Electronic device, method for integrated sensing and communication system, and computer-readable storage medium

Abstract

The present application relates to an electronic device, a method for an integrated sensing and communication system, and a computer-readable storage medium. The electronic device comprises at least one processor and at least one memory, the at least one memory comprising a computer program code. The at least one memory and the computer program code are configured to cause, by means of the at least one processor, the electronic device to perform: when sensing performance obtained by a source sensing unit executing a sensing task on a sensing subject in an integrated sensing and communication system satisfies a predetermined condition, in response to a sensing task migration request received from the source sensing unit, on the basis of sensing scheduling costs related to candidate sensing units, reallocating at least a part of the sensing task to a target sensing unit selected from among the candidate sensing units.

Description

Electronic devices, methods for communication-sensing integrated systems, and computer-readable storage media

[0001] This application claims priority to Chinese Patent Application No. 202411976415.2, filed on December 30, 2024, entitled "Electronic Device, Method for Integrated Communication and Sensing System and Computer-Readable Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure generally relates to the field of wireless communications, and more specifically to electronic devices and methods for integrated communication and sensing systems. More specifically, it relates to electronic devices and methods for allocating sensing tasks in integrated communication and sensing systems. Background Technology

[0003] Integrated Communication and Sensing (ISAC, sometimes referred to as "Sensing Integration" in this disclosure) is an emerging technology that integrates wireless communication and sensing capabilities. It utilizes the propagation characteristics of radio waves to depict and reconstruct the physical world, enabling a sensing network. Through the synergy of network sensing and terminal sensing, the entire physical world covered by the network can be modeled, providing sensing-assisted communication and communication-assisted sensing. Wireless sensing technology acquires information about remote objects or environments and their characteristics without physical contact. 3GPP TR 22.837 outlines use cases and corresponding service requirements based on NR (New Radio) sensing, such as object (drone / human / vehicle) detection and tracking, environmental monitoring, and motion detection. ISAC technology faces the following research questions and challenges.

[0004] In traditional single-base ISAC systems, since the transmitting and receiving equipment are the same, they may suffer from severe self-interference, which can significantly reduce system performance.

[0005] In traditional multi-base ISAC systems, since the transmitters and receivers of the ISAC signals are deployed in different locations, selecting an optimal set of sensing receivers is a problem that needs to be solved.

[0006] Furthermore, in areas with limited wireless network resources, it is necessary (based on operator decisions) to prioritize resources used for awareness services and those used for other services (such as communication services). When a high-priority communication service arrives, if resources are insufficient, a low-priority awareness service needs to migrate to another suitable node, which requires addressing the issue of how to perform a seamless migration.

[0007] When an ISAC system is used to track moving objects, the sensing nodes need to change position as the object moves, requiring multi-node collaborative sensing. In this case, the more accurate the sensing results of the collaborating nodes, the more resources they consume and the more potential interference they cause, leading to a degraded communication service quality. Summary of the Invention

[0008] A brief overview of the invention is given below to provide a basic understanding of certain aspects of it. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention. Its purpose is merely to present certain concepts in a simplified form as a prelude to the more detailed description that follows.

[0009] According to one aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured, through the at least one processor, to cause the electronic device to perform: in a communication-sensing integrated system, if the sensing performance obtained by a source sensing unit performing a sensing task on a sensing object meets predetermined conditions, in response to a sensing task migration request received from the source sensing unit, reallocating at least a portion of the sensing task to a target sensing unit selected from the candidate sensing units based on a sensing scheduling cost associated with the candidate sensing units.

[0010] According to one aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured, through the at least one processor, to cause the electronic device to perform: if the sensing performance obtained by the electronic device performing a sensing task on a sensing object in a communication-sensing integrated system meets predetermined conditions, sending a sensing task migration request, such that at least a portion of the sensing task can be reassigned to a target sensing unit selected from the candidate sensing units based on a sensing scheduling cost associated with the candidate sensing units.

[0011] According to one aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured, via the at least one processor, to cause the electronic device to perform: in the event that a source sensing unit in a communication-sensing integrated system needs to perform a sensing task migration, providing sensing-related information of the electronic device associated with the sensing task, so as to determine whether the electronic device is selected as a target sensing unit to perform the migrated sensing task based on a sensing scheduling cost of the electronic device calculated through the sensing-related information.

[0012] According to one aspect of this disclosure, a method for a communication-sensing integrated system is provided, comprising: when the sensing performance obtained by a source sensing unit performing a sensing task on a sensing object in the communication-sensing integrated system meets predetermined conditions, a sensing function management unit, in response to a sensing task migration request received from the source sensing unit, reallocates at least a portion of the sensing task to a target sensing unit selected from the candidate sensing units based on a sensing scheduling cost associated with the candidate sensing units.

[0013] According to one aspect of this disclosure, a method for a communication-sensing integrated system is provided, comprising: when the sensing performance obtained by a source sensing unit performing a sensing task on a sensing object in the communication-sensing integrated system meets predetermined conditions, the source sensing unit sends a sensing task migration request, such that at least a portion of the sensing task can be reassigned to a target sensing unit selected from the candidate sensing units based on a sensing scheduling cost associated with the candidate sensing units.

[0014] According to one aspect of this disclosure, a method for a communication-sensing integrated system is provided, comprising: when a source sensing unit in the communication-sensing integrated system needs to perform a sensing task migration, a candidate sensing unit having the ability to perform sensing processing on a sensing object provides sensing information related to the sensing task, so as to determine whether the candidate sensing unit is selected as the target sensing unit for performing the migrated sensing task based on the sensing scheduling cost of the candidate sensing unit calculated through the sensing information.

[0015] In accordance with other aspects of this disclosure, computer program code and computer program products for implementing the above methods, as well as a computer-readable storage medium having the computer program code for implementing the above methods recorded thereon, are also provided.

[0016] The electronic devices, methods, and computer storage media for integrated sensing systems proposed in this disclosure reallocate sensing tasks when the performance of sensing tasks is lower than a predetermined level, solving one or more of the problems existing in the prior art and achieving at least one of the following technical effects: ensuring the quality of communication services when communication tasks have higher priority, while ensuring the continuity of sensing tasks; balancing network load; and improving network resource utilization. Attached Figure Description

[0017] To further illustrate the above and other advantages and features of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. The accompanying drawings, together with the following detailed description, are included in and form a part of this specification. Elements having the same function and structure are indicated by the same reference numerals. It should be understood that these drawings only depict typical examples of the invention and should not be construed as limiting the scope of the invention. In the drawings:

[0018] Figure 1 shows a schematic diagram of tracking a sensed object in an existing integrated communication and sensing system;

[0019] Figure 2 shows an exemplary functional block diagram of an electronic device according to one embodiment of the present disclosure;

[0020] Figure 3 shows a schematic diagram of a scenario of communication-aware resource reuse according to an embodiment of the present disclosure;

[0021] Figure 4A illustrates an example of a processing flow for the allocation of sensing tasks between base stations in a single-base sensing mode according to an embodiment of the present disclosure.

[0022] Figure 4B illustrates an example of a processing flow for the allocation of sensing tasks among user equipments (UEs) in a single-base sensing mode according to an embodiment of the present disclosure.

[0023] Figure 5 illustrates an example of a processing flow for sensing task allocation in a bi-base / multi-base sensing mode according to an embodiment of the present disclosure;

[0024] Figure 6 shows a flowchart of a method for allocating sensing tasks triggered when the sensing performance degrades due to a change in the performance of the source sensing unit, according to an embodiment of the present disclosure.

[0025] Figure 7 shows an exemplary functional block diagram of an electronic device according to another embodiment of the present disclosure;

[0026] Figure 8 illustrates an example of a processing flow for the allocation of sensing tasks between user devices via sidechains in a single-base sensing mode according to an embodiment of the present disclosure.

[0027] Figure 9 shows an exemplary functional block diagram of an electronic device according to yet another embodiment of the present disclosure;

[0028] Figure 10 shows a flowchart of a method for a communication-sensing integrated system according to one embodiment of the present disclosure;

[0029] Figure 11 shows a flowchart of a method for a communication-sensing integrated system according to another embodiment of the present disclosure;

[0030] Figure 12 shows a flowchart of a method for a communication-sensing integrated system according to yet another embodiment of the present disclosure;

[0031] Figure 13 is a block diagram illustrating a first example of a schematic configuration of an eNB or gNB to which the technologies of this disclosure can be applied;

[0032] Figure 14 is a block diagram illustrating a second example of a schematic configuration of an eNB or gNB to which the technologies of this disclosure can be applied;

[0033] Figure 15 is a block diagram illustrating an example of a schematic configuration of a smartphone to which the technologies of this disclosure can be applied;

[0034] Figure 16 is a block diagram illustrating an example of a schematic configuration of a car navigation device to which the technology of this disclosure can be applied; and

[0035] Figure 17 is a block diagram of an exemplary structure of a general-purpose personal computer in which methods and / or apparatus and / or systems according to embodiments of the present invention can be implemented. Detailed Implementation

[0036] Exemplary embodiments of the invention will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of actual embodiments are described in the specification. However, it should be understood that many implementation-specific decisions must be made during the development of any such actual embodiment in order to achieve the developer's specific goals, such as complying with constraints related to the system and business, and these constraints may vary depending on the implementation. Furthermore, it should be understood that while development work can be very complex and time-consuming, such development work is merely a routine task for those skilled in the art who benefit from this disclosure.

[0037] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the device structure and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0038] In this disclosure, the terms "node" and "unit" refer to specific functional modules or entities deployed in a communication-sensing integrated system that are capable of performing specific functions. "Sensing task allocation / reassignment" includes the allocation of sensing tasks among various sensing units, as well as the scheduling process of sensing tasks executed among various sensing units to achieve the allocation of sensing tasks. This scheduling process includes, for example, the migration of sensing tasks among various sensing units. The "migration" of sensing tasks can include transferring all or part of the sensing tasks from a source sensing unit to a target sensing unit. Furthermore, in the following description of specific embodiments, specific signaling and signals such as RRC signaling, sidelink Mode 2, RSRP (Reference Information Received Power), and RSRQ (Reference Information Received Quality) are mentioned in some scenarios; however, this disclosure is not limited to these, and any signaling flow suitable for completing the allocation of sensing tasks between the source sensing unit and the target sensing unit should be considered to be covered within the scope of this disclosure.

[0039] In an integrated communication and sensing system, a base station (e.g., a gNB) can provide both communication services (also known as communication tasks) and sensing services (also known as sensing tasks). The nodes (or units) participating in sensing tasks can be base stations and / or user equipment (UEs). Network-side sensing transmitting and receiving equipment can be, for example, a gNB or gNB-DU (distributed unit), which can request sensing services from UEs within its coverage area. The sensing function management unit providing sensing services can be, for example, a base station-side centralized unit (gNB-CU) or a sensing function unit (SF) deployed on the core network side, for unified management of sensing units within a given sensing service area. Based on the distribution of sensing signal transmitters and receivers, three sensing modes can be defined: Mono-static sensing: the sensing transmitter and receiver are deployed on the same entity; Bi-static sensing: the sensing transmitter and receiver are deployed on different entities; and Multi-static sensing: multiple transmitters and receivers participate in sensing.

[0040] Figure 1 illustrates a schematic diagram of tracking a sensed object in an existing integrated communication and sensing system. When a sensed object (shown as a triangle with diagonal lines in the figure) moves along a certain trajectory between multiple cells, namely cell 1, cell 2, and cell 3, the wireless network can provide sensed object tracking services based on various sensing modes. In the scenario shown in Figure 1, sensed object tracking is performed through transmitter / receiver (Tx / Rx) A in single-base sensing mode, through transmitter (Tx) B and UE in dual-base sensing mode, and through one or more transmitters and receivers C, D, and E in multi-base sensing mode. Different information interactions are performed when allocating sensing tasks in different sensing modes.

[0041] Figure 2 shows an exemplary functional block diagram of an electronic device 200 according to one embodiment of the present disclosure.

[0042] As shown in Figure 2, the electronic device 200 includes a processing unit 202, which can be configured to, in response to a sensing task migration request received from the source sensing unit, reallocate at least a portion of the sensing task to a target sensing unit selected from the candidate sensing units, based on the sensing scheduling cost associated with the candidate sensing units, when the sensing performance obtained by the source sensing unit in performing a sensing task on a sensing object in the integrated communication and sensing system meets predetermined conditions. The electronic device 200 can be implemented, for example, as a sensing function management unit in the integrated communication and sensing system, such as an access network-side base station centralization unit (gNB-CU) or a sensing function unit (SF) deployed in the core network.

[0043] The processing unit 202 can be implemented as one or more processing circuits and at least one memory. The processing circuit can be implemented as a processor or chip, and the at least one memory can be RAM, ROM, etc. The at least one memory is used to store computer program code and data required by the processing circuit to perform processing. Furthermore, it should be understood that the various functional units in the electronic device 200 shown in FIG2 are only logical modules divided according to the specific functions they implement, and are not used to limit the specific implementation method.

[0044] The electronic device 200 can be implemented at the chip level or at the device level. As an example, the electronic device 200 can function as a base station itself and may also include external devices such as memory and transceivers (not shown). The memory can be used to store programs and related data information that the electronic device 200 needs to execute to perform various functions. The transceiver may include one or more communication interfaces to support communication with different devices (e.g., UE, base station, etc.), and there is no specific limitation on the implementation of the transceiver.

[0045] As an example, the predetermined conditions include at least one of the following: sensing performance falling below a predetermined standard due to the mobility of at least one of the source sensing unit and the sensing object; and sensing performance falling below a predetermined standard due to changes in the performance of the source sensing unit. For example, when the source sensing unit and / or the sensing object moves, the sensing object may no longer be within the sensing range of the source sensing unit, or the channel conditions between the source sensing unit and the sensing object may deteriorate, thus reducing sensing performance. Changes in the performance of the source sensing unit include, for example, situations where dynamic communication load leads to insufficient sensing resources for the source sensing unit, such as insufficient computing resources of the sensing node performing the sensing task, resulting in excessively long sensing time or excessive load on the sensing node, thus reducing sensing performance. Alternatively, when the source sensing unit receives a higher-priority sensing task, the reduction in resources for the lower-priority sensing task to a certain extent may cause the sensing performance of the lower-priority sensing task to fall below a predetermined standard.

[0046] At this time, the electronic device 200 reasonably allocates and schedules sensing tasks to other network nodes (base stations or UEs) that can obtain better sensing results, thereby achieving at least one of the following beneficial effects: ensuring the quality of communication services when communication services have higher priority, while ensuring the continuity of sensing tasks; balancing network load; and improving network resource utilization.

[0047] As an example, a perception task migration request includes contextual information about the perception task, which includes at least some of the following: perception task requirements, predicted location of the perceived object and its trajectory, perception time window, perception frequency and bandwidth requirements, and perception characteristics of the perceived object. For example, the characteristics of the perceived object include its type, size, shape, velocity, radar cross section (RCS), etc.

[0048] As an example, the processing unit 202 may be configured to identify a sensing unit that meets at least one of the following conditions as a candidate sensing unit: a sensing unit within a predetermined distance range relative to the sensing object; a sensing unit within a predetermined distance range relative to the source sensing unit; a sensing unit whose channel conditions near the source sensing unit meet predetermined requirements; and a sensing unit within a predetermined range around the predicted movement trajectory of the sensing object within a predetermined time period.

[0049] The processing unit 202 may be configured, for example, to send an information collection request to a candidate sensing unit and to select a target sensing unit from the candidate sensing units by means of a sensing scheduling cost determined based on the sensing-related information sent back by the candidate sensing unit in response to the information collection request.

[0050] For example, sensing-related information includes at least one of the following parameters associated with the candidate sensing unit: beam measurement report of the location of the sensing object, whether there is a line-of-sight (LOS) path between the candidate sensing unit and the sensing object, available computing resources, resource status within the sensing time window, transmit power required to meet sensing requirements, communication sensing multiplexing factor indicating whether the sensing task has a reusable communication beam, and sensing task priority. Preferably, by assigning sensing tasks to nodes that have an LOS path with the target channel or can reuse communication beams, network sensing costs can be reduced and sensing efficiency improved.

[0051] Figure 3 illustrates an exemplary scenario of communication sensing resource reuse. As shown in Figure 3, it is assumed that the source sensing unit and candidate sensing units are implemented by source base station A and candidate base stations B and C, respectively. When UE 1, which is being served by candidate base station B, is in the same direction as the sensing object (represented by a triangle with diagonal lines in the figure), an integrated beam can be used to simultaneously provide sensing and communication services (joint sensing and communication signals) to share radio resources, thereby improving resource utilization. For candidate base station C and user equipment UE 2, when there is no UE 2 communicating in the direction of the sensing object, a separate sensing beam (separate sensing and communication signals), i.e., additional resources, is needed to complete the sensing task. Therefore, the proportion of radio resources that can be reused for sensing and communication tasks within a certain period of time can be determined according to the needs of sensing and communication tasks, serving as the communication sensing reuse factor. When allocating sensing tasks, candidate base stations with high reuse factors are preferentially selected as target base stations.

[0052] For example, the resource status within the aforementioned sensing time window refers to the wireless resources used for sensing tasks, including time slots, frequencies, power, resource blocks, etc. In an integrated communication and sensing system, wireless resources used for communication and sensing are allocated uniformly. That is, wireless resources allocated to one service cannot be used for another. Wireless resources used for communication and sensing can be allocated from high to low service priority. If the priority of the communication service is higher than that of the sensing service, the allocation and scheduling of the sensing service must be based on ensuring the normal operation of the communication service.

[0053] When calculating the perception scheduling cost of candidate sensing units, for example, the cost can be determined by normalizing the parameters contained in the perception-related information of the candidate sensing unit and then calculating a weighted combination of the normalized parameters. Different types of sensing tasks have different requirements for the sensing results, so the weights of these normalized parameters can be set according to actual needs.

[0054] As an example, processing unit 202 is configured to prioritize selecting a candidate sensing unit as the target sensing unit if a LOS path exists between the candidate sensing unit and the sensing object, or to prioritize selecting a candidate sensing unit with a high communication-sensing multiplexing factor as the target sensing unit. This is because LOS paths typically have relatively good channel conditions, and a high communication-sensing multiplexing factor indicates that the system's wireless resources are allocated and used more efficiently between communication and sensing. In specific implementations, for example, the weights of the detection result regarding the existence of a LOS path and / or the communication-sensing multiplexing factor can be set to be higher than the weights of other parameters. If the weight of the detection result regarding the existence of a LOS path is set to "1", it means that a candidate sensing unit with an LOS path will be directly selected as the target sensing unit. If there are multiple candidate sensing units with LOS paths, other parameters can be compared.

[0055] As an example, when the sensing mode of the sensing object is bi-base sensing or multi-base sensing, the candidate sensing unit includes a candidate sensing transmitting unit and a candidate sensing receiving unit, and the processing unit 202 is configured to determine the sensing scheduling cost of the candidate sensing transmitting unit based on at least one of the following parameters associated with the candidate sensing transmitting unit, so as to select the target sensing transmitting node: whether there is a LOS path between the channel and the sensing object, the average distance from the sensing object during the required sensing time period, and the communication sensing multiplexing factor; and to determine the sensing scheduling cost of the candidate sensing receiving unit based on the following parameters associated with the candidate sensing receiving unit, so as to select the target sensing receiving node: the sufficiency of computing resources for the sensing task under the condition of satisfying the radio resources for the sensing task.

[0056] For example, wireless resources that meet the requirements of sensing tasks include parameters such as frequency, bandwidth, power, and latency of the required wireless signals, which can be determined through simulation, testing, machine learning, and other methods based on the KPI requirements of the sensing tasks.

[0057] Furthermore, the processing unit 202 can be configured, for example, to monitor sensing performance and achieve a predetermined level of sensing performance by increasing or decreasing the number of target sensing transmitters and / or target sensing receivers. For example, for stationary sensing objects, the number of transmitters (i.e., sensing transmitters) and receivers (i.e., sensing receivers) can be reduced, while for moving sensing objects, the number of transmitters and receivers needs to be increased to obtain more observation data and improve tracking accuracy and reliability. In complex environments (such as urban areas or NLOS environments), the number of transmitters and receivers can be increased to overcome multipath effects and other interference. In simple environments (such as plains or open areas), the number of transmitters and receivers can be appropriately reduced.

[0058] Furthermore, transmitter position can be changed to improve the signal-to-noise ratio of reflected signals, for example, by measuring or predicting channel state information (e.g., RSRP (Reference Information Received Power) and / or RSRQ (Reference Information Received Quality)) or by using a pre-trained machine learning model, or sensing performance can be improved by adding receivers for collaborative sensing.

[0059] In a multi-base sensing scenario, the sensing results from multiple receivers can be fused by an electronic device 200, which acts as a sensing function management unit, and the sensing task allocation between the transmitter and receiver can be centrally managed.

[0060] In certain situations, such as when the computing resources of the sensing node executing the sensing task do not meet the requirements of the sensing algorithm, resulting in excessively long sensing times, excessive load on the sensing node, or the arrival of higher-priority communication tasks preventing the sensing task from being executed, the performance indicators of the sensing results will fall below predetermined standards, for example, below the threshold value for sensing service requirements. In this case, the sensing task can be decomposed, and at least a portion of the decomposed tasks can be allocated to other sensing nodes.

[0061] As an example, processing unit 202 is configured to reallocate a portion of the perception task to the target perception unit when the perception performance meets predetermined conditions, so as to achieve collaborative perception of the perceived object by the source perception unit and the target perception unit. The reallocated portion of the perception task includes at least one of the following: decomposing the perception task into sub-tasks of different types, and using a portion of the sub-tasks of different types as the reallocated portion of the perception task; and dividing the same type of perception task into various processing stages, and using a portion of the tasks of each processing stage as the reallocated portion of the perception task.

[0062] After the target sensing unit is determined from the candidate sensing units, the processing unit 202 may be configured, for example, to send a sensing task migration instruction to the target sensing unit and to notify the source sensing unit of the selected target sensing unit, so that the source sensing unit transmits information about the result of the completed sensing task to the target sensing unit, so as to transfer at least a part of the sensing task to the target sensing unit.

[0063] The specific operation of the electronic device 200 shown in FIG2 will be described in detail below with reference to exemplary embodiments.

[0064] Figure 4A illustrates an example of the processing flow for the allocation of sensing tasks among base stations in a single-base sensing mode according to an embodiment of the present disclosure. The main functional entities shown in Figure 4A include a source sensing base station and a target sensing base station, candidate sensing base stations (shown as source base station, target base station, and candidate base station in Figure 4A, respectively), and a sensing function management unit. In this embodiment, the sensing function management unit is a specific example of electronic device 200, which is implemented, for example, through a gNB-CU on the access network side or a core network element SF deployed in the core network. Communication between the sensing function management unit, the source sensing base station, the target sensing base station, and the candidate sensing base stations can be performed, for example, based on RRC signaling and the Xn interface. Of course, the present disclosure is not limited to this; various signaling procedures for interaction between base stations and between a base station and the core network element SF are applicable. The sensing task allocation process will now be described in detail.

[0065] In step 1, the source base station continuously monitors the performance indicators of the sensing task and the location of the sensing object.

[0066] As an example, performance metrics for perception tasks include perception resolution, perception accuracy, perception latency, false detection / false detection rate, and so on.

[0067] In step 2, the source base station sends a sensing task migration request to the sensing function management unit (e.g., gNB-CU / SF) when at least one of the following occurs: the actual or predicted location of the sensing object (e.g., the location of the sensing object can be predicted by a trained machine learning model, etc.) will leave the sensing range of the source base station, thus causing the source base station to be unable to sense the sensing object or to experience a degradation in sensing performance; or the sensing performance index is lower than the quality of service (QoS) requirements of the sensing task, for example, a degradation in sensing performance caused by reasons other than the mobility of the sensing object. Such reasons include, for example, a decrease in the sensing capability of the source base station, insufficient sensing resources due to dynamic communication load, etc.

[0068] As mentioned earlier, the perception task migration request contains contextual information about the perception task, such as perception task requirements, predicted location of the perceived object and its movement trajectory, perception time window, perception frequency and bandwidth requirements, characteristics of the perceived object, etc.

[0069] In step 3, when the sensing function management unit receives a sensing task migration request, it determines a list of candidate base stations and sends a sensing migration information collection request to these candidate base stations.

[0070] As an example, a base station that meets at least one of the following conditions can be identified as a candidate base station: 1) Base stations within a predetermined distance range relative to the sensing object. For example, base stations within a circular range with a predetermined distance as the radius centered on the sensing object; 2) Base stations within a predetermined distance range relative to the source base station. For example, if the neighboring base stations of the source base station are determined during system configuration, the neighboring base stations can be used as candidate base stations, or base stations within the sensing service area of ​​the source base station can be used as candidate base stations; 3) Base stations near the source base station whose channel conditions meet predetermined requirements. For example, candidate base stations can be determined by measuring which neighboring base stations have higher associated RSRP (Reference Signal Received Power) or RSRQ (Reference Signal Received Quality) by the user equipment (UE) served by the source base station; and 4) For example, in a sensing scenario where the sensing object is tracked, base stations within a predetermined range around the predicted (e.g., predicted by a trained machine learning model, etc.) movement trajectory of the sensing object within a predetermined time period can be used as candidate base stations. It is easy to understand that, depending on actual needs, a base station that meets one of the above conditions can be used as a candidate base station, or a portion (e.g., intersection) or all of the base stations that meet multiple of the above conditions can be used as candidate base stations.

[0071] As an example, a sensing migration information collection request may require candidate base stations to report the following information: beam measurement reports of the location of the sensing object, detection of whether there is a LOS / NLOS (line-of-sight / non-line-of-sight) path between the candidate base station and the sensing object, available computing resources, resource status within the sensing time window, whether the sensing task has reusable communication beams (e.g., characterized by a multiplexing factor), sensing task priority, etc.

[0072] In step 4, the candidate base station sends a sensing migration information collection response to the sensing function management unit to feed back the information that the candidate base station is required to report to the sensing function management unit.

[0073] In step 5, the sensing function management unit selects the candidate base station with the lowest sensing scheduling cost as the target base station based on the information collected from the candidate base stations. It is easy to understand that in a multi-base sensing scenario, multiple target base stations can be selected from candidate base stations whose sensing scheduling costs are within a predetermined range. Regarding how to calculate the sensing scheduling cost of the candidate base station, please refer to the detailed description above with reference to Figure 2, which will not be repeated here.

[0074] As mentioned above, for example, if there is a LOS path in the channel between the candidate base station and the sensing object, the candidate base station is preferentially selected as the target base station, or the candidate base station with a high communication sensing multiplexing factor is preferentially selected as the target base station.

[0075] In step 6, the sensing function management unit sends a sensing task migration instruction to the selected target base station. The sensing task migration instruction includes parameters such as sensing mode, frequency, and bandwidth.

[0076] In step 7, the sensing function management unit notifies the source base station of the target base station that it has selected.

[0077] In step 8, the source base station transfers the completed sensing result context to the target base station.

[0078] It should be noted that the order of processing steps 6 and 7 in Figure 4A is not limited to the order shown in the figure. For example, steps 6 and 7 can be executed simultaneously, or step 7 can be executed before step 6.

[0079] Figure 4A illustrates the processing flow between base stations in single-base station sensing mode. However, sensing task allocation can also be performed among multiple UEs in single-base station mode. In this case, the UE can allocate sensing tasks through gNB control or through the UE's sidelink. When sensing task allocation is controlled by gNB, the processing flow is similar to that shown in Figure 4A, except that the source base station is replaced with the source UE, the target base station is replaced with the target UE, and the information interaction is changed from the Xn interface to the Uu interface.

[0080] Figure 4B illustrates an example of the processing flow for the allocation of sensing tasks between a base station and a UE in a single-base sensing mode according to an embodiment of the present disclosure. The base station gNB in ​​the figure is another exemplary embodiment of the electronic device 200 shown in Figure 2, which implements the function of the sensing function management unit. As shown in Figure 4B, the source sensing unit, candidate sensing unit, and target sensing unit (shown as the source UE, candidate UE, and target UE in Figure 4B, respectively) allocate sensing tasks under the management of the sensing function management unit (shown as the base station in Figure 4B) that provides them with communication and sensing services. The specific processing flow is described below.

[0081] In step 1, the source UE continuously monitors the performance indicators of the sensing task and the location of the sensing object.

[0082] In step 2, the source UE sends a sensing task migration request to the sensing function management unit (e.g., a base station) when at least one of the following occurs: the actual or predicted location of the sensing object (e.g., the location of the sensing object can be predicted by a trained machine learning model, etc.) will leave the sensing range of the source base station, thus causing the source UE to be unable to sense the sensing object or to experience a degradation in sensing performance; or the sensing performance index is lower than the quality of service (QoS) requirements of the sensing task, for example, sensing performance degradation caused by reasons other than the mobility of the sensing object and / or the source UE. Such reasons include, for example, a decrease in the sensing capability of the source UE, insufficient sensing resources for the source UE due to dynamic communication load, etc.

[0083] In step 3, when the base station receives the sensing task migration request, it determines the list of candidate UEs and sends sensing migration information collection requests to these candidate UEs.

[0084] As an example, a UE that meets at least one of the following conditions can be identified as a candidate UE: 1) a base station within a predetermined distance range relative to the sensing object. For example, a base station within a circular range with a predetermined distance as the radius centered on the sensing object; 2) a base station within a predetermined distance range relative to the source UE. For example, neighboring UEs of the source UE can be identified as candidate UEs; 3) a UE near the source UE whose channel conditions meet predetermined requirements. For example, UEs with better channel conditions can be identified as candidate UEs by using base stations; and 4) for example, in a sensing scenario where the sensing object is tracked, UEs within a predetermined range around the predicted (e.g., predicted by a trained machine learning model, etc.) movement trajectory of the sensing object within a predetermined time period can be identified as candidate UEs. It is easy to understand that, depending on actual needs, a UE that meets one of the above conditions can be identified as a candidate UE, or a subset (e.g., intersection) or all UEs (e.g., union) of UEs that meet multiple of the above conditions can be identified as candidate UEs.

[0085] In step 4, the candidate UE sends a sensing migration information collection response to the base station to feed back the information that the candidate UE is required to report to the base station.

[0086] In step 5, the base station selects the candidate UE with the lowest perceived scheduling cost as the target UE based on the information collected from the candidate UE.

[0087] The calculation of perceived scheduling costs and the specific details of how to determine the target UE based on perceived scheduling costs can be found in the descriptions above in conjunction with Figures 2 to 4A, and will not be repeated here.

[0088] In step 6, the base station sends a sensing task migration instruction to the selected target UE.

[0089] In step 7, the base station notifies the source UE of the target UE that it has selected.

[0090] In step 8, the source UE transfers the completed perception result context to the target UE.

[0091] Similarly, the order of processing steps 6 and 7 in Figure 4B is not limited to the order shown in the figure. For example, steps 6 and 7 can be performed simultaneously, or step 7 can be performed before step 6.

[0092] Figure 5 illustrates an example of a sensing task allocation processing flow in a bistatic / multistatic sensing mode according to an embodiment of the present disclosure. The main functional entities in Figure 5 include a source transmitter / receiver (Tx / Rx) and a target Tx / Rx, a candidate Tx / Rx, and a sensing function management unit, in which sensing tasks are to be allocated. In a bistatic or multistatic sensing mode, at least some of the nodes in a set of Tx and Rx can be changed. It is readily understood that the sensing function management unit in Figure 5 is another specific embodiment of the electronic device 200 in Figure 2, where the source Tx / Rx, candidate Tx / Rx, and target Tx / Rx are examples of a source sensing unit, a candidate sensing unit, and a target sensing unit, respectively.

[0093] As an example, the sensing function management unit can be the gNB-CU on the access network side or the SF on the core network side. Multiple Tx / Rx can be implemented through a base station (gNB) or a user equipment (UE). In the specific example in Figure 5, assuming that multiple Tx / Rx are all base stations, the specific processing flow is as follows.

[0094] In step 1, the sensing function management unit determines whether the sensing performance meets predetermined standards by fusing the sensing results of multiple Tx / Rxes. Typically, sensing performance may degrade to the point of no longer meeting predetermined standards under at least one of the following circumstances: sensing performance degradation due to the mobility of at least some of the multiple Tx / Rxes and the sensed object; and sensing performance degradation due to changes in the sensing performance of at least some of the multiple Tx / Rxes. Accordingly, the sensing function management unit can identify the following Tx / Rxes from which the sensing task will migrate: base stations from which the sensed object will leave its coverage area in the next time period, based on the location of the sensed object and its predicted future movement trajectory; and / or Tx / Rxes that do not meet the sensing performance requirements due to insufficient resources for the sensing task caused by dynamic communication load changes, etc. Furthermore, the sensing function management unit will use a group of base stations around the movement trajectory of the sensed object as candidate base stations for sensing task reallocation, such as sensing task migration. By migrating the perception task to a higher-performance Tx / Rx and fusing data from multiple Rxes that have been reassigned to the perception task, the accuracy and reliability of perception are improved.

[0095] In step 2, the sensing function management unit sends an information collection request to the candidate Tx / Rx, requesting the candidate Tx / Rx to report information related to the sensing task migration, such as: beam measurement reports of the location of the sensing object, whether there is a LOS path between the candidate Tx / Rx and the sensing object, available computing resources, resource status within the sensing time window, whether the sensing task has a reusable communication beam (multiplexing factor), sensing task priority, etc. In addition, the sensing function management unit can also request the candidate Tx / Rx to report its sensing capability information, including whether the corresponding candidate Tx / Rx can handle sensing tasks, and the types of sensing tasks it can handle, such as object identification, localization, and tracking, etc.

[0096] In step 3, the candidate Tx / Rx completes the required measurements and sends a sensing migration information collection response to the sensing function management unit to feed back the above information to the sensing function management unit.

[0097] In step 4, the perception function management unit determines, based on the current perception task status and the information collected above, a candidate Tx / Rx whose perception scheduling cost in the next time period meets predetermined requirements, as the target Tx / Rx. For example, the candidate Tx / Rx with the lowest perception scheduling cost in the next time period or within a predetermined threshold range can be selected as the target Tx / Rx.

[0098] As an example, when selecting a target Tx, the sensing scheduling cost can be a weighted combination of the following: whether there is a LOS path between the channel and the sensing object, the average distance to the sensing object during the required sensing time period, the communication sensing multiplexing factor, etc. When selecting a target Rx, given the availability of radio resources for the sensing task, Rx with sufficient computational resources for the sensing task is preferentially selected to reduce sensing latency. Those skilled in the art will understand that the weights of each parameter when calculating the sensing scheduling cost can be set according to the type of sensing task, the requirements for sensing performance, etc. Other details of calculating the sensing scheduling cost can be found in the descriptions above with reference to Figures 2, 3, 4A, and 4B, and will not be repeated here.

[0099] Advantageously, the sensing function management unit continuously monitors the performance indicators of the sensing results while performing sensing task allocation, dynamically adjusting the number of Rxes participating in collaborative sensing within the candidate Rx range. When sensing performance exceeds a certain threshold, the number of Rxes is reduced to conserve resources; when sensing performance falls below a certain threshold, the number of Rxes is increased to meet QoS requirements. Furthermore, as mentioned above, in complex environments such as cities and NLOS environments, the number of transmitters and receivers can be increased to overcome multipath effects and other interference. In simple environments such as plains and open areas, the number of transmitters and receivers can be appropriately reduced. Since Tx and Rx can be distributed in different locations, a larger area can be covered.

[0100] In step 5, the perception function management unit sends a perception task migration instruction to the target Tx / Rx.

[0101] As an example, the sensing task migration indication includes sensing mode (bi-base sensing or multi-base sensing in this example), target sensing node type (i.e., whether it operates as a transmitter or receiver in the sensing task), sensing task parameters and requirements such as frequency and bandwidth.

[0102] In step 6, the perception function management unit notifies each source Tx / Rx of the target Tx / Rx to which the perception task will be migrated. As an example, in a multi-base perception scenario, since the perception is collaborative, the perception function management unit will determine whether to migrate the perception task based on the fusion result of the collaborative perception of each Tx / Rx. That is, not all source Tx / Rx will necessarily undergo perception task migration.

[0103] In step 7, the source Tx / Rx sends the perception result context information to its corresponding target Tx / Rx.

[0104] It is easy to understand that the execution order of steps 5 and 6 can be reversed, or these two steps can be executed simultaneously.

[0105] Figure 6 illustrates a sensing task allocation method S600 triggered when a change in the performance of the source sensing unit causes a decrease in sensing performance, according to an embodiment of the present disclosure. Method S600 can be executed, for example, by the electronic device 200 shown in Figure 2 (e.g., by the configuration processing unit 202) as a sensing task management unit.

[0106] Method S600 begins with step S601. In step S601, when a performance change in the source sensing node currently performing a sensing task leads to a decrease in sensing performance, a reallocation of the sensing task is triggered, i.e., at least a portion of the sensing task is migrated to the target sensing node. As previously described with reference to FIG2, a performance change in the source sensing node leads to a decrease in sensing performance. For example, this could be due to insufficient resources available for sensing at the source sensing node, or a decrease in the sensing performance of the original sensing task due to the source sensing node taking on a higher-priority sensing task. Here, it is assumed that the decrease in sensing performance due to insufficient sensing resources leads to a failure to meet predetermined standards, thus triggering the reallocation of the sensing task. This triggering can be initiated by the electronic device 200 or by the source sensing unit itself. In the case of self-triggered by the source sensing node, it sends a sensing task migration request to the electronic device 200. The current resource gap is determined by the electronic device 200 or the source sensing node. Next, in step S602, the sensing task is decomposed into multiple sub-tasks based on the resource gap by the electronic device 200 or the source sensing node. Finally, in step S603, the subtask is assigned to the target sensing node selected from the candidate sensing nodes to complete the multi-level sensing. In this example, the specific details of sending the migration request, determining the candidate sensing units, and selecting the target sensing unit from the candidate sensing units are similar to the descriptions of the corresponding processes with reference to Figures 2, 3, 4A, 4B, and 5, and will not be repeated here.

[0107] Method S600 decomposes the sensing task of the current source sensing node and redistributes the decomposed sensing tasks to the target sensing node, enabling the sensing task to be completed with the assistance of the target sensing node. In other words, it achieves collaborative sensing among multiple sensing nodes.

[0108] As an example, the reassigned subtasks include at least one of the following: Decomposing the perception task into different types of subtasks, and including a portion of the subtasks from each type as part of the reassigned perception task. For example, if the perception task includes both the perceived object and the tracked perceived object, the perception task for the tracked perceived object can be assigned to the target perception unit. Also, perception tasks of the same type can be divided into various processing stages, and a portion of the tasks from each processing stage can be included as part of the reassigned perception task. For example, in cases of insufficient bandwidth, the current source perception node can first perform low-resolution perception, send the low-resolution perception results to the target perception node, and the target perception node can further improve the perception accuracy based on the low-resolution perception results, thereby increasing the speed of completing the high-precision perception task.

[0109] Those skilled in the art will understand that, depending on the actual situation of the perception task, the decomposed subtasks can be jointly completed by the source perception unit and the target perception unit. Alternatively, for example, if the performance of the source perception unit degrades significantly, all the decomposed subtasks can be transferred to the target perception unit. For instance, in a perception task involving object recognition, the source perception unit can only roughly identify the existence of an object, while the subtask of identifying the various details of the object can be assigned to the target perception unit. As another example, in a perception task involving object tracking, if the source perception unit is unable to handle the task due to limited resources, the entire perception task can be transferred to the target perception unit.

[0110] As another example, in the case of single-base sensing where the current source sensing unit performs self-transmission and self-reception, if there are insufficient radio resources or computing resources for reception, it can also request a UE within its coverage area to act as a target sensing unit for auxiliary reception in order to perform multi-base sensing.

[0111] As another example, after determining the allocation of sensing subtasks between the source sensing unit and the target sensing unit, multi-level sensing by multiple sensing units can be processed in parallel or sequentially to gradually obtain sensing results that meet the accuracy requirements. For example, in a scenario where multiple UEs perform sensing on multiple sensing subtasks, multiple UEs can simultaneously use fewer resources to perform low-precision sensing and report the low-precision sensing results to the sensing function processing unit for data fusion, thereby obtaining sensing results that meet the accuracy requirements. Alternatively, a single UE can obtain preliminary sensing results and send them to nearby UEs, which then perform further sensing based on the preliminary sensing results to obtain sensing results that meet the accuracy requirements.

[0112] Figure 7 shows an exemplary functional block diagram of an electronic device 300 according to another embodiment of the present disclosure.

[0113] As shown in Figure 7, the electronic device 300 includes a processing unit 302, which, when the sensing performance obtained by the electronic device performing a sensing task on a sensing object meets predetermined conditions, sends a sensing task migration request, such that at least a portion of the sensing task can be reassigned to a target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units. The electronic device 300 can, for example, be implemented as a source sensing unit in the sensing task allocation processing.

[0114] The processing unit 302 can be implemented as one or more processing circuits and at least one memory. The processing circuit can be implemented as a processor or chip, and the at least one memory can be RAM, ROM, etc. The at least one memory is used to store computer program code and data required by the processing circuit to perform processing. Furthermore, it should be understood that the various functional units in the electronic device 300 shown in FIG8 are only logical modules divided according to the specific functions they implement, and are not used to limit the specific implementation method.

[0115] The electronic device 300 can be implemented at the chip level or at the device level. As an example, the electronic device 300 can function as a base station itself and may also include external devices such as memory and transceivers (not shown). The memory can be used to store programs and related data information that the electronic device 300 needs to execute to perform various functions. The transceiver may include one or more communication interfaces to support communication with different devices (e.g., UE, base station, etc.), and there is no specific limitation on the implementation of the transceiver.

[0116] Alternatively, the electronic device 300 may also function as the UE itself and may include external devices such as a memory and a transceiver (not shown). The memory may be used to store programs and related data information that the electronic device 300 needs to execute to perform various functions. The transceiver may include one or more communication interfaces to support communication with different devices (e.g., UE, base station, etc.), and there is no specific limitation on the implementation of the transceiver.

[0117] As an example, the predetermined conditions include at least one of the following: the perception performance is lower than a predetermined standard due to the mobility of at least one of the electronic device 300 and the sensing object; and the perception performance is lower than a predetermined standard due to changes in the performance of the electronic device 300.

[0118] When the electronic device 300 according to the present disclosure detects the movement of the sensing object or the insufficient sensing resources due to dynamic communication load, it enables the sensing function management unit in the integrated communication and sensing system to reasonably allocate and schedule sensing tasks to other network nodes (base stations or UEs), thereby achieving at least one of the following technical benefits: ensuring the quality of communication services when communication services have higher priority, while ensuring the continuity of sensing tasks; balancing network load; and improving network resource utilization.

[0119] As an example, a perception task migration request includes contextual information about the perception task, which includes at least some of the following: perception task requirements, predicted location of the perceived object and its movement trajectory, perception time window, perception frequency and bandwidth requirements, and perception characteristics of the perceived object.

[0120] Figure 8 illustrates an example of a sensing task allocation process performed between UEs via a sidelink in a UE single-base sensing mode according to an embodiment of this disclosure. The main functional entities shown in Figure 8 include the source sensing UE, the target sensing UE, and the neighboring UEs of the source sensing UE, among which sensing tasks are to be allocated. In this scenario, none of the UEs has a base station providing communication network coverage; therefore, sensing tasks are allocated via a sidelink (sidelink Mode 2). The specific processing flow is described below. In this example, the electronic device 300 shown in Figure 7 is implemented as the source sensing UE. The specific processing flow will be described below.

[0121] In step 1, the source UE continuously monitors the performance metrics of the sensing task and the location of the sensed object. For example, the performance metrics of the sensing task include sensing resolution, sensing accuracy, sensing latency, false detection / false detection rate, etc.

[0122] In step 2, when the detected perception performance index is lower than a predetermined standard, the source sensing UE triggers a sensing task migration request. A perception performance index lower than the predetermined standard includes at least one of the following situations: the actual or predicted location of the sensing object (e.g., predicted by a trained machine learning model) will leave the current source UE's sensing range, causing perception performance degradation or inability to perform sensing; or, the perception performance index is lower than the QoS requirements of the sensing task due to a reduction in the source UE's sensing capability (e.g., insufficient sensing resources due to dynamic communication load).

[0123] As an example, a source-aware UE can use UE discovery to determine neighboring UEs that can communicate with it via sidechain, and request these neighboring UEs to respond to whether they support single-base perception, thereby identifying nearby neighboring-aware UEs that support single-base perception. Here, the identified neighboring-aware UEs constitute candidate-aware UEs.

[0124] In step 3, the source sensing UE broadcasts a sensing task migration request to the neighboring UE and sends the context information of the sensing task.

[0125] In step 4, the neighboring UE that received the migration request determines whether to participate in the sensing task.

[0126] As an example, a neighboring UE can match its available radio resources, remaining battery power, computing resources, relative position to the sensing object within the required sensing time window, and the existence of a LOS path between the channel and the sensing object through channel measurement with the sensing task-related information included in the migration request sent by the source sensing UE to determine whether to participate in the sensing task. For example, if the matching degree is higher than a predetermined level, the neighboring UE generates information indicating that it can participate in the sensing task, which is included in the sensing task migration response as a sensing task migration request.

[0127] In step 5, the neighboring UE sends a sensing task migration response to the source sensing UE to provide feedback on whether it will participate in the sensing task and the amount of resources available for the sensing task.

[0128] As an example, the resource quantity of a neighboring UE includes parameters related to the sensing task, such as radio resources, computing resources, whether there is a LOS path between the neighboring UE and the sensing object, and channel measurement results.

[0129] In step 6, the source sensing UE selects the neighboring UE with the lowest sensing scheduling cost as the target sensing UE.

[0130] In this example, the source sensing UE can determine the sensing scheduling cost of its neighboring UEs based on sensing task-related parameters sent by the neighboring UEs. For example, the source sensing UE can determine the sensing scheduling cost of its neighboring UEs by weighting parameters such as the available resources of the neighboring UEs, the channel quality between the source and the sensing target, and whether there is a LOS path between the source and the sensing target, and select the target sensing UE accordingly. This is illustrative and not limiting; the source UE can sort the available resources of its neighboring UEs, the channel quality between the source and the sensing target, and the existence of a LOS path between the source and the sensing target based on the actual situation of the sensing task, and select the best neighboring UE as the target sensing UE. For details regarding the specific calculation of the sensing scheduling cost and other details on selecting the target sensing UE based on the sensing scheduling cost, please refer to the descriptions of Figures 2 to 6 above, which will not be repeated here.

[0131] In step 7, the source sensing UE sends a sensing task migration instruction to the target sensing UE, and at the same time transfers the completed sensing result context to the target sensing UE to ensure the continuity of sensing services.

[0132] As an example, the processing unit 302 is configured to determine at least a portion of the sensing task as a sensing task to be reassigned to the target sensing unit when the sensing performance meets predetermined conditions, so as to achieve collaborative sensing of the sensing object by the electronic device 300 and the target sensing unit.

[0133] For example, a portion of the perception task that is reassigned includes at least one of the following: decomposing the perception task into subtasks of different types, and taking a portion of the subtasks of different types as a portion of the perception task that is reassigned; and dividing the same type of perception task into various processing stages, and taking a portion of the tasks of each processing stage as a portion of the perception task that is reassigned.

[0134] In the example of Figure 8, under certain circumstances, the source sensing UE's computing resources may not meet the requirements of the sensing algorithm, resulting in excessively long sensing times, high load on sensing nodes, or the arrival of higher-priority communication tasks that prevent the sensing task from being executed. This will cause the performance indicators of the sensing results to fall below the predetermined standard. In this case, the source sensing UE can decompose the sensing task and allocate at least a portion of the decomposed tasks to other neighboring UEs. For details on how the source sensing UE decomposes the sensing into subtasks and allocates them to appropriate neighboring UEs to collaboratively complete the sensing task, please refer to, for example, the description in Figure 6, which will not be repeated here.

[0135] Furthermore, for example, the electronic device 300 can also be implemented as the source base station in Figure 4A above, the source sensing UE in Figure 4B above, or the source Tx / Rx in Figure 5. Specific operational details of the electronic device 300 in these scenarios can be found in the descriptions of the above figures, and will not be repeated here.

[0136] Figure 9 shows an exemplary functional block diagram of an electronic device 400 according to yet another embodiment of the present disclosure.

[0137] As shown in Figure 9, the electronic device 400 includes a processing unit 402 that, when a source sensing unit needs to perform a sensing task migration, provides sensing-related information of the electronic device associated with the sensing task, so as to determine whether the electronic device is selected as the target sensing unit to perform the migrated sensing task based on the sensing scheduling cost of the electronic device calculated through the sensing-related information. The electronic device 400 can, for example, be implemented as the target sensing unit in a sensing task reallocation process.

[0138] The processing unit 402 can be implemented as one or more processing circuits and at least one memory. The processing circuit can be implemented as a processor or chip, and the at least one memory can be RAM, ROM, etc. The at least one memory is used to store computer program code and data required by the processing circuit to perform processing. Furthermore, it should be understood that the various functional units in the electronic device 400 shown in FIG9 are only logical modules divided according to the specific functions they implement, and are not used to limit the specific implementation method.

[0139] Electronic device 400 can be implemented at the chip level or at the device level. As an example, electronic device 400 can function as a base station itself and may also include external devices such as memory and transceivers (not shown). The memory can be used to store programs and related data information that electronic device 400 needs to execute to perform various functions. The transceiver may include one or more communication interfaces to support communication with different devices (e.g., UE, base station, etc.), and there is no specific limitation on the implementation of the transceiver.

[0140] Alternatively, the electronic device 400 may function as the UE itself and may also include external devices such as a memory and a transceiver (not shown). The memory may be used to store programs and related data information that the electronic device 400 needs to execute to perform various functions. The transceiver may include one or more communication interfaces to support communication with different devices (e.g., UE, base station, etc.), and there is no specific limitation on the implementation of the transceiver.

[0141] As described above, when sensing performance degrades due to the mobility of the source sensing unit and / or the sensing object, and / or due to changes in the sensing performance of the source sensing unit (e.g., insufficient sensing resources due to dynamic communication load), the sensing function management unit rationally allocates and schedules sensing tasks to the electronic device 400, which is implemented as the target sensing unit, so that the electronic device 400 can perform the sensing tasks either on its own or in cooperation with the source sensing device. This provides at least one of the following technical benefits: prioritizing communication service quality when communication service priority is higher; ensuring the continuity of sensing tasks; balancing network load and improving network resource utilization.

[0142] In the example described above with reference to FIG8, the electronic device 400 can, for example, be implemented as a neighboring UE. When the source sensing UE triggers a sensing task migration due to sensing performance falling below a predetermined standard, it broadcasts a sensing task migration request to the electronic device 400, which operates as a neighboring UE. The electronic device 400 matches its own sensing task-related information with the sensing task-related information included in the migration request sent by the source sensing UE, and determines and informs the source sensing UE whether to participate in the sensing task based on the matching result. If participation in the sensing task is determined, the source sensing UE determines whether to select the electronic device 400 as the target sensing unit based on the sensing scheduling cost associated with the electronic device 400. The operational details of the electronic device 400 can be found in the description with reference to FIG8, and will not be repeated here.

[0143] Furthermore, the electronic device 400 can also be implemented as the candidate base station and target base station in Figure 4A, the candidate UE and target UE in Figure 4B, or the candidate Tx / Rx and target Tx / Rx in Figure 5. Specific operational details of the electronic device 400 in these scenarios can be found in the descriptions of the above figures, and will not be repeated here.

[0144] In the process of describing electronic devices 200, 300, and 400 in the embodiments described above, some processes or methods have obviously also been disclosed. Hereinafter, without repeating some details already discussed above, a summary of these methods is given. However, it should be noted that although these methods are disclosed in the description of the above electronic devices, these methods do not necessarily employ or are performed by the components described. For example, the embodiments of the above electronic devices can be implemented partially or entirely using hardware and / or firmware, while the methods discussed below can be implemented entirely by computer-executable programs, although these methods can also be implemented using the hardware and / or firmware of the electronic device.

[0145] Figure 10 shows a flowchart of a method S1000 for allocating sensing tasks in a communication-sensing integrated system according to an embodiment of the present disclosure. Method S1000 begins at step S1001. In step S1002, if the sensing performance obtained by the source sensing unit performing a sensing task on a sensing object meets predetermined conditions, the sensing function management unit, in response to a sensing task migration request received from the source sensing unit, reallocates at least a portion of the sensing tasks to a target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units. Method S1000 ends at step S1003.

[0146] This method can be executed, for example, by the electronic device 200 described above. For details, please refer to the above description of the relevant processing of the electronic device 200, which will not be repeated here.

[0147] Figure 11 shows a flowchart of a method S1100 for allocating sensing tasks in a communication-sensing integrated system according to an embodiment of the present disclosure. Method S1100 begins at step S1101. In step S1102, if the sensing performance obtained by the source sensing unit performing a sensing task on the sensing object meets predetermined conditions, the source sensing unit sends a sensing task migration request, such that at least a portion of the sensing task can be reassigned to the target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units. Method S1100 ends at step S1103.

[0148] This method can be executed, for example, by the electronic device 300 described above. For details, please refer to the description of the relevant processing of the electronic device 300 above, which will not be repeated here.

[0149] Figure 12 shows a flowchart of a method S1200 for allocating sensing tasks in a communication-sensing integrated system according to an embodiment of the present disclosure. Method S1200 begins at step S1201. In step S1202, when a source sensing unit needs to migrate a sensing task, candidate sensing units capable of performing sensing processing on sensing objects provide sensing information related to the sensing task, so as to determine whether a candidate sensing unit is selected as the target sensing unit for performing the migrated sensing task based on the sensing scheduling cost of the candidate sensing unit calculated through the sensing information. Method S1200 ends at step S1203.

[0150] This method can be executed, for example, by the electronic device 400 described above. For details, please refer to the above description of the relevant processing of the electronic device 400, which will not be repeated here.

[0151] It should be noted that the above methods can be used in combination or individually.

[0152] It should be noted that the technology disclosed herein can be applied to a variety of products.

[0153] For example, electronic devices 200, 300, and 400 can also be implemented as various base stations. Base stations can be implemented as any type of evolved NodeB (eNB) or gNB (5G base station). eNBs include, for example, macro eNBs and small eNBs. Small eNBs can be eNBs covering cells smaller than macro cells, such as pico eNBs, micro eNBs, and femtocell eNBs. A similar situation can occur with gNBs. Alternatively, base stations can be implemented as any other type of base station, such as NodeBs and Base Transceiver Stations (BTSs). A base station can include: a subject configured to control wireless communication (also called base station equipment); and one or more Remote Radio Headers (RRHs) located in a different location from the subject. Additionally, various types of user equipment can operate as base stations by temporarily or semi-persistently performing base station functions.

[0154] Electronic devices 300 and 400 can be implemented as various user devices. User devices can be implemented as mobile terminals (such as smartphones, tablet PCs, laptop PCs, portable gaming terminals, portable / dongle-type mobile routers, and digital camera devices) or in-vehicle terminals (such as car navigation devices). User devices can also be implemented as terminals performing machine-to-machine (M2M) communication (also known as machine-type communication (MTC) terminals). Furthermore, user devices can be wireless communication modules (such as integrated circuit modules comprising a single chip) installed on each of the aforementioned terminals.

[0155] [Application examples of base stations]

[0156] (First application example)

[0157] Figure 13 is a block diagram illustrating a first example of a schematic configuration of an eNB or gNB to which the technologies of this disclosure can be applied. Note that the following description uses an eNB as an example, but it can also be applied to a gNB. The eNB 800 includes one or more antennas 810 and a base station device 820. The base station device 820 and each antenna 810 can be connected to each other via RF cables.

[0158] Each of the antennas 810 includes one or more antenna elements (such as multiple antenna elements included in a multiple-input multiple-output (MIMO) antenna) and is used by the base station device 820 to transmit and receive wireless signals. As shown in Figure 13, the eNB 800 may include multiple antennas 810. For example, multiple antennas 810 may be compatible with multiple frequency bands used by the eNB 800. Although Figure 13 shows an example in which the eNB 800 includes multiple antennas 810, the eNB 800 may also include a single antenna 810.

[0159] The base station equipment 820 includes a controller 821, a memory 822, a network interface 823, and a wireless communication interface 825.

[0160] The controller 821 can be, for example, a CPU or a DSP, and operates various higher-level functions of the base station equipment 820. For example, the controller 821 generates data packets based on data in signals processed by the wireless communication interface 825, and transmits the generated packets via the network interface 823. The controller 821 can bundle data from multiple baseband processors to generate bundled packets and transmit the generated bundled packets. The controller 821 may have logical functions that perform controls such as radio resource control, radio bearer control, mobility management, admission control, and scheduling. This control can be performed in conjunction with nearby eNBs or core network nodes. The memory 822 includes RAM and ROM, and stores programs executed by the controller 821 and various types of control data (such as terminal lists, transmission power data, and scheduling data).

[0161] Network interface 823 is a communication interface used to connect base station equipment 820 to core network 824. Controller 821 can communicate with core network nodes or other eNBs via network interface 823. In this case, eNB 800 and core network nodes or other eNBs can be connected to each other through logical interfaces (such as S1 and X2 interfaces). Network interface 823 can also be a wired communication interface or a wireless communication interface for wireless backhaul. If network interface 823 is a wireless communication interface, it can use a higher frequency band for wireless communication compared to the frequency band used by wireless communication interface 825.

[0162] The wireless communication interface 825 supports any cellular communication scheme (such as LTE and LTE-Advanced) and provides wireless connectivity to terminals located in the cell of eNB 800 via antenna 810. The wireless communication interface 825 typically includes, for example, a baseband (BB) processor 826 and RF circuitry 827. The BB processor 826 can perform, for example, encoding / decoding, modulation / demodulation, and multiplexing / demultiplexing, and performs various types of signal processing at layers such as L1, Media Access Control (MAC), Radio Link Control (RLC), and Packet Data Convergence Protocol (PDCP). Instead of controller 821, the BB processor 826 may have some or all of the above-described logical functions. The BB processor 826 may be a memory storing communication control programs, or a module including a processor and associated circuitry configured to execute programs. Updates can change the functionality of the BB processor 826. The module may be a card or blade inserted into a slot in base station equipment 820. Alternatively, the module may be a chip mounted on a card or blade. Meanwhile, the RF circuit 827 may include, for example, a mixer, a filter, and an amplifier, and transmits and receives wireless signals via the antenna 810.

[0163] As shown in Figure 13, the wireless communication interface 825 may include multiple BB processors 826. For example, the multiple BB processors 826 may be compatible with multiple frequency bands used by the eNB 800. As shown in Figure 13, the wireless communication interface 825 may include multiple RF circuits 827. For example, the multiple RF circuits 827 may be compatible with multiple antenna elements. Although Figure 13 shows an example in which the wireless communication interface 825 includes multiple BB processors 826 and multiple RF circuits 827, the wireless communication interface 825 may also include a single BB processor 826 or a single RF circuit 827.

[0164] In the eNB 800 shown in Figure 13, at least a portion of the functions of the processing units 202, 302, and 402 included in electronic devices 200, 300, and 400, respectively, can also be implemented by the controller 821. For example, the controller 821 can implement the functions of the processing units 202, 302, and 402 to reallocate sensing tasks when sensing performance meets predetermined conditions (e.g., sensing performance drops below a predetermined standard), thereby achieving at least one of the following beneficial effects: ensuring the quality of communication service when communication tasks have higher priority, while ensuring the continuity of sensing tasks; balancing network load; and improving network resource utilization.

[0165] (Second application example)

[0166] Figure 14 is a block diagram illustrating a second example of a schematic configuration of an eNB or gNB to which the technologies of this disclosure can be applied. Note that, similarly, the following description uses an eNB as an example, but it can also be applied to a gNB. The eNB 830 includes one or more antennas 840, a base station device 850, and an RRH 860. The RRH 860 and each antenna 840 can be connected to each other via RF cables. The base station device 850 and the RRH 860 can be connected to each other via high-speed lines such as fiber optic cables.

[0167] Each of the antennas 840 includes one or more antenna elements (such as multiple antenna elements included in a MIMO antenna) and is used by the RRH 860 to transmit and receive wireless signals. As shown in Figure 14, the eNB 830 may include multiple antennas 840. For example, multiple antennas 840 may be compatible with multiple frequency bands used by the eNB 830. Although Figure 14 shows an example in which the eNB 830 includes multiple antennas 840, the eNB 830 may also include a single antenna 840.

[0168] The base station device 850 includes a controller 851, a memory 852, a network interface 853, a wireless communication interface 855, and a connection interface 857. The controller 851, memory 852, and network interface 853 are the same as the controller 821, memory 822, and network interface 823 described with reference to FIG13.

[0169] The wireless communication interface 855 supports any cellular communication scheme (such as LTE and LTE-Advanced) and provides wireless communication to terminals located in the sector corresponding to the RRH 860 via the RRH 860 and antenna 840. The wireless communication interface 855 may typically include, for example, a BB processor 856. The BB processor 856 is identical to the BB processor 826 described with reference to FIG13, except that it is connected to the RF circuitry 864 of the RRH 860 via a connection interface 857. As shown in FIG14, the wireless communication interface 855 may include multiple BB processors 856. For example, multiple BB processors 856 may be compatible with multiple frequency bands used by the eNB 830. Although FIG14 shows an example in which the wireless communication interface 855 includes multiple BB processors 856, the wireless communication interface 855 may also include a single BB processor 856.

[0170] Connection interface 857 is an interface for connecting base station device 850 (wireless communication interface 855) to RRH 860. Connection interface 857 can also be a communication module for connecting base station device 850 (wireless communication interface 855) to the aforementioned high-speed line of RRH 860.

[0171] The RRH 860 includes a connectivity interface 861 and a wireless communication interface 863.

[0172] Connection interface 861 is an interface for connecting RRH 860 (wireless communication interface 863) to base station equipment 850. Connection interface 861 can also be a communication module for communication in the aforementioned high-speed line.

[0173] Wireless communication interface 863 transmits and receives wireless signals via antenna 840. Wireless communication interface 863 typically includes, for example, RF circuitry 864. RF circuitry 864 may include, for example, mixers, filters, and amplifiers, and transmits and receives wireless signals via antenna 840. As shown in FIG14, wireless communication interface 863 may include multiple RF circuits 864. For example, multiple RF circuits 864 may support multiple antenna elements. Although FIG14 shows an example in which wireless communication interface 863 includes multiple RF circuits 864, wireless communication interface 863 may also include a single RF circuit 864.

[0174] In the eNB 830 shown in Figure 14, at least a portion of the functions of the processing units 202, 302, and 402 included in electronic devices 200, 300, and 400, respectively, can also be implemented by the controller 851. For example, the controller 851 can implement the functions of the processing units 202, 302, and 402 to reallocate sensing tasks when sensing performance meets predetermined conditions (e.g., sensing performance drops below a predetermined standard), thereby achieving at least one of the following beneficial effects: ensuring the quality of communication service when communication tasks have higher priority, while ensuring the continuity of sensing tasks; balancing network load; and improving network resource utilization.

[0175] [Application examples related to user equipment]

[0176] (First application example)

[0177] Figure 15 is a block diagram illustrating an example of a schematic configuration of a smartphone 900 to which the technology of this disclosure can be applied. The smartphone 900 includes a processor 901, a memory 902, a storage device 903, an external connection interface 904, a camera device 906, a sensor 907, a microphone 908, an input device 909, a display device 910, a speaker 911, a wireless communication interface 912, one or more antenna switches 915, one or more antennas 916, a bus 917, a battery 918, and an auxiliary controller 919.

[0178] The processor 901 can be, for example, a CPU or a system-on-a-chip (SoC), and controls the application layer and other functions of the smartphone 900. The memory 902 includes RAM and ROM, and stores data and programs executed by the processor 901. The storage device 903 can include storage media such as semiconductor memory and hard disks. The external connectivity interface 904 is an interface for connecting external devices, such as memory cards and Universal Serial Bus (USB) devices, to the smartphone 900.

[0179] The camera device 906 includes an image sensor (such as a charge-coupled device (CCD) and complementary metal-oxide-semiconductor (CMOS)) and generates captured images. The sensor 907 may include a set of sensors, such as a measurement sensor, a gyroscope sensor, a magnetometer sensor, and an accelerometer sensor. The microphone 908 converts sound input to the smartphone 900 into an audio signal. The input device 909 includes, for example, a touch sensor, keypad, keyboard, buttons, or switches configured to detect touches on the screen of the display device 910 and receives operations or information input from the user. The display device 910 includes a screen (such as a liquid crystal display (LCD) and an organic light-emitting diode (OLED) display) and displays the output image of the smartphone 900. The speaker 911 converts the audio signal output from the smartphone 900 into sound.

[0180] The wireless communication interface 912 supports any cellular communication scheme (such as LTE and LTE-Advanced) and performs wireless communication. The wireless communication interface 912 typically includes, for example, a BB processor 913 and RF circuitry 914. The BB processor 913 can perform, for example, encoding / decoding, modulation / demodulation, and multiplexing / demultiplexing, and performs various types of signal processing for wireless communication. Meanwhile, the RF circuitry 914 can include, for example, mixers, filters, and amplifiers, and transmits and receives wireless signals via antenna 916. Note that although the figure shows a scenario where one RF link is connected to one antenna, this is only illustrative; scenarios where one RF link is connected to multiple antennas via multiple phase shifters also exist. The wireless communication interface 912 can be a single chip module on which the BB processor 913 and RF circuitry 914 are integrated. As shown in Figure 15, the wireless communication interface 912 can include multiple BB processors 913 and multiple RF circuits 914. Although Figure 15 shows an example where the wireless communication interface 912 includes multiple BB processors 913 and multiple RF circuits 914, the wireless communication interface 912 can also include a single BB processor 913 or a single RF circuitry 914.

[0181] In addition to cellular communication schemes, the wireless communication interface 912 can support other types of wireless communication schemes, such as short-range wireless communication schemes, near-field communication schemes, and wireless local area network (LAN) schemes. In this case, the wireless communication interface 912 may include a BB processor 913 and RF circuitry 914 for each wireless communication scheme.

[0182] Each of the antenna switches 915 switches the connection destination of the antenna 916 among multiple circuits (e.g., circuits for different wireless communication schemes) included in the wireless communication interface 912.

[0183] Each of the antennas 916 includes one or more antenna elements (such as multiple antenna elements included in a MIMO antenna) and is used for transmitting and receiving wireless signals through the wireless communication interface 912. As shown in Figure 15, the smartphone 900 may include multiple antennas 916. Although Figure 15 shows an example in which the smartphone 900 includes multiple antennas 916, the smartphone 900 may also include a single antenna 916.

[0184] Furthermore, the smartphone 900 may include an antenna 916 for each wireless communication scheme. In this case, the antenna switch 915 can be omitted from the configuration of the smartphone 900.

[0185] Bus 917 connects processor 901, memory 902, storage device 903, external connection interface 904, camera device 906, sensor 907, microphone 908, input device 909, display device 910, speaker 911, wireless communication interface 912, and auxiliary controller 919 to each other. Battery 918 supplies power to the various blocks of smartphone 900 shown in FIG. 15 via feeders, which are partially shown as dashed lines in the figure. Auxiliary controller 919 operates the minimum necessary functions of smartphone 900, for example, in sleep mode.

[0186] In the smartphone 900 shown in Figure 15, at least a portion of the functions of the processing units 202, 302, and 402 included in electronic devices 200, 300, and 400, respectively, can also be implemented by the processor 901 or the auxiliary controller 919. For example, the processor 901 or the auxiliary controller 919 can, by executing the functions of the processing units 202, 302, and 402, reallocate sensing tasks when sensing performance meets predetermined conditions (e.g., sensing performance drops below a predetermined standard), thereby achieving at least one of the following beneficial effects: ensuring communication service quality while maintaining the continuity of sensing tasks when communication tasks have higher priority; balancing network load; and improving network resource utilization.

[0187] (Second application example)

[0188] Figure 16 is a block diagram illustrating an example of a schematic configuration of a car navigation device 920 to which the technology of this disclosure can be applied. The car navigation device 920 includes a processor 921, a memory 922, a Global Positioning System (GPS) module 924, a sensor 925, a data interface 926, a content player 927, a storage medium interface 928, an input device 929, a display device 930, a speaker 931, a wireless communication interface 933, one or more antenna switches 936, one or more antennas 937, and a battery 938.

[0189] The processor 921 can be, for example, a CPU or a SoC, and controls the navigation functions and other functions of the car navigation device 920. The memory 922 includes RAM and ROM, and stores data and programs executed by the processor 921.

[0190] GPS module 924 uses GPS signals received from GPS satellites to measure the location (such as latitude, longitude, and altitude) of car navigation device 920. Sensor 925 may include a set of sensors, such as a gyroscope sensor, a geomagnetic sensor, and an air pressure sensor. Data interface 926 is connected to, for example, an in-vehicle network 941 via a terminal not shown, and acquires data generated by the vehicle (such as vehicle speed data).

[0191] Content player 927 reproduces content stored on storage media (such as CDs and DVDs), which is inserted into storage media interface 928. Input device 929 includes, for example, a touch sensor, button, or switch configured to detect touch on the screen of display device 930, and receives operations or information input from the user. Display device 930 includes a screen such as an LCD or OLED display and displays images or reproduced content for navigation functions. Speaker 931 outputs sound for navigation functions or reproduced content.

[0192] The wireless communication interface 933 supports any cellular communication scheme (such as LTE and LTE-Advanced) and performs wireless communication. The wireless communication interface 933 typically includes, for example, a BB processor 934 and RF circuitry 935. The BB processor 934 can perform, for example, encoding / decoding, modulation / demodulation, and multiplexing / demultiplexing, and performs various types of signal processing for wireless communication. Meanwhile, the RF circuitry 935 can include, for example, mixers, filters, and amplifiers, and transmits and receives wireless signals via antenna 937. The wireless communication interface 933 can also be a chip module on which the BB processor 934 and RF circuitry 935 are integrated. As shown in Figure 16, the wireless communication interface 933 can include multiple BB processors 934 and multiple RF circuits 935. Although Figure 16 shows an example where the wireless communication interface 933 includes multiple BB processors 934 and multiple RF circuits 935, the wireless communication interface 933 can also include a single BB processor 934 or a single RF circuitry 935.

[0193] In addition to cellular communication schemes, the wireless communication interface 933 can support other types of wireless communication schemes, such as short-range wireless communication schemes, near-field communication schemes, and wireless LAN schemes. In this case, for each wireless communication scheme, the wireless communication interface 933 may include a BB processor 934 and an RF circuit 935.

[0194] Each of the antenna switches 936 switches the connection destination of the antenna 937 among multiple circuits (such as circuits for different wireless communication schemes) included in the wireless communication interface 933.

[0195] Each of the antennas 937 includes one or more antenna elements (such as multiple antenna elements included in a MIMO antenna) and is used for transmitting and receiving wireless signals through the wireless communication interface 933. As shown in Figure 16, the car navigation device 920 may include multiple antennas 937. Although Figure 16 shows an example in which the car navigation device 920 includes multiple antennas 937, the car navigation device 920 may also include a single antenna 937.

[0196] Furthermore, the car navigation device 920 may include an antenna 937 for each wireless communication scheme. In this case, the antenna switch 936 can be omitted from the configuration of the car navigation device 920.

[0197] Battery 938 supplies power to the various blocks of the car navigation device 920 shown in Figure 16 via feeders, which are partially shown as dashed lines in the figure. Battery 938 accumulates the power supplied from the vehicle.

[0198] In the car navigation device 920 shown in Figure 16, at least a portion of the functions of the processing units 202, 302, and 402 included in electronic devices 200, 300, and 400, respectively, can also be implemented by the processor 921. For example, the processor 921 can implement the functions of the processing units 202, 302, and 402 to reallocate perception tasks when perception performance meets predetermined conditions (e.g., perception performance drops below a predetermined standard), thereby achieving at least one of the following beneficial effects: ensuring the quality of communication service when communication tasks have higher priority, while ensuring the continuity of perception tasks; balancing network load; and improving network resource utilization.

[0199] The technology disclosed herein can also be implemented as an in-vehicle system (or vehicle) 940 comprising one or more of the following blocks: a car navigation device 920, an in-vehicle network 941, and a vehicle module 942. The vehicle module 942 generates vehicle data (such as vehicle speed, engine speed, and fault information) and outputs the generated data to the in-vehicle network 941.

[0200] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that those skilled in the art will understand that all or any step or component of the methods and apparatus of this disclosure can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in the form of hardware, firmware, software or a combination thereof. This is something that those skilled in the art can achieve by using their basic circuit design knowledge or basic programming skills after reading the description of this disclosure.

[0201] Furthermore, this disclosure also proposes a program product storing machine-readable instruction code. When the instruction code is read and executed by a machine, the method described above according to embodiments of this disclosure can be performed.

[0202] Accordingly, the storage medium used to carry the program product storing machine-readable instruction code is also included in this disclosure. The storage medium includes, but is not limited to, floppy disks, optical disks, magneto-optical disks, memory cards, memory sticks, etc.

[0203] When this disclosure is implemented by software or firmware, programs constituting the software are installed from a storage medium or network onto a computer with a dedicated hardware structure (such as the general-purpose computer 1700 shown in FIG17), which is capable of performing various functions when various programs are installed.

[0204] In Figure 17, the Central Processing Unit (CPU) 1701 executes various processes based on programs stored in Read-Only Memory (ROM) 1702 or programs loaded into Random Access Memory (RAM) 1703 from Storage Section 1708. The RAM 1703 also stores data required as needed when the CPU 1701 executes various processes, etc. The CPU 1701, ROM 1702, and RAM 1703 are connected to each other via bus 1704. An input / output interface 1705 is also connected to bus 1704.

[0205] The following components are connected to the input / output interface 1705: input section 1706 (including keyboard, mouse, etc.), output section 1707 (including monitor, such as cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.), storage section 1708 (including hard disk, etc.), and communication section 1709 (including network interface card, such as LAN card, modem, etc.). The communication section 1709 performs communication processing via a network, such as the Internet. If necessary, a drive 1710 may also be connected to the input / output interface 1705. Removable media 1711, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on the drive 1710 as needed, so that computer programs read from them can be installed into the storage section 1708 as needed.

[0206] When the above series of processes are implemented by software, the program constituting the software is installed from a network such as the Internet or a storage medium such as removable media 1711.

[0207] Those skilled in the art will understand that such storage media are not limited to the removable medium 1711 shown in FIG. 17, which stores programs and is distributed separately from the device to provide programs to users. Examples of removable media 1711 include magnetic disks (including floppy disks (registered trademark)), optical disks (including optical disc read-only memory (CD-ROM) and digital versatile disks (DVD)), magneto-optical disks (including mini-discs (MD) (registered trademark)), and semiconductor memories. Alternatively, the storage medium may be ROM 1702, a hard disk included in storage section 1708, etc., which stores programs and is distributed to users along with the device containing them.

[0208] In addition, this technology can also be implemented as follows.

[0209] Option 1. An electronic device, comprising:

[0210] At least one processor; and

[0211] At least one memory, including computer program code, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute via the at least one processor:

[0212] In a communication-sensing integrated system, if the sensing performance obtained by the source sensing unit in performing a sensing task on the sensing object meets predetermined conditions, in response to a sensing task migration request received from the source sensing unit, at least a portion of the sensing task is reassigned to the target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units.

[0213] Option 2. The electronic device according to Option 1, wherein:

[0214] The perception task migration request includes the context information of the perception task, which includes at least one of the following: perception task requirements, predicted location of the perception object and its movement trajectory, perception time window, perception frequency and bandwidth requirements, and perception characteristics of the perception object.

[0215] Option 3. The electronic device according to Option 1 or 2, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0216] A sensing unit that meets at least one of the following conditions is identified as a candidate sensing unit:

[0217] Sensing units within a predetermined distance range based on the sensing object;

[0218] Sensing units within a predetermined distance range based on the source sensing unit;

[0219] The sensing unit near the source sensing unit whose channel conditions meet predetermined requirements; and

[0220] The sensing units within a predetermined range around the predicted movement trajectory of the sensing object during a predetermined time period.

[0221] Option 4. An electronic device according to any one of Options 1 to 3, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0222] Send an information collection request to the candidate sensing unit, and

[0223] The target sensing unit is selected from the candidate sensing units by means of a sensing scheduling cost determined based on the sensing-related information sent back by the candidate sensing units in response to the information collection request.

[0224] Option 5. The electronic device according to Option 4, wherein the sensing-related information includes at least one of the following parameters associated with the candidate sensing unit: beam measurement report of the location of the sensing object, whether there is a line-of-sight (LOS) path between the candidate sensing unit and the sensing object, available computing resources, resource status within the sensing time window, transmission power required to meet the sensing requirements, communication sensing multiplexing factor indicating whether the sensing task has a reusable communication beam, and sensing task priority.

[0225] Option 6. The electronic device according to Option 5, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0226] If a LOS path exists between the candidate sensing unit and the sensing object, the candidate sensing unit is preferentially selected as the target sensing unit.

[0227] Candidate sensing units with high communication sensing multiplexing factors are preferentially selected as the target sensing unit.

[0228] Option 7. An electronic device according to any one of Options 1 to 6, wherein, when the sensing mode for the sensed object is bi-base sensing or multi-base sensing, the candidate sensing unit includes a candidate sensing transmitting unit and a candidate sensing receiving unit, and wherein the at least one memory and the computer program code are configured to, through the at least one processor, cause the electronic device to execute:

[0229] The sensing scheduling cost of the candidate sensing transmitting unit is determined based on at least one of the following parameters associated with the candidate sensing transmitting unit in order to select the target sensing transmitting node: whether there is a LOS path between the channel and the sensing object, the average distance from the sensing object during the required sensing time period, and the communication sensing multiplexing factor.

[0230] The sensing scheduling cost of the candidate sensing receiving unit is determined based on the following parameters associated with the candidate sensing receiving unit in order to select the target sensing receiving node: the sufficiency of computing resources for the sensing task under the condition of satisfying the wireless resources for the sensing task.

[0231] Option 8. The electronic device according to Option 7, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0232] Monitor the perception performance and achieve a predetermined level of perception performance by increasing or decreasing the number of the target perception transmitting units and / or the target perception receiving units.

[0233] Option 9. An electronic device according to any one of Options 1 to 8, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0234] When the perception performance meets predetermined conditions, a portion of the perception task is reassigned to the target perception unit to enable collaborative perception of the perceived object by the source perception unit and the target perception unit. The reassigned portion of the perception task includes at least one of the following:

[0235] The perception task is decomposed into different types of sub-tasks, and a portion of these sub-tasks are used as a portion of the perception task to be reassigned; and

[0236] The same type of perception task is divided into various processing stages, and a portion of the tasks in each processing stage are treated as a portion of the perception tasks that are reassigned.

[0237] Option 10. An electronic device according to any one of Options 1 to 9, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0238] The sensing task migration instruction is sent to the target sensing unit, and the selected target sensing unit is notified to the source sensing unit, so that the source sensing unit transmits the result information of the completed sensing task to the target sensing unit, so as to transfer at least a part of the sensing task to the target sensing unit.

[0239] Option 11. The electronic device according to any one of Options 1 to 10, wherein the predetermined conditions include at least one of the following:

[0240] The perception performance is below a predetermined standard due to the mobility of at least one of the source sensing unit and the sensing object; and

[0241] The sensing performance is lower than the predetermined standard due to the performance change of the source sensing unit.

[0242] Scheme 12. An electronic device according to any one of Schemes 1 to 11, wherein the electronic device is a base station-side centralized unit (gNB-CU) or a network-side sensing function unit (SF) in a communication sensing integrated system, the source sensing unit is a base station or a user equipment (UE), and the candidate sensing unit is a base station or a UE.

[0243] Option 13. An electronic device, comprising:

[0244] At least one processor; and

[0245] At least one memory, including computer program code, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute via the at least one processor:

[0246] In a communication-sensing integrated system, if the sensing performance obtained by the electronic device performing a sensing task on a sensing object meets predetermined conditions, a sensing task migration request is sent, so that at least a portion of the sensing task can be reassigned to a target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units.

[0247] Solution 14. The electronic device according to Solution 13, wherein the sensing task migration request includes context information of the sensing task, the context information including at least a portion of the following: sensing task requirements, predicted sensing object location and its movement trajectory, sensing time window, sensing frequency and bandwidth requirements, and sensing characteristics of the sensing object.

[0248] Option 15. The electronic device according to Option 13 or 14, wherein the sensing mode of the sensing task is user equipment single-base sensing, the electronic device is a source sensing user equipment (UE) acting as a source sensing unit and is not within the coverage area of ​​the communication service, and wherein the at least one memory and the computer program code are configured to cause the source sensing UE to execute, via the at least one processor:

[0249] Through UE discovery processing, UEs that can communicate with neighboring UEs via sidechains are discovered, and candidate sensing UEs that can perform user equipment single-base perception are identified.

[0250] Based on the information fed back by the candidate sensing UEs indicating whether the candidate sensing UEs participate in the sensing task, a target sensing UE is selected from the candidate sensing UEs; and

[0251] A sensing task migration instruction is sent to the target sensing UE, and information about the results of the completed sensing task is sent to the target sensing UE.

[0252] Solution 16. The electronic device according to Solution 15, wherein the source sensing UE selects the target sensing UE based on a sensing scheduling cost determined according to at least one of the following parameters: the resources available for sensing by the candidate sensing UE, the channel quality between the candidate sensing UE and the sensing object, and whether there is a LOS path between the candidate sensing UE and the sensing object.

[0253] Option 17. An electronic device according to any one of Options 13 to 16, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0254] When the sensing performance meets predetermined conditions, a portion of the sensing task is determined as a sensing task to be reassigned to the target sensing unit in order to achieve collaborative sensing of the sensing object by the electronic device and the target sensing unit, wherein the reassigned portion of the sensing task includes at least one of the following:

[0255] The perception task is decomposed into different types of subtasks, and a portion of these different types of subtasks are used as a portion of the reassigned perception task; and

[0256] The same type of perception task is divided into various processing stages, and a portion of the tasks in each processing stage are treated as a portion of the perception tasks that are reassigned.

[0257] Option 18. The electronic device according to any one of Options 13 to 17, wherein the predetermined conditions include at least one of the following:

[0258] The sensing performance is below a predetermined standard due to the mobility of at least one of the electronic device and the sensing object; and

[0259] The perceived performance is lower than a predetermined standard due to changes in the performance of the electronic device.

[0260] Option 19. An electronic device, comprising:

[0261] At least one processor; and

[0262] At least one memory, including computer program code, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute via the at least one processor:

[0263] In a communication-sensing integrated system, when a source sensing unit needs to migrate a sensing task, sensing-related information associated with the sensing task is provided to the electronic device. Based on the sensing scheduling cost of the electronic device calculated through the sensing-related information, it is determined whether the electronic device is selected as the target sensing unit to perform the migrated sensing task.

[0264] Option 20. The electronic device according to Option 19, wherein the sensing mode of the sensing task is user equipment single-base sensing, the source sensing unit is a source sensing user equipment (UE) that is not within the coverage area of ​​the communication service, the electronic device is a UE among the neighboring UEs discovered by the source sensing UE through the UE discovery process that can communicate with it via a sidechain, and the electronic device is a UE capable of performing user equipment single-base sensing, and wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0265] The electronic device matches its own perception-related information with the perception task-related information in the migration request sent by the source perception UE to determine whether to participate in the perception task; and

[0266] The determination result indicating whether to participate in the perception task is fed back to the source perception UE, so that the source perception UE can determine whether to select the electronic device as the target perception UE.

[0267] Option 21. The electronic device according to Option 20, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor:

[0268] The sensing scheduling cost is determined based on at least one of the following sensing-related information of the electronic device: available wireless resources for sensing, remaining battery power and computing resources, relative position to the sensing object within the required sensing time window, and whether there is a LOS path between the electronic device and the sensing object.

[0269] Option 22. A method for an integrated communication and sensing system, comprising:

[0270] In a communication-sensing integrated system, if the sensing performance obtained by the source sensing unit in performing a sensing task on the sensing object meets predetermined conditions, the sensing function management unit, in response to a sensing task migration request received from the source sensing unit, reallocates at least a portion of the sensing task to the target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units.

[0271] Option 23. A method for an integrated communication and sensing system, comprising:

[0272] In a communication-sensing integrated system, if the sensing performance obtained by the source sensing unit in performing a sensing task on the sensing object meets predetermined conditions, the source sensing unit sends a sensing task migration request, so that at least a portion of the sensing task can be reassigned to the target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units.

[0273] Option 24. A method for an integrated communication and sensing system, comprising:

[0274] In a communication-sensing integrated system, when a source sensing unit needs to migrate a sensing task, a candidate sensing unit with the ability to perform sensing processing on the sensing object provides sensing information related to the sensing task. Based on the sensing scheduling cost of the candidate sensing unit calculated through the sensing information, it is determined whether the candidate sensing unit is selected as the target sensing unit to perform the migrated sensing task.

[0275] Scheme 25. A computer-readable storage medium having stored thereon computer-executable instructions that, when executed, perform the method according to any one of Schemes 22 to 24.

[0276] It should also be noted that in the apparatus, method, and system of this disclosure, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of this disclosure. Furthermore, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order. Some steps can be performed in parallel or independently of each other.

[0277] Finally, it should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Furthermore, unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0278] While embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, it should be understood that the embodiments described above are merely illustrative and do not constitute a limitation thereof. Those skilled in the art can make various modifications and alterations to the above embodiments without departing from the spirit and scope of the present disclosure. Therefore, the scope of the present disclosure is defined only by the appended claims and their equivalents.

Claims

1. An electronic device, comprising: At least one processor; and At least one memory, including computer program code, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute via the at least one processor: In a communication-sensing integrated system, if the sensing performance obtained by the source sensing unit in performing a sensing task on the sensing object meets predetermined conditions, in response to a sensing task migration request received from the source sensing unit, at least a portion of the sensing task is reassigned to the target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units.

2. The electronic device according to claim 1, wherein: The perception task migration request includes the context information of the perception task, which includes at least one of the following: perception task requirements, predicted location of the perception object and its movement trajectory, perception time window, perception frequency and bandwidth requirements, and perception characteristics of the perception object.

3. The electronic device according to claim 1 or 2, wherein, The at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: A sensing unit that meets at least one of the following conditions is identified as a candidate sensing unit: Sensing units within a predetermined distance range based on the sensing object; Sensing units within a predetermined distance range based on the source sensing unit; The sensing unit whose channel conditions near the source sensing unit meet the predetermined requirements; and The sensing units within a predetermined range around the predicted movement trajectory of the sensing object during a predetermined time period.

4. The electronic device according to any one of claims 1 to 3, wherein, The at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: Send an information collection request to the candidate sensing unit, and The target sensing unit is selected from the candidate sensing units by means of a sensing scheduling cost determined based on the sensing-related information sent back by the candidate sensing units in response to the information collection request.

5. The electronic device according to claim 4, wherein, The perception-related information includes at least one of the following parameters associated with the candidate perception unit: beam measurement report of the location of the perception object, whether there is a line-of-sight (LOS) path between the candidate perception unit and the perception object, available computing resources, resource status within the perception time window, transmission power required to meet the perception requirements, communication perception multiplexing factor indicating whether the perception task has a reusable communication beam, and perception task priority.

6. The electronic device according to claim 5, wherein, The at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: If a LOS path exists between the candidate sensing unit and the sensing object, the candidate sensing unit is preferentially selected as the target sensing unit. Candidate sensing units with high communication sensing multiplexing factors are preferentially selected as the target sensing unit.

7. The electronic device according to any one of claims 1 to 6, wherein, When the sensing mode of the sensed object is bistatic or multistatic, the candidate sensing unit includes a candidate sensing transmitting unit and a candidate sensing receiving unit, and wherein the at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: The sensing scheduling cost of the candidate sensing transmitting unit is determined based on at least one of the following parameters associated with the candidate sensing transmitting unit in order to select the target sensing transmitting node: whether there is a LOS path between the channel and the sensing object, the average distance from the sensing object during the required sensing time period, and the communication sensing multiplexing factor. The sensing scheduling cost of the candidate sensing receiving unit is determined based on the following parameters associated with the candidate sensing receiving unit in order to select the target sensing receiving node: the sufficiency of computing resources for the sensing task under the condition of satisfying the wireless resources for the sensing task.

8. The electronic device according to claim 7, wherein, The at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: Monitor the perception performance and achieve a predetermined level of perception performance by increasing or decreasing the number of the target perception transmitting units and / or the target perception receiving units.

9. The electronic device according to any one of claims 1 to 8, wherein, The at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: When the perception performance meets predetermined conditions, a portion of the perception task is reassigned to the target perception unit to enable collaborative perception of the perceived object by the source perception unit and the target perception unit. The reassigned portion of the perception task includes at least one of the following: The perception task is decomposed into different types of sub-tasks, and a portion of these sub-tasks are used as a portion of the perception task to be reassigned; and The same type of perception task is divided into various processing stages, and a portion of the tasks in each processing stage are treated as a portion of the perception tasks that are reassigned.

10. The electronic device according to any one of claims 1 to 9, wherein, The at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: The sensing task migration instruction is sent to the target sensing unit, and the selected target sensing unit is notified to the source sensing unit, so that the source sensing unit transmits the result information of the completed sensing task to the target sensing unit, so as to transfer at least a part of the sensing task to the target sensing unit.

11. The electronic device according to any one of claims 1 to 10, wherein, The predetermined conditions include at least one of the following: The perception performance is below a predetermined standard due to the mobility of at least one of the source sensing unit and the sensing object; and The sensing performance is lower than the predetermined standard due to the performance change of the source sensing unit.

12. The electronic device according to any one of claims 1 to 11, wherein, The electronic device is a base station-side centralized unit (gNB-CU) or a network-side sensing function unit (SF) in a communication sensing integrated system. The source sensing unit is a base station or a user equipment (UE), and the candidate sensing unit is a base station or a UE.

13. An electronic device, comprising: At least one processor; and At least one memory, including computer program code, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute via the at least one processor: In a communication-sensing integrated system, if the sensing performance obtained by the electronic device performing a sensing task on a sensing object meets predetermined conditions, a sensing task migration request is sent, so that at least a portion of the sensing task can be reassigned to a target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units.

14. The electronic device according to claim 13, wherein, The perception task migration request includes the context information of the perception task, which includes at least one of the following: perception task requirements, predicted location of the perception object and its movement trajectory, perception time window, perception frequency and bandwidth requirements, and perception characteristics of the perception object.

15. The electronic device according to claim 13 or 14, wherein, The sensing mode of the sensing task is user equipment single-base sensing, the electronic device is a source sensing user equipment (UE) acting as a source sensing unit and is not within the coverage area of ​​the communication service, and wherein the at least one memory and the computer program code are configured to cause the source sensing UE to execute, via the at least one processor: Through UE discovery processing, UEs that can communicate with neighboring UEs via sidechains are discovered, and candidate sensing UEs that can perform user equipment single-base perception are identified. Based on the information fed back by the candidate sensing UEs indicating whether the candidate sensing UEs participate in the sensing task, a target sensing UE is selected from the candidate sensing UEs; and A sensing task migration instruction is sent to the target sensing UE, and information about the results of the completed sensing task is sent to the target sensing UE.

16. The electronic device according to claim 15, wherein, The source sensing UE selects the target sensing UE based on a sensing scheduling cost determined according to at least one of the following parameters: the resources available for sensing by the candidate sensing UE, the channel quality between the candidate sensing UE and the sensing object, and whether there is a LOS path between the candidate sensing UE and the sensing object.

17. The electronic device according to any one of claims 13 to 16, wherein, The at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: When the sensing performance meets predetermined conditions, a portion of the sensing task is determined as a sensing task to be reassigned to the target sensing unit in order to achieve collaborative sensing of the sensing object by the electronic device and the target sensing unit, wherein the reassigned portion of the sensing task includes at least one of the following: The perception task is decomposed into different types of subtasks, and a portion of these different types of subtasks are used as a portion of the reassigned perception task; and The same type of perception task is divided into various processing stages, and a portion of the tasks in each processing stage are treated as a portion of the perception tasks that are reassigned.

18. The electronic device according to any one of claims 13 to 17, wherein, The predetermined conditions include at least one of the following: The sensing performance is below a predetermined standard due to the mobility of at least one of the electronic device and the sensing object; and The perceived performance is lower than a predetermined standard due to changes in the performance of the electronic device.

19. An electronic device comprising: At least one processor; and At least one memory, including computer program code, wherein the at least one memory and the computer program code are configured to cause the electronic device to execute via the at least one processor: In a communication-sensing integrated system, when a source sensing unit needs to migrate a sensing task, sensing-related information associated with the sensing task is provided to the electronic device. Based on the sensing scheduling cost of the electronic device calculated through the sensing-related information, it is determined whether the electronic device is selected as the target sensing unit to perform the migrated sensing task.

20. The electronic device according to claim 19, wherein, The sensing mode of the sensing task is user equipment single-base sensing. The source sensing unit is a source sensing user equipment (UE) that is not within the coverage area of ​​the communication service. The electronic device is a UE that can communicate with a neighboring UE through a sidechain, discovered by the source sensing UE through a UE discovery process. The electronic device is a UE capable of performing user equipment single-base sensing. The at least one memory and the computer program code are configured, through the at least one processor, to cause the electronic device to execute: The electronic device matches its own perception-related information with the perception task-related information in the migration request sent by the source perception UE to determine whether to participate in the perception task; and The determination result indicating whether to participate in the perception task is fed back to the source perception UE, so that the source perception UE can determine whether to select the electronic device as the target perception UE.

21. The electronic device according to claim 20, wherein, The at least one memory and the computer program code are configured to cause the electronic device to execute, via the at least one processor: The sensing scheduling cost is determined based on at least one of the following sensing-related information of the electronic device: available wireless resources for sensing, remaining battery power and computing resources, relative position to the sensing object within the required sensing time window, and whether there is a LOS path between the electronic device and the sensing object.

22. A method for an integrated communication and sensing system, comprising: In a communication-sensing integrated system, if the sensing performance obtained by the source sensing unit in performing a sensing task on the sensing object meets predetermined conditions, the sensing function management unit, in response to a sensing task migration request received from the source sensing unit, reallocates at least a portion of the sensing task to the target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units.

23. A method for an integrated communication and sensing system, comprising: In a communication-sensing integrated system, if the sensing performance obtained by the source sensing unit in performing a sensing task on the sensing object meets predetermined conditions, the source sensing unit sends a sensing task migration request, so that at least a portion of the sensing task can be reassigned to the target sensing unit selected from the candidate sensing units based on the sensing scheduling cost associated with the candidate sensing units.

24. A method for a communication-sensing integrated system, comprising: In a communication-sensing integrated system, when a source sensing unit needs to migrate a sensing task, a candidate sensing unit with the ability to perform sensing processing on the sensing object provides sensing information related to the sensing task. Based on the sensing scheduling cost of the candidate sensing unit calculated through the sensing information, it is determined whether the candidate sensing unit is selected as the target sensing unit to perform the migrated sensing task.

25. A computer-readable storage medium having stored thereon computer-executable instructions that, when executed, perform the method according to any one of claims 22 to 24.

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