication resources and / or sensing resources corresponding to the first terminal.

17. A communication and sensing method, wherein, The method is executed by the target sensor node, and the method includes: Send the first terminal's sensing measurement report to the first sensing node; A handover request message is received, which is used to request the first terminal to be switched from the first sensing node to the target sensing node.

18. The method according to claim 17, wherein, The perception measurement report includes at least one of the following: The identification information of the target sensor node, the identification information of the first terminal, the identification information of the sensing trigger event, the sensing signal quality information, the distance between the first terminal and the target sensor node, the moving speed of the first terminal, the moving direction of the first terminal, the position of the first terminal, the moving trajectory of the first terminal, and the sensing confidence level.

19. The method of claim 17, wherein, Before sending the sensing measurement report of the first terminal to the first sensing node, the method further includes: Receive trigger configuration information from the first sensing node, the trigger configuration information being used to configure the trigger conditions for the sensing measurement report; Sending the sensing measurement report of the first terminal to the first sensing node includes: If the triggering condition is met, the sensing measurement report of the first terminal is sent to the first sensing node.

20. The method according to claim 19, wherein, The trigger configuration information includes at least one of the following: The identification information of the first sensing node, the identification information of the first terminal, the triggering method, the identification information of the sensing trigger event, the threshold value and / or bias value corresponding to the sensing trigger event, the hysteresis coefficient, the triggering time, the triggering time interval, the number of sensing measurement reports allowed to be reported, the indication information used to indicate whether the second sensing node is triggered to send a sensing measurement report to the first terminal when the departure condition of the sensing trigger event is met, the maximum number of terminals included in a sensing measurement report, and the filtering parameters of the sensing signal.

21. The method according to claim 20, wherein, The perception-triggered event includes at least one of the following: The quality of the sensing signal of the first sensing node is greater than the first quality threshold; The quality of the sensing signal of the first sensing node is less than the second quality threshold; The sensing signal quality of the second sensing node is greater than the sum of the sensing signal quality of the first sensing node and the quality bias value; The quality of the sensing signal of the second sensing node is less than the third quality threshold; The quality of the sensing signal of the second sensing node is greater than the fourth quality threshold; The quality of the sensing signal of the first sensing node is less than the fifth quality threshold, and the quality of the sensing signal of the second sensing node is greater than the sixth quality threshold. The distance between the first sensing node and the first terminal is greater than a first distance threshold; The distance between the first sensing node and the first terminal is less than the second distance threshold; The distance between the first sensing node and the first terminal is greater than the sum of the distance between the second sensing node and the first terminal and the distance offset value; The distance between the second sensing node and the first terminal is less than the third distance threshold; The distance between the second sensing node and the first terminal is greater than the fourth distance threshold; The distance between the first sensing node and the first terminal is less than the fifth distance threshold, and the distance between the second sensing node and the first terminal is greater than the sixth distance threshold.

22. The method according to claim 21, wherein, The quality of the sensed signal includes at least one of the following: The signal-to-noise ratio of the sensed signal, the power of the received reference signal, the quality of the received reference signal, the signal-to-interference-plus-noise ratio, and the confidence level of the sensed signal.

23. The method according to claim 17, wherein, The handover request message includes at least one of the following: The identification information of the first terminal, the identification information of the target sensor node, the switching time of the sensor node, the configuration information of the sensing resources, the sensing requirement information for sensing the first terminal, the sensing index information for sensing the first terminal, the sensing mode information for sensing the first terminal, and the information of the cooperative sensor node.

24. The method of claim 17, wherein, Receiving the handover request message includes: The system receives a switching request message from a third sensing node, which is used for the perception management of the first sensing node and the second sensing node, or for the perception and communication management of the first sensing node and the second sensing node.

25. The method according to claim 24, wherein, The method further includes at least one of the following: Send a handover response message to the third sensing node, the handover response message being used to trigger the third sensing node to send a handover consent indication message to the first sensing node; Once the handover is complete, a handover completion indication message is sent to the third sensing node.

26. The method of claim 25, wherein, The consent switching instruction message is used to instruct the first sensing node to perform a switching of the sensing service node of the first terminal; or, the consent switching instruction message is used to instruct the first sensing node to perform a switching of the sensing service node of the first terminal.

27. The method according to claim 26, wherein, When the consent handover indication message is used to instruct the first sensing node to perform a sensing service node handover for the first terminal, the method further includes the following steps before sending the handover completion indication message to the third sensing node: The system receives a communication switching request message from the first sensing node, the message being used to request a switch of the communication service node for the first terminal.

28. The method according to claim 18, wherein, Receiving the handover request message includes: Receive a switching request message from the first sensing node.

29. The method of claim 28, further comprising: Send a switching response message to the first sensing node.

30. The method of claim 28, further comprising: A sensing path update request message is sent to the third sensing node. The sensing path update request message is used to request an update to the sensing path or sensing path of the first terminal.

31. The method according to claim 30, wherein, The synaptic path update request message includes at least one of the following: The first terminal's identification information, sensing requirement information, sensing indicator information, sensing mode information, and the collaborative sensing node information of the target sensing node.

32. The method of claim 18, further comprising: A resource release instruction message is sent to the first sensing node, the resource release instruction message being used to instruct the first sensing node to release the communication resources and / or sensing resources corresponding to the first terminal.

33. A communication and sensing method, wherein, The method is executed by a first terminal, and the method includes: Receive a perception configuration message from a first sensing node, the perception configuration message including a preset perception event, the first sensing node being the current sensing service node of the first terminal; Acquire sensing signals from at least one synesthesia node.

34. The method of claim 33, further comprising: Based on the sensed signal, activate or deactivate communication signal measurement and / or sensed signal measurement.

35. The method according to claim 34, wherein, The step of activating or deactivating the communication signal measurement and / or the sensing signal measurement based on the sensing signal includes: When the sensing signal meets the entry or triggering conditions of the preset sensing event, the communication signal measurement and / or sensing signal measurement are activated or deactivated.

36. The method according to claim 33, wherein, The preset sensing event includes at least one of the following: The quality of the sensing signal of the first sensing node is greater than the first quality threshold; The quality of the sensing signal of the first sensing node is less than the second quality threshold; The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value. The quality of the sensing signal of the second sensing node is less than the third quality threshold; The quality of the sensing signal of the second sensing node is greater than the fourth quality threshold; The quality of the sensing signal of the first sensing node is less than the fifth quality threshold, and the quality of the sensing signal of the second sensing node is greater than the sixth quality threshold. The perception result of the first sensor node is greater than the first perception result threshold; The perception result of the first sensor node is less than the threshold of the second perception result; The perception result of the second sensor node is greater than the sum of the perception result of the first sensor node and the perception result bias value; The perception result of the second sensor node is less than the threshold of the third perception result; The perception result of the second sensor node is greater than the threshold of the fourth sensor result; The perception result of the first sensor node is less than the fifth perception result threshold, and the perception result of the second sensor node is greater than the sixth perception result threshold.

37. The method of claim 36, wherein, The quality of the sensed signal includes at least one of the following: The signal-to-noise ratio of the sensed signal, the power of the received reference signal, the quality of the received reference signal, the signal-to-interference-plus-noise ratio, and the confidence level of the sensed signal.

38. The method according to claim 36, wherein, The perception result includes at least one of the following: Doppler frequency shift, angle of arrival, signal propagation time of the sensing signal from the transmitter to the receiver, distance from the transmitter to the receiver of the sensing signal, and sensing confidence level.

39. The method according to claim 33, wherein, The perception configuration message further includes first indication information, which is used to indicate: The preset sensing event is used to trigger the measurement of the communication signal of the first terminal; The preset sensing event is used to trigger the communication signal measurement and sensing signal measurement of the first terminal; The preset sensing event is used to trigger the sensing signal measurement of the first terminal.

40. A communication and sensing method, wherein, The method is executed by a first sensor node, and the method includes: A sensing configuration message is sent to a first terminal. The sensing configuration message includes a preset sensing event. The sensing configuration message is used to trigger the first terminal to activate or deactivate communication signal measurement and / or sensing signal measurement.

41. The method according to claim 40, wherein, The preset sensing event includes at least one of the following: The quality of the sensing signal of the first sensing node is greater than the first quality threshold; The quality of the sensing signal of the first sensing node is less than the second quality threshold; The quality of the sensing signal of the second sensing node is greater than the sum of the quality of the sensing signal of the first sensing node and the quality bias value. The quality of the sensing signal of the second sensing node is less than the third quality threshold; The quality of the sensing signal of the second sensing node is greater than the fourth quality threshold; The quality of the sensing signal of the first sensing node is less than the fifth quality threshold, and the quality of the sensing signal of the second sensing node is greater than the sixth quality threshold. The perception result of the first sensor node is greater than the first perception result threshold; The perception result of the first sensor node is less than the threshold of the second perception result; The perception result of the second sensor node is greater than the sum of the perception result of the first sensor node and the perception result bias value; The perception result of the second sensor node is less than the threshold of the third perception result; The perception result of the second sensor node is greater than the threshold of the fourth sensor result; The perception result of the first sensor node is less than the fifth perception result threshold, and the perception result of the second sensor node is greater than the sixth perception result threshold.

42. The method according to claim 41, wherein, The quality of the sensed signal includes at least one of the following: The signal-to-noise ratio of the sensed signal, the power of the received reference signal, the quality of the received reference signal, the signal-to-interference-plus-noise ratio, and the confidence level of the sensed signal.

43. The method according to claim 41, wherein, The perception result includes at least one of the following: Doppler frequency shift, angle of arrival, signal propagation time of the sensing signal from the transmitter to the receiver, distance from the transmitter to the receiver of the sensing signal, and sensing confidence level.

44. The method of claim 40, wherein, The sensing configuration message also includes first indication information, which is used to indicate that the preset sensing event is used to trigger the communication signal measurement and / or sensing signal measurement of the first terminal.

45. A communication and sensing device, comprising: Memory and processor; The memory and the processor are coupled; The memory is used to store instructions that can be executed by the processor; When the processor executes the instructions, it performs the method according to any one of claims 1 to 44.

46. ​​A computer-readable storage medium, wherein, The computer-readable storage medium stores computer instructions that, when executed on a processor, cause the processor to perform the method according to any one of claims 1 to 44.

47. A computer program product, wherein, The computer program product includes a computer program that, when run on a computer, causes the computer to perform the method according to any one of claims 1 to 44.

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