Sensing node switching method and related apparatus

Abstract

The present application provides a sensing node switching method and a related apparatus. The method comprises: determining first sensing precision of first sensing data, wherein the first sensing data is data obtained by a first sensing node on the basis of a first sensing task, and the first sensing task is used for instructing to sense a sensing target; if the first sensing precision is less than a first threshold, sending first instruction information, wherein the first instruction information is used for instructing to switch a sensing node; and receiving second indication information, wherein the second indication information is used for indicating that the first sensing node is a node to be switched. In the described solution, the first sensing node may determine, on the basis of the first sensing precision of the first sensing data, whether the first sensing node is suitable for continuing to serve as a target sensing node to sense the sensing target. In addition, when it is determined that sensing node switching needs to be performed, the first sensing node may send the first instruction information and receive the second indication information to implement sensing node switching, so that sensing node switching can be performed in a timely manner.

Description

A method and related apparatus for switching sensing nodes

[0001] This application claims priority to Chinese Patent Application No. 202510188670.9, filed on February 19, 2025, entitled "A Sensing Node Switching Method and Related Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, and in particular to a sensing node switching method and related apparatus. Background Technology

[0003] In the field of Integrated Sensing and Communication (ISAC), multi-point collaborative sensing refers to the collaborative work of multiple sensing nodes to jointly complete the task of sensing the environment. The core concept of multi-point collaborative sensing is to utilize the resources and capabilities of multiple nodes to improve the accuracy and efficiency of sensing through collaboration and information sharing.

[0004] In multi-node collaborative sensing, when encountering scenarios where the sensed target is moving, multiple sensed nodes near the sensed area can be selected to participate in collaborative sensing. However, when the distance between some sensed nodes and the sensed target gradually increases, failure to switch sensed nodes in a timely manner will not only affect the accuracy of the sensed data but also waste sensed node resources. Summary of the Invention

[0005] This application provides a method and related apparatus for switching sensing nodes, with the aim of enabling timely switching of sensing nodes.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] The first aspect of this application provides a method for switching sensing nodes. This method can be applied to a first sensing node. For example, the first sensing node can be a communication device (such as a terminal device or network device), or it can be a component of the communication device (such as a processor, circuit, chip, or chip system responsible for communication functions), or it can be a logic module or software that can implement all or part of the functions of the communication device. The following description uses a first sensing node as an example. In this method, a first sensing accuracy of first sensing data is determined. The first sensing data is data acquired by the first sensing node based on a first sensing task, which is used to instruct the sensing of a target. If the first sensing accuracy is less than a first threshold, first indication information is sent, which is used to instruct the switching of the sensing node. A second indication information is received, which is used to indicate that the first sensing node is the node to be switched.

[0008] In the above implementation scheme, the first sensing node can determine whether it is suitable to continue as the target sensing node to sense the target based on the first sensing accuracy of the first sensing data. Furthermore, when the first sensing node determines that a sensing node switch is necessary based on the first sensing accuracy, it can complete the switching by sending a first indication message to indicate the switching and receiving a second indication message indicating that the first sensing node is the node to be switched, thus enabling timely switching of sensing nodes.

[0009] In one possible implementation of the first aspect of this application, determining the perception accuracy of the first sensing data includes: determining the perception accuracy of the first sensing data based on the prior knowledge of the first sensing node and the first sensing data. In the above implementation, after acquiring the first sensing data, the first sensing node can compare the first sensing data with its prior knowledge to determine the perception accuracy of the first sensing data. This allows it to determine whether it is suitable to continue as a target sensing node to perceive the target based on the perception accuracy of the first sensing data. Furthermore, when it is determined that a sensing node switch is needed based on the first perception accuracy, the switching can be completed by sending a first indication message to indicate the switching of the sensing node and receiving a second indication message indicating that the first sensing node is the node to be switched, thus enabling timely switching of the sensing node.

[0010] In one possible implementation of the first aspect of this application, the prior knowledge of the first sensing node includes a prior map. In the above implementation, after acquiring the first sensing data, the first sensing node can specifically compare the first sensing data with the prior map determined by the first sensing node to determine the sensing accuracy of the first sensing data. This allows it to determine whether it is suitable to continue as a target sensing node to sense the target based on the sensing accuracy of the first sensing data. Furthermore, when it is determined that a sensing node switch is needed based on the first sensing accuracy, the switching can be completed by sending a first indication message to indicate the switching of the sensing node and receiving a second indication message indicating that the first sensing node is the node to be switched, thus enabling timely switching of the sensing node.

[0011] In one possible implementation of the first aspect of this application, the method further includes: sending at least one of the first sensing data, sensing configuration information, or switching assistance information; wherein the sensing configuration information is used to sense the sensing target, and the switching assistance information is used to determine the second sensing node. In the above implementation, the first sensing node can also send to the core network element the first sensing data determined based on the first sensing task, sensing configuration information that can be used when sensing the sensing target, or switching assistance information that can determine the second sensing node. This allows the core network element to calculate the first sensing result based on the first sensing data, or to determine the specific new sensing node to which it can switch based on the switching assistance information, i.e., to determine the second sensing node. Alternatively, it can send the sensing configuration information to the new sensing node, i.e., the second sensing node, enabling the second sensing node to quickly sense the sensing target, improving the switching efficiency of the sensing node, and thus enabling timely switching of the sensing node.

[0012] In one possible implementation of the first aspect of this application, the sensing configuration information includes at least one of the characteristics of the sensing target, the first sensing accuracy, or the time synchronization accuracy. In the above implementation, the sensing configuration information sent by the first sensing node may include at least one of the characteristics of the sensing target, the first sensing accuracy, or the time synchronization accuracy. This allows the core network element to receive the sensing configuration information and send it to a new sensing node, i.e., the second sensing node. The second sensing node can then quickly perceive the sensing target, improving the switching efficiency of the sensing nodes and enabling timely switching.

[0013] In one possible implementation of the first aspect of this application, the handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold; the synchronous base station is a base station that has completed synchronization; the signal strength of the weak interference base station is greater than a third threshold; and the sensing terminal device is a terminal device within the cell corresponding to the first sensing node that can be used for sensing. In the above implementation, the first sensing node can determine or obtain from other sensing nodes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node to determine the handover assistance information. The determined assistance information can be sent to core network elements. Based on the handover assistance information, a new sensing node to which the node can be switched can be determined, i.e., a second sensing node can be determined. This allows the first sensing node to switch to the second sensing node when it determines that a sensing node handover is needed, thus enabling timely sensing node handover.

[0014] In one possible implementation of the first aspect of this application, the method further includes: sending a handover assistance information request, wherein the handover assistance information request is used to request the handover assistance information; and receiving the handover assistance information. In the above implementation, the first sensing node can obtain handover assistance information by sending a handover assistance information request to other sensing nodes, so that it can send the determined assistance information to the core network element. This allows the core network element to determine, based on the handover assistance information, a new sensing node to which it can switch, i.e., determine the second sensing node. This enables the first sensing node to switch to the second sensing node when it determines that a sensing node handover is needed, thus allowing for timely sensing node handover.

[0015] In one possible implementation of the first aspect of this application, the method further includes: receiving a second sensing task, the second sensing task being used to instruct sensing a sensing target; determining second sensing data corresponding to the second sensing task, the first sensing data including a first target distance, the second sensing data including a second target distance, the first target distance being the distance between the sensing target and the first sensing node when the first sensing data is determined, and the second target distance being the distance between the sensing target and the first sensing node when the second sensing data is determined; if the second target distance is less than or equal to the first target distance, sending the second sensing data. In the above implementation, the first sensing node can also receive a second sensing task and can determine whether the distance between the first sensing node and the sensing target is increasing by sensing the target again. If it is determined that the distance between the first sensing node and the sensing target is not increasing, it can continue to report the second sensing data to avoid the situation where the sensing node switches erroneously due to the sensing target changing its direction of movement.

[0016] In one possible implementation of the first aspect of this application, signal quality parameters are transmitted, including the signal-to-interference-plus-noise ratio of the echo path. In the above implementation, the first sensing node can transmit signal quality parameters so that core network elements can determine or update the set of sensing nodes used to sense the sensing node or the set of nodes to be switched over based on the signal quality parameters, thereby enabling timely switching of sensing nodes.

[0017] The second aspect of this application provides a method for switching sensing nodes. This method can be applied to core network elements. For example, the core network element can be a network element in the core network (such as a sensing function network element or access and mobility management function), or it can be a component in a communication device (such as a processor, circuit, chip, or chip system responsible for communication functions), or it can be a logic module or software that can implement all or part of the functions of the communication device. The following description uses a core network element as an example. In this method, the following steps are taken: receiving first indication information, which indicates the switching of a sensing node; the first indication information is sent by the first sensing node when the first sensing accuracy of the first sensing data is less than a first threshold; the first sensing data is data acquired by the first sensing node based on a first sensing task, which indicates sensing of a sensing target; sending second indication information, which indicates that the first sensing node is a node to be switched; and sending third indication information, which indicates that the second sensing node is a target sensing node.

[0018] In the above implementation scheme, when the first sensing node determines that a sensing node switch needs to be performed based on the first sensing accuracy of the first sensing data, the first sensing node can send a first indication information to the core network element to indicate that the sensing node needs to be switched. After receiving the first indication information, the core network element can complete the switching of the sensing node by sending a second indication information to the first sensing node to indicate that the first sensing node is the node to be switched, and sending a third indication information to the second sensing node to indicate that the second sensing node is the target sensing node, thereby enabling timely switching of the sensing node.

[0019] In one possible implementation of the second aspect of this application, the method further includes: receiving at least one of the first sensing data, sensing configuration information, or switching assistance information; wherein the sensing configuration information is used to sense the sensing target, and the switching assistance information is used to determine the second sensing node body.

[0020] In one possible implementation of the second aspect of this application, the perception configuration information includes at least one of the characteristics of the perception target, the first perception accuracy, or the time synchronization accuracy.

[0021] In one possible implementation of the second aspect of this application, the handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than a third threshold, and the sensing terminal device is a terminal device that can be used for sensing within the cell corresponding to the first sensing node.

[0022] In one possible implementation of the second aspect of this application, if the first sensing data is received, the method further includes: calculating a first sensing result based on the first sensing data, wherein the first sensing result includes the location information of the sensing target or whether the sensing target exists. In the above implementation, if the core network element receives the first sensing data, the core network element can calculate the first sensing result based on the first sensing data so that the first sensing result can be returned to the user equipment for subsequent processing.

[0023] In one possible implementation of the second aspect of this application, if the sensing configuration information is received, the method further includes: sending the sensing configuration information to the second sensing node. In the above implementation, if the core network element receives the sensing configuration information, it can send the sensing configuration information to the new sensing node, i.e., the second sensing node, so that the second sensing node can quickly realize the sensing target, improve the switching efficiency of the sensing node, and thus enable timely switching of the sensing node.

[0024] In one possible implementation of the second aspect of this application, if the handover assistance information is received, the method further includes: determining the second sensing node based on the handover assistance information. In the above implementation, if the core network element receives the handover assistance information, the core network element can determine a new sensing node to which it can be switched, i.e., determine the second sensing node, so that when the first sensing node determines that a sensing node switch is needed, the first sensing node can be switched to the second sensing node, thereby enabling timely sensing node switching.

[0025] In one possible implementation of the second aspect of this application, a second sensing task is sent, the second sensing task being used to instruct sensing a sensing target; second sensing data corresponding to the second sensing task is received, the first sensing data including a first target distance, the second sensing data including a second target distance, the first target distance being the distance between the sensing target and the first sensing node when the first sensing data is determined, the second target distance being the distance between the sensing target and the first sensing node when the second sensing data is determined, and the second sensing data being sent by the first sensing node when the second target distance is greater than the first target distance.

[0026] In one possible implementation of the second aspect of this application, the method further includes: receiving signal quality parameters, the signal quality parameters including the signal-to-interference-plus-noise ratio of the echo path; determining a set of sensing nodes and a set of nodes to be switched based on the signal quality parameters, the set of sensing nodes including one or more target sensing nodes, and the set of nodes to be switched including one or more nodes to be switched.

[0027] A third aspect of this application provides a method for switching sensing nodes. This method can be applied to a second sensing node. For example, the second sensing node can be a communication device (such as a terminal device or network device), or it can be a component of the communication device (such as a processor, circuit, chip, or chip system responsible for communication functions), or it can be a logic module or software that can implement all or part of the functions of the communication device. The following description uses a second sensing node as an example. In this method, a third indication information is received. The third indication information is used to indicate that the second sensing node is the target sensing node. The third indication information is sent after the core network element receives the first indication information. The first indication information is used to indicate switching sensing nodes. The first indication information is sent by the first sensing node when the first sensing accuracy of the first sensing data is less than a first threshold. The first sensing data is data obtained by the first sensing node based on a first sensing task. The first sensing task is used to indicate sensing of the sensing target.

[0028] In the above implementation scheme, when the first sensing node determines that a sensing node switch is needed based on the first sensing accuracy of the first sensing data, it can send a first indication message to the core network element to indicate the switching of the sensing node. After receiving the first indication message, the core network element can complete the switching of the sensing node by sending a second indication message to the first sensing node to indicate that the first sensing node is the node to be switched, and sending a third indication message to the second sensing node to indicate that the second sensing node is the target sensing node. After the second sensing node becomes the target sensing node, it can determine the corresponding second sensing data based on the second sensing task sent by the core network element, so as to enable timely switching of the sensing node.

[0029] In one possible implementation of the third aspect of this application, the method further includes: receiving a second sensing task, the second sensing task being used to instruct sensing a sensing target; determining second sensing data corresponding to the second sensing task; and sending the second sensing data. In the above implementation, after receiving the third instruction information, the second sensing node can further receive the second sensing task sent by the core network element, and can sense the sensing target based on the second sensing task to obtain the corresponding second sensing data. The second sensing data can then be sent to the core network element so that the core network element can perform subsequent processing based on the second sensing data, thereby fulfilling the sensing requirements of the user equipment.

[0030] In one possible implementation of the third aspect of this application, the method further includes: receiving perception configuration information, the perception configuration information being used to perceive the perception target. In the above implementation, the second perception node can also receive perception configuration information, enabling the second perception node to quickly perceive the perception target, improving the switching efficiency of perception nodes, and thus enabling timely switching of perception nodes.

[0031] In one possible implementation of the third aspect of this application, the perception configuration information includes at least one of the characteristics of the perception target, the first perception accuracy, or the time synchronization accuracy.

[0032] In one possible implementation of the third aspect of this application, the method further includes: receiving a handover assistance information request, the handover assistance information request being used to request handover assistance information, the handover assistance information being used to determine the second sensing node; and sending the handover assistance information.

[0033] In one possible implementation of the third aspect of this application, the handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than a third threshold, and the sensing terminal device is a terminal device that can be used for sensing within the cell corresponding to the first sensing node.

[0034] A fourth aspect provides a communication device including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the methods in any possible implementation of any of the above aspects. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0035] In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0036] In another implementation, the communication device is a chip configured in the first sensing node. When the communication device is a chip configured in the first sensing node, the communication interface can be an input / output interface.

[0037] Fifthly, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the methods in any possible implementation of any of the above aspects. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0038] In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0039] In another implementation, the communication device is a chip configured in a core network element. When the communication device is a chip configured in a core network element, the communication interface can be an input / output interface.

[0040] Sixthly, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the methods in any possible implementation of any of the above aspects. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0041] In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0042] In another implementation, the communication device is a chip configured in the second sensing node. When the communication device is a chip configured in the second sensing node, the communication interface can be an input / output interface.

[0043] In a sixth aspect, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive signals through the input circuit and transmit signals through the output circuit, causing the processor to execute a method in any possible implementation of any aspect.

[0044] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0045] In a seventh aspect, a communication device is provided, including a processor and a memory. The processor is used to read instructions stored in the memory and to receive signals via a receiver and transmit signals via a transmitter to execute the method in any possible implementation of any of the above aspects.

[0046] Optionally, the processor may be one or more, and the memory may be one or more.

[0047] Eighthly, a computer program product is provided, the computer program product comprising: a computer program (also referred to as code or instructions), which, when run, causes a computer to perform a method in any possible implementation of any of the above aspects.

[0048] In a ninth aspect, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when executed on a computer, causes the computer to perform the methods in any possible implementation of any of the preceding aspects.

[0049] In a tenth aspect, embodiments of this application provide a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in the above aspects or the first possible implementation of the aspects to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0050] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0051] Eleventhly, a communication system is provided, including the aforementioned terminal equipment and network equipment (including access network equipment and core network equipment). Optionally, the communication system may further include other equipment that communicates with the terminal equipment and / or network equipment.

[0052] In a twelfth aspect, a communication device is provided, comprising a transceiver module and a processing module, the communication device being used to perform the method in any possible implementation of any of the above aspects. Attached Figure Description

[0053] Figure 1 is a schematic diagram of the system architecture of the communication system provided in an embodiment of this application;

[0054] Figure 2 is a schematic diagram of a multi-node collaborative sensing method provided in an embodiment of this application;

[0055] Figure 3 is a flowchart illustrating a sensing node switching method provided in an embodiment of this application;

[0056] Figure 4 is a flowchart illustrating another sensing node switching method provided in an embodiment of this application;

[0057] Figure 5 is a flowchart illustrating another sensing node switching method provided in an embodiment of this application;

[0058] Figure 6 is a flowchart illustrating another sensing node switching method provided in an embodiment of this application;

[0059] Figure 7 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0060] Figure 8 is a schematic diagram of another communication device provided in an embodiment of this application;

[0061] Figure 9 is a structural example diagram of an electronic device disclosed in an embodiment of this application. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The terminology used in the following embodiments is for the purpose of describing specific embodiments only and is not intended to be a limitation of this application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the embodiments of this application, "one or more" refers to one, two, or more; "and / or" describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0063] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0064] The "multiple" mentioned in the embodiments of this application refers to two or more. It should be noted that in the description of the embodiments of this application, terms such as "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0065] The embodiments of this application are applied to communication systems, which can be second-generation (2G) communication systems, third-generation (3G) communication systems, LTE systems, fifth-generation (5G) communication systems, LTE and 5G hybrid architectures, 5G new radio (5G NR) systems, and new communication systems that will emerge in the future development of communication.

[0066] The communication system includes a first device and a second device. The first device can be a network-side device used to provide network communication functions, sometimes referred to as a network device or network element. In this embodiment, the network device can specifically be an NTN network device. An NTN network device can typically be a satellite, a base station (including functional units of a base station, or a combination of functional units of base stations), or a core network unit. The core network unit can be a functional unit within the core network, including but not limited to access and mobility management function (AMF) units or session management function (SMF) units. The second device can be a device accessing the network, typically a terminal device. An example of the communication system is shown in Figure 1, which includes a base station 11 and a terminal 12.

[0067] In the embodiments provided in this application, the base station can be any device with wireless transceiver capabilities, including but not limited to: evolved Node B (nodeB, eNB, or e-nodeB) in Long Term Evolution (LTE), base station (gNodeB or gNB) or transmission receiving point / transmission reception point (TRP) in New Radio (NR), base stations in subsequent 3GPP evolutions, access nodes in Wi-Fi systems, wireless relay nodes, wireless backhaul nodes, etc. The base station can be: macro base station, micro base station, pico base station, small cell, relay station, or balloon station, etc. The base station can include one or more co-located or non-co-located transmission reception points (TRPs). The base station can also be a radio controller, centralized unit (CU), and / or distributed unit (DU) in a cloud radio access network (CRAN) scenario. The base station can communicate with terminal devices or communicate with terminal devices through relay stations. Terminal devices can communicate with multiple base stations using different technologies. For example, a terminal device can communicate with a base station that supports LTE networks, or with a base station that supports 5G networks, or even have dual connections with both LTE and 5G base stations.

[0068] In the embodiments provided in this application, the terminal device can take various forms, such as a mobile phone, tablet computer, computer with wireless transceiver capabilities, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal device in industrial control, vehicle-mounted terminal device, wireless terminal device in self-driving, wireless terminal device in remote medical care, wireless terminal device in smart grid, wireless terminal device in transportation safety, wireless terminal device in smart city, wireless terminal device in smart home, wearable terminal device, etc. The terminal device may also be referred to as a terminal device, user equipment (UE), access terminal device, vehicle-mounted terminal device, industrial control terminal device, UE unit, UE station, mobile station, mobile station, remote station, remote terminal device, mobile device, UE terminal device, terminal device, wireless communication device, UE agent, or UE device, etc. The terminal device can also be a fixed terminal device or a mobile terminal device.

[0069] In the field of communications, communication-sensing integration refers to the technology of merging communication and sensing systems into a single entity. This integration can significantly enhance the capabilities of wireless systems, enrich service offerings, and improve spectrum and hardware utilization efficiency. Specifically, communication-sensing integration integrates previously separate communication and sensing systems onto the same physical platform, enabling them to share spectrum, hardware, and other resources, and achieve simultaneous data transmission and environmental sensing. This technology, through optimization of the underlying frame structure and various schemes such as time-division multiplexing, frequency-division multiplexing, and space-division multiplexing, achieves the coexistence and resource coordination of communication and sensing, thereby reducing interference while achieving a balance between communication and sensing capabilities.

[0070] In the field of integrated communication and sensing, multi-point collaborative sensing refers to the collaborative work of multiple sensing nodes to jointly complete the task of sensing the environment. As shown in Figure 2, a target can be sensed collaboratively by one base station and two terminal devices, or by two base stations and one terminal device, or by two base stations and two terminal devices, etc. Each base station can communicate with core network elements. The core concept of multi-point collaborative sensing is to utilize the resources and capabilities of multiple nodes to improve the accuracy and efficiency of sensing through collaboration and information sharing. Furthermore, in the field of integrated communication and sensing, there are the following six sensing operation modes:

[0071] 1. Base station self-transmitting and self-receiving mode:

[0072] In this mode, the base station is responsible for sending sensing signals and receiving their echo signals.

[0073] Base stations use these signals to sense target objects, such as for speed measurement, distance measurement, and positioning.

[0074] 2. Base station A transmits, B receives:

[0075] Base station A acts as a transmitting node, sending sensing signals to the target to be sensed.

[0076] Base station B acts as a receiving node, sensing the target based on the echo of the sensing signal.

[0077] This model utilizes the cooperation between different base stations in a mobile communication network.

[0078] 3. Base station transmit / receive mode:

[0079] The base station sends sensing signals to the target, and the terminal (such as a smartphone, IoT device, etc.) receives the echo signal.

[0080] The terminal senses the target based on the received signals.

[0081] 4. Terminal transmit / base station receive mode:

[0082] In this mode, the terminal acts as a transmitting node, sending sensing signals to the target.

[0083] The base station receives the reflected sensing signals and performs corresponding sensing processing.

[0084] 5. Terminal self-transmitting and self-receiving mode:

[0085] Similar to the base station's self-transmitting and self-receiving mode, but in this case, the terminal sends and receives the sensing signals.

[0086] This model is suitable for scenarios where terminal devices need to have autonomous sensing capabilities.

[0087] 6. Terminal A transmits, B receives:

[0088] Terminal A sends a sensing signal to the target to be sensed.

[0089] Terminal B receives the reflected sensing signal and performs sensing processing.

[0090] This model can be applied to mutual sensing and collaboration between devices.

[0091] The six sensing modes described above each have their own advantages and disadvantages, and are suitable for different application scenarios and needs. For example, in independent sensing modes (such as base station self-transmission and self-reception, and terminal self-transmission and self-reception), sensing tasks can be completed without the assistance of other nodes, thus avoiding sensing errors caused by asynchrony between transmitting and receiving nodes. However, this mode may be affected by self-interference and limited sensing range. In contrast, in network cooperative sensing modes (such as base station A transmitting and B receiving, base station transmitting and terminal receiving, etc.), multiple nodes can cooperate to perform sensing, thereby improving sensing accuracy and coverage. However, cooperative sensing modes may also introduce problems such as synchronization errors and network interference.

[0092] In this context, the perceived target typically refers to an object or entity that needs to be detected, tracked, located, or identified. Perceived targets can be various types of terminal devices or objects, including but not limited to:

[0093] Terminal devices: such as smartphones, IoT devices, and vehicle communication devices. These devices act as both communication terminals and sensing nodes in the communication network, used to collect and transmit sensing information.

[0094] Moving objects, such as vehicles, pedestrians, and drones, require real-time location, speed, and orientation information for system operation and decision-making in scenarios such as intelligent transportation, vehicle networking, and drone surveillance.

[0095] Static objects: These include fixed facilities such as buildings, road infrastructure, and environmental monitoring stations. Although they do not move, the perception of their location and status helps to build a more complete communication network and environmental map.

[0096] In multi-node collaborative sensing, when encountering scenarios where the sensed target is moving, multiple sensed nodes near the sensed area can be selected to participate in collaborative sensing. However, when the distance between some sensed nodes and the sensed target gradually increases, failure to switch sensed nodes in a timely manner will not only affect the accuracy of the sensed data but also waste sensed node resources.

[0097] Specifically, core network elements may include access and mobility management functions or sensing function network elements. Sensing function network elements are core network sensing control and sensing measurement data processing network elements. Sensing function network elements may include the following functions:

[0098] The Sensing Control Plane Function (SF-C) interacts with existing 5GC control plane network elements, responsible for control plane message transmission, and providing the address of the Sensing User Equipment plane function to the base station or terminal equipment. In addition, SF-C also implements data transmission of sensing control information, service management, capability management, and sensing control functions. The service management function manages the sensing mode and service authorization for applications; capability management divides the sensing area into multiple grids, each grid defining different attributes.

[0099] The Sensing User Equipment Plane Function (SF-U) is responsible for collecting and analyzing sensing measurement data generated by terminals or base stations, deriving the final sensing results, and making them available to terminal devices or applications. SF-U supports the fusion processing of sensing measurement data generated by base station sensing, terminal sensing, and non-3GPP sensing, performing sensing calculations to obtain the final sensing results. Simultaneously, SF-U also supports receiving sensing results output by sensing execution entities and further processing them, such as deduplication and trajectory merging, to obtain the final sensing results.

[0100] To make the technical solution of this application clearer and easier to understand, a sensing node switching method according to an embodiment of this application is described below with reference to the accompanying drawings. This embodiment is applicable to data transmission processes in wireless communication scenarios. The sensing node switching method provided in this embodiment can be applied to a first sensing node, a core network element, or a second sensing node. For example, the first and second sensing nodes can be communication devices (such as terminal devices or network devices), or they can be components within a communication device (such as processors, circuits, chips, or chip systems responsible for communication functions), or they can also be logic modules or software capable of implementing all or part of the functions of the communication device. The following description uses the first and second sensing nodes as examples. For example, the core network element can be a network element in the core network (such as a sensing function network element or access and mobility management function), or it can be a component within a communication device (such as a processor, circuit, chip, or chip system responsible for communication functions), or it can also be a logic module or software capable of implementing all or part of the functions of the communication device. The following description uses a core network element as an example.

[0101] Please refer to Figure 3. Figure 3 shows a flowchart of a sensing node switching method provided in an embodiment of this application, which can be applied to a first sensing node. The sensing node switching method provided in this embodiment mainly includes the following steps:

[0102] 301. The first sensing node determines the first sensing accuracy of the first sensing data.

[0103] Among them, the first perception data is the data obtained by the first perception node based on the first perception task, and the first perception task is used to instruct the perception of the target.

[0104] In this embodiment, when the first sensing node receives a first sensing task, it can determine the sensing target and the type of first sensing data that can be acquired based on the first sensing task. Then, it can sense the target and acquire the first sensing data corresponding to the first sensing task. After determining the first sensing data, the first sensing accuracy of the first sensing data can be further determined so that the first sensing node can determine whether it is suitable to continue as a target sensing node to sense the target based on the first sensing accuracy. The first sensing data may include the target's speed, direction, and target distance, etc. The target distance can be the distance between the target and the first sensing node. The first sensing data may also include radar point cloud data, sensing latency, verification data, or the detection rate of markers, etc., which are not limited in this embodiment.

[0105] For example, before the first sensing node receives the first sensing task, the user equipment can first send a sensing service request to the core network element, whereby the sensing service request may carry the first sensing task. After receiving the sensing service request, the core network element can authenticate the user equipment, and after successful authentication, it can send sensing signaling to multiple nodes, whereby the sensing signaling may include a request to obtain identification information. After receiving the sensing signaling from the core network element, multiple nodes can return their own identification information, as well as their sensing range and accuracy, node type, cell identity (CID) or location area code (LAC) of the base station, etc., to the core network element. The core network element can establish a set of sensing nodes under different sensing modes based on the information returned by multiple nodes, whereby the set of sensing nodes may include multiple sensing nodes used for sensing targets, and each sensing node in the set of sensing nodes can periodically report its own equipment status and load status to the core network element. After establishing the set of sensing nodes, the core network element can send the first sensing task to the first sensing node in the set of sensing nodes. After receiving the first sensing task, the first sensing node can determine the sensing target that can be sensed and the type of first sensing data that can be acquired based on the first sensing task. Then, it can sense the sensing target and acquire the first sensing data corresponding to the first sensing task, thereby determining the sensing accuracy of the first sensing data.

[0106] Understandably, perception accuracy measures the accuracy of the perceived information provided by sensing nodes. This typically involves the detection of physical environment parameters, such as speed, position, and distance, as well as the measurement errors of these parameters. High perception accuracy means a smaller difference between the measurement results and the true values, thus providing more reliable information. The level of perception accuracy can be reflected by the error value of the perception accuracy. A larger error value indicates lower perception accuracy and lower accuracy of the corresponding perceived data; a smaller error value indicates higher perception accuracy and higher accuracy of the corresponding perceived data.

[0107] In one possible implementation of this application embodiment, step 301, where the first sensing node determines the first sensing accuracy of the first sensing data, includes:

[0108] A1. The first sensing node determines the sensing accuracy of the first sensing data based on the prior knowledge of the first sensing node and the first sensing data.

[0109] In this embodiment of the application, after acquiring the first sensing data, the first sensing node can first determine its prior knowledge, and then determine the sensing accuracy of the first sensing data by comparing the first sensing data with the prior knowledge of the first sensing node. This allows it to determine whether it is suitable to continue as a target sensing node to sense the target based on the sensing accuracy of the first sensing data. When it is determined that a sensing node switch is needed based on the first sensing accuracy, the switching of the sensing node can be completed by sending a first indication message to indicate the switching of the sensing node and receiving a second indication message to indicate that the first sensing node is the node to be switched, thereby enabling timely switching of the sensing node.

[0110] Prior knowledge of a sensing node refers to the knowledge or information it possesses before undertaking a communication sensing task. This information typically originates from previous research, accumulated experience, and historical data, and plays a crucial guiding and supporting role in the current communication sensing task. During the communication sensing process, prior knowledge helps the system better understand the current environment, improving the accuracy and reliability of sensing.

[0111] In one possible implementation of this application embodiment, the prior knowledge of the first sensing node includes a prior map. Specifically, in this embodiment, the first sensing node can compare the first sensing data with the prior map determined by the first sensing node to determine the sensing accuracy of the first sensing data. This allows it to determine whether it is suitable to continue as a target sensing node to sense the target based on the sensing accuracy of the first sensing data. Furthermore, when it is determined that a sensing node switch is needed based on the first sensing accuracy, the switching can be completed by sending a first indication message to indicate the switching of the sensing node and receiving a second indication message indicating that the first sensing node is the node to be switched, thus enabling timely switching of the sensing node.

[0112] In this context, a priori map refers to a detailed description or model of an environment or scenario that exists before new data is collected. It typically includes basic structural information about the environment, semantic information, and information about potential dynamic actors.

[0113] Infrastructure information typically includes road layout, lane markings, and intersection structures. This information forms the basis for autonomous vehicles or robots to plan routes and navigate. Semantic information provides the semantic structure of roads and their surroundings. Examples include road types (highways, city streets, etc.), the meaning of traffic signs, and the purpose of buildings. This information helps autonomous vehicles better understand their environment and make appropriate decisions.

[0114] Dynamic participant information can include details such as the type, shape, and motion state of traffic participants. This information helps autonomous vehicles predict the future trajectories of other entities, thereby avoiding potential collisions.

[0115] The prior map can be generated from high-precision data, or it can be a high-precision map generated based on real-time kinematic (RTK) technology.

[0116] Specifically, the first sensing node can calculate the sensing accuracy error value based on its prior map and first sensing data. This can be calculated using the Mean Squared Error (MSE) formula, which can be expressed as follows:

[0117] Where MSE represents the error value, n represents the total number of first-sensor data; y i x represents the true value corresponding to the i-th data point in the first perception data, which is also the value of the i-th data point in the corresponding prior map; i This represents the measurement value of the i-th data point in the first sensing data.

[0118] For example, the prior map may contain multiple reference objects, such as buildings, landmarks, lanes, and vegetation. By calculating the mean square error between the perceived map data generated based on the first perception data and the corresponding data in the prior map, the error value of the first perception data can be obtained.

[0119] In one possible implementation of this application embodiment, the method further includes:

[0120] B1. The first sensing node transmits signal quality parameters, and the corresponding core network elements receive signal quality parameters.

[0121] Among them, the signal quality parameters include the signal-to-interference-plus-noise ratio of the echo path.

[0122] In this embodiment of the application, after determining the first sensing data corresponding to the first sensing task, the first sensing node can also obtain the signal to interference plus noise ratio (SINR) value of the echo path returned to the first sensing node by other sensing nodes, and can send the obtained signal to interference plus noise ratio of the echo path of other sensing nodes to the core network element.

[0123] The echo path refers to the propagation path of a signal that differs from the normal path to the receiving point. These paths are usually formed due to phenomena such as reflection and scattering when the signal encounters obstacles. Therefore, the echo path can also be understood as the various reflection or scattering paths formed by the signal during propagation. The SINR value is the ratio of the strength of the received useful signal to the strength of the received interference signal. This ratio reflects the relative purity of the signal in interference and noise environments and is an important indicator for measuring the performance of a communication system.

[0124] B2. Core network elements determine the set of sensing nodes and the set of nodes to be switched based on signal quality parameters.

[0125] The set of sensing nodes includes one or more target sensing nodes, and the set of nodes to be switched includes one or more nodes to be switched.

[0126] In this embodiment, after receiving signal quality parameters from the first sensing node, the core network element can analyze these parameters to determine cooperative sensing nodes suitable for sensing the target. These cooperative sensing nodes are then added to the sensing node set as target sensing nodes, meaning the constructed sensing node set can be updated based on the signal quality parameters. Furthermore, the core network element can also determine whether any sensing nodes in the sensing node set are no longer suitable as target sensing nodes, and these unsuitable nodes can be added to the switchable node set as nodes to be switched over, again updating the switchable node set based on the signal quality parameters. After updating the sensing node set and the switchable node set, the core network element can send messages to the nodes in both sets to notify them of the update results. Specifically, sensing nodes with higher SINR values ​​for their corresponding echo paths can be designated as target sensing nodes, and sensing nodes with lower SINR values ​​for their corresponding echo paths can be designated as switchable nodes.

[0127] It is understandable that a target sensing node refers to a sensing node that can currently sense a target, including sensing nodes after a sensing node switch; a node to be switched refers to a sensing node that can no longer sense a target, including sensing nodes that need to be switched.

[0128] 302. If the first sensing accuracy is less than the first threshold, the first sensing node sends the first indication information, and the core network element receives the first indication information accordingly.

[0129] The first indication information is used to indicate the switching of the sensing node.

[0130] In this embodiment, after determining the first sensing accuracy of the first sensing data, the first sensing node can determine whether it is suitable to continue as a target sensing node to sense the target based on the first sensing accuracy of the first sensing data. That is, it can determine whether a sensing node switch is needed based on the first sensing accuracy of the first sensing data. Furthermore, when it is determined that a sensing node switch is needed based on the first sensing accuracy, the first sensing node can complete the switching by sending a first indication message to indicate the switching and receiving a second indication message indicating that the first sensing node is the node to be switched, thereby enabling timely switching of the sensing node.

[0131] Specifically, the first sensing node can be configured with a first threshold to determine whether a sensing node switch is needed. The specific value of the first threshold can be set according to actual conditions. When the first sensing accuracy of the first sensing data is less than the first threshold, it can be determined that the state of the first sensing node no longer meets the conditions for being a sensing node that senses the sensing target corresponding to the first sensing task, or it can be determined that the distance between the sensing target corresponding to the first sensing task and the first sensing node exceeds the effective sensing range of the first sensing node itself. Therefore, it can be determined that a sensing node switch is needed. The first sensing node can instruct the core network element to switch the sensing node by sending a first indication message to indicate the switching, thereby enabling timely switching of the sensing node. When the first sensing accuracy of the first sensing data is greater than or equal to the first threshold, it can be determined that the first sensing node can still be considered a sensing node that senses the sensing target corresponding to the first sensing task, or it can be determined that the distance between the sensing target corresponding to the first sensing task and the first sensing node is still within the effective sensing range of the first sensing node itself. Therefore, it can be determined that no sensing node switch is needed.

[0132] In one possible implementation of this application embodiment, the method further includes:

[0133] C1. The first sensing node sends at least one of the following: first sensing data, sensing configuration information, or handover assistance information. Correspondingly, the core network element receives at least one of the following: first sensing data, sensing configuration information, or handover assistance information.

[0134] The perception configuration information is used to perceive the target, and the switching assistance information is used to determine the second perception node.

[0135] In this embodiment, after determining the first sensing data based on the first sensing task, the first sensing node can also determine sensing configuration information that can be used to sense the sensing target or switching assistance information that can be used to determine the second sensing node. The first sensing node can send at least one of the first sensing data, sensing configuration information, or switching assistance information to the core network element, so that the core network element can calculate the first sensing result based on the first sensing data, or determine the specific new sensing node to which it can switch based on the switching assistance information, that is, determine the second sensing node, or send the sensing configuration information to the new sensing node, that is, the second sensing node, so that the second sensing node can quickly realize the sensing target, improve the switching efficiency of the sensing node, and thus enable timely switching of the sensing node.

[0136] In one possible implementation of this application embodiment, the sensing configuration information includes at least one of the characteristics of the sensing target, a first sensing accuracy, or a time synchronization accuracy. In this embodiment, the first sensing node can determine at least one of the characteristics of the sensing target, the first sensing accuracy, or the time synchronization accuracy, and send it as sensing configuration information to the core network element. This allows the core network element to receive the sensing configuration information and send it to a new sensing node, i.e., the second sensing node. The second sensing node can then quickly perceive the sensing target, improving the switching efficiency of sensing nodes and enabling timely switching. The characteristics of the sensing target refer to information that reflects the attributes or state of the sensing target. The time synchronization accuracy refers to the difference between the global time estimated by the node to be synchronized and the time of the reference node, or the difference between the estimated reference times of two nodes; it reflects the accuracy and reliability of network time synchronization.

[0137] In one possible implementation of this application embodiment, the handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node.

[0138] Among them, the distance between the adjacent base station and the first sensing node is less than the second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than the third threshold, and the sensing terminal device is a terminal device in the cell corresponding to the first sensing node that can be used for sensing.

[0139] In this embodiment, the first sensing node can determine or obtain from other sensing nodes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node, to determine handover assistance information. The determined assistance information can be sent to the core network element. Based on the handover assistance information, the specific new sensing node to which the node can be switched can be determined, that is, the second sensing node can be determined. This is so that when the first sensing node determines that a sensing node handover is required, the first sensing node can be switched to the second sensing node, thereby enabling timely switching of sensing nodes.

[0140] It is understood that adjacent base stations refer to base stations that are geographically adjacent to or close to the first sensing node in a communication sensing network. These base stations are typically responsible for covering adjacent areas and providing seamless handover services when necessary to ensure communication continuity for user equipment when moving between the coverage areas of different base stations. Cooperation and synchronization between adjacent base stations are crucial for ensuring the performance and stability of the entire network. Specifically, base stations whose distance from the first sensing node is less than a second threshold can be defined as adjacent base stations.

[0141] Synchronous base stations refer to base stations with high time synchronization accuracy in a communication sensing network. These base stations synchronize using high-precision time synchronization protocols or dedicated synchronization equipment to ensure that their system time remains consistent. Specifically, a synchronous base station can be a base station that has already completed synchronization with the first sensing node.

[0142] A weak interference base station refers to a base station in a communication sensing network that generates relatively little interference. Interference is a common problem in communication sensing networks, which can lead to degraded signal quality, reduced communication speed, and increased bit error rate. Specifically, base stations with signal strength greater than a third threshold can be identified as weak interference base stations.

[0143] Furthermore, the specific values ​​of the second and third thresholds can be set according to actual conditions, and this application embodiment does not limit them here.

[0144] In one possible implementation of this application embodiment, the method further includes:

[0145] C1. The first sensing node sends a handover assistance information request, and correspondingly, the second sensing node receives the handover assistance information request.

[0146] The handover assistance information request is used to request handover assistance information.

[0147] C2. The second sensing node sends handover assistance information, and correspondingly, the first sensing node receives the handover assistance information.

[0148] Among them, the switching auxiliary information is used to determine the second sensing node.

[0149] In this embodiment, the second sensing node can be a target sensing node that is about to become a sensing node. When the first sensing node determines that a sensing node switch is needed based on the first sensing accuracy of the first sensing data, it can send a switching assistance information request to other sensing nodes, such as the second sensing node, to obtain the switching assistance information of other sensing nodes, such as the second sensing node. This allows the determined assistance information to be sent to the core network element, so that the core network element can determine the specific new sensing node to which it can switch, i.e., determine the second sensing node. This allows the first sensing node to switch to the second sensing node when it determines that a sensing node switch is needed, thus enabling timely sensing node switching.

[0150] 303. The core network element sends the second instruction information, and correspondingly, the first sensing node receives the second instruction information.

[0151] The second indication information is used to indicate that the first sensing node is a node to be switched.

[0152] In this embodiment, after receiving first indication information from a first sensing node indicating a switching of sensing nodes, the core network element can determine the first sensing node as a node to be switched based on the first indication information, update the first sensing node from the sensing node set to the set of nodes to be switched, and send second indication information to the first sensing node to inform it that a switching of sensing nodes has been performed, that is, to inform the first sensing node that it can no longer act as a sensing node for sensing targets. In other words, the update results of the sensing node set and the set of nodes to be switched can be notified to the first sensing node. It is understood that the sensing node set includes one or more target sensing nodes, and the set of nodes to be switched includes one or more nodes to be switched. A target sensing node refers to a sensing node that can currently act as a sensing node for sensing targets, which may include sensing nodes after a switching operation; a node to be switched refers to a sensing node that can no longer act as a sensing node for sensing targets, which may include sensing nodes that need to be switched. Furthermore, after receiving the second indication information, the first sensing node can decide whether to release the node sensing resources used for sensing targets.

[0153] In one possible implementation of this application embodiment, if the core network element receives the first sensing data, the method further includes:

[0154] D1. The core network elements calculate the first sensing result based on the first sensing data.

[0155] The first perception result includes the location information of the perceived target or whether the perceived target exists.

[0156] In this embodiment, if a core network element receives first sensing data, it can calculate a first sensing result based on the first sensing data. For example, if the first sensing task is specifically to locate a sensing target, the first sensing result calculated based on the first sensing data can be the location information of the sensing target; if the first sensing task is specifically to detect a sensing target, the first sensing result calculated based on the first sensing data can be whether the sensing target exists. It is understood that after calculating the first sensing result based on the first sensing data, the core network element can send the first sensing result to the user equipment so that the user equipment can perform further processing based on the first sensing result to meet the user equipment's sensing needs.

[0157] In one possible implementation of this application embodiment, if the core network element receives sensing configuration information, the method further includes:

[0158] E1. The core network element sends sensing configuration information to the second sensing node, and the second sensing node receives the sensing configuration information accordingly.

[0159] Among them, the perception configuration information is used to perceive the perception target.

[0160] In this embodiment, if a core network element receives sensing configuration information, it can send the sensing configuration information to a new sensing node, i.e., a second sensing node. This allows the second sensing node to quickly perceive the target based on the sensing configuration information, improving the switching efficiency of the sensing node and enabling timely switching. Specifically, the second sensing node can quickly locate the target based on the sensing configuration information and quickly determine the target's characteristics, facilitating rapid perception of the target.

[0161] In one possible implementation of this application embodiment, if the core network element receives handover assistance information, the method further includes:

[0162] F1. Core network elements determine the second sensing node based on handover auxiliary information.

[0163] In this embodiment, if a core network element receives handover assistance information, it can determine a new sensing node to which it can switch, i.e., determine a second sensing node. This allows the first sensing node to switch to the second sensing node when it determines that a sensing node switch is needed, thus enabling timely sensing node switching. For example, the core network element can determine a node with high sensing accuracy or good sensing effect for the sensing target based on the handover assistance information and designate that node as the target sensing node, i.e., the second sensing node.

[0164] In one possible implementation of this application embodiment, the method further includes:

[0165] G1, the core network element sends the second sensing task, and correspondingly, the first sensing node receives the second sensing task.

[0166] The second sensing task is used to instruct the sensing target to be sensed.

[0167] In this embodiment, after sending the second indication information to the first sensing node, the core network element can also send a second sensing task to the first sensing node. That is, after becoming a node to be switched over, the first sensing node can again sense the sensing target based on the second sensing task to avoid the situation where the sensing node is mistakenly switched over due to the sensing target changing its direction of movement. It is understood that the second sensing task and the first sensing task can be the same sensing task or different sensing tasks, and this embodiment does not limit this.

[0168] G2, the first sensing node determines the second sensing data corresponding to the second sensing task.

[0169] The second sensing data includes a second target distance, which is the distance between the sensing target and the first sensing node when the second sensing data is determined, and the first target distance is the distance between the sensing target and the first sensing node when the first sensing data is determined.

[0170] In this embodiment, after receiving the second sensing task, the first sensing node can sense the target based on the second sensing task and determine the second sensing data corresponding to the second sensing task. It is understood that the second sensing data can carry a second target distance, meaning the first sensing node can determine the distance between the target and the first sensing node when performing the second sensing task; similarly, the first sensing data can also carry a first target distance, meaning the first sensing node can also determine the distance between the target and the first sensing node when performing the first sensing task.

[0171] G3. If the distance to the second target is less than or equal to the distance to the first target, the first sensing node sends the second sensing data, and the core network element receives the second sensing data accordingly.

[0172] In this embodiment of the application, if the first sensing node determines that the distance to the second target is less than or equal to the distance to the first target, it can be considered that the distance between the sensing target and the first sensing node is gradually getting closer or remaining constant. That is, it can be considered that the first sensing node can still be used as the target sensing node to sense the sensing target. At this time, the first sensing node can send the second sensing data determined based on the second sensing task to the core network element for further processing to avoid the situation where the sensing node is mistakenly switched due to the sensing target changing its direction of movement.

[0173] If the first sensing node determines that the distance to the second target is greater than the distance to the first target, it can be assumed that the distance between the sensing target and the first sensing node is gradually increasing. In other words, it can be assumed that the first sensing node can no longer be used as a sensing node to sense the sensing target. The sensing accuracy of the second sensing data determined by the first sensing node does not meet the requirements. In this case, the first sensing node does not need to upload the second sensing data.

[0174] 304. The core network element sends the third instruction information, and the corresponding second sensing node receives the third instruction information.

[0175] The third indication information is used to indicate that the second sensing node is the target sensing node.

[0176] In this embodiment, after sending a first indication message to the first sensing node indicating that the first sensing node is a node to be switched, the core network element can further determine a second sensing node that can replace the first sensing node as the target sensing node, and can add the second sensing node to the sensing node set. After determining the second sensing node, the core network element can send a third indication message to the second sensing node to inform it that a sensing node switch has been performed, that is, to inform the second sensing node that it has become the target sensing node for sensing the target. This means that the core network element can notify the second sensing node of the update results of the sensing node set and the node to be switched set, thereby enabling timely switching of sensing nodes. Specifically, the core network element can determine the second sensing node to replace the first sensing node as the target sensing node from multiple sensing nodes based on switching auxiliary information, and then perform the sensing node switch.

[0177] In one possible implementation of this application embodiment, the method further includes:

[0178] H1. The core network element sends the second sensing task, and the corresponding second sensing node receives the second sensing task.

[0179] The second sensing task is used to instruct the sensing target to be sensed.

[0180] H2, the second sensing node determines the second sensing data corresponding to the second sensing task.

[0181] H3. The second sensing node sends the second sensing data, and the core network element receives the second sensing data accordingly.

[0182] In this embodiment, after receiving the third instruction information, the second sensing node can further receive a second sensing task sent by the core network element, and can sense the sensing target based on the second sensing task to obtain corresponding second sensing data. The second sensing data can then be sent to the core network element so that the core network element can perform subsequent processing based on the second sensing data to fulfill the sensing requirements of the user equipment. The second sensing data may include the speed, direction, and distance of the sensing target, etc. The target distance can be the distance between the sensing target and the second sensing node. The second sensing data may also include radar point cloud data, sensing latency, verification data, or the detection rate of markers, etc., which are not limited in this embodiment.

[0183] Furthermore, it should be noted that the second sensing data determined by the second sensing node based on the second sensing task can be different from the second sensing data determined by the first sensing node based on the second sensing task. Therefore, when a core network element receives both the second sensing data determined by the first sensing node based on the second sensing task and the second sensing data determined by the second sensing node based on the second sensing task, the second sensing data determined by the second sensing node based on the second sensing task can be referred to as the third sensing data in order to distinguish them.

[0184] The execution order of steps 303 and 304 can be either step 303 first and then step 304, or step 304 first and then step 303, or steps 303 and 304 can be executed simultaneously. This application embodiment does not limit this.

[0185] As illustrated by the foregoing embodiments, the first sensing node can determine whether it is suitable to continue as a target sensing node to sense the target based on the first sensing accuracy of the first sensing data. Furthermore, when the first sensing node determines that a sensing node switch is necessary based on the first sensing accuracy, it can complete the switching by sending a first indication message to indicate the switching and receiving a second indication message indicating that the first sensing node is the node to be switched, thereby enabling timely switching of sensing nodes.

[0186] The following section will describe a sensing node switching method provided in the embodiments of this application, in conjunction with specific scenarios.

[0187] Please refer to Figure 4. Figure 4 shows a flowchart of another sensing node switching method provided in this application embodiment, which can be applied to the first sensing node. The specific implementation flow of the other sensing node switching method provided in this application embodiment is as follows:

[0188] User equipment (UE) can first send a sensing service request to the core network element, which may carry a first sensing task. After receiving the sensing service request, the core network element can authenticate the UE and, upon successful authentication, send sensing signaling to multiple nodes. This sensing signaling may include a request to obtain identification information. After receiving the sensing signaling from the core network element, multiple nodes can return their own identification information, sensing range and accuracy, node type, and base station cell number or location area code to the core network element. Based on the information returned by the multiple nodes, the core network element can establish a set of sensing nodes for different sensing modes. This set can include multiple sensing nodes used to sense the target, and each sensing node in the set can periodically report its device status and load to the core network element. After establishing the sensing node set, the core network element can send a first sensing task to the first sensing node based on the identification information of the target sensing node in the set.

[0189] The first sensing node, based on the first sensing task, can adopt a self-spontaneous sensing mode to acquire the first sensing data corresponding to the first sensing task, as well as the SINR values ​​of the echo paths acquired by the corresponding receiving nodes, where the receiving nodes can be other sensing nodes. After acquiring the SINR values ​​of the echo paths corresponding to each receiving node, the first sensing node can upload the first sensing data and the SINR values ​​of the echo paths corresponding to each receiving node to the core network element. The core network element can calculate the first sensing result based on the first sensing data, and can also determine the cooperative sensing nodes based on the SINR values ​​of the echo paths corresponding to each receiving node, that is, it can update the target sensing nodes in the sensing node set based on the SINR values ​​of the echo paths corresponding to each receiving node. The core network element can return the first sensing result to the user equipment, and can also return the updated result of the sensing node set to the first sensing node, so that the first sensing node can perform corresponding operations based on the updated result of the sensing node set, including releasing node sensing resources and carrying out subsequent sensing tasks.

[0190] As illustrated by the examples in the foregoing embodiments, core network elements can determine suitable sensing nodes for multi-point collaborative sensing tasks by comparing the SINR values ​​of the echo paths corresponding to each receiving node.

[0191] Please refer to Figure 5. Figure 5 shows a flowchart of another sensing node switching method provided in this application embodiment, which can be applied to the first sensing node. This other sensing node switching method provided in this application embodiment is applicable to six sensing working modes. The specific implementation process is as follows:

[0192] User equipment (UE) can first send a sensing service request to the core network element, which may carry a first sensing task. After receiving the sensing service request, the core network element can authenticate the UE and, upon successful authentication, send sensing signaling to multiple nodes. This sensing signaling may include a request to obtain identification information. After receiving the sensing signaling from the core network element, multiple nodes can return their own identification information, sensing range and accuracy, node type, and base station cell number or location area code to the core network element. Based on the information returned by the multiple nodes, the core network element can establish a sensing node set for different sensing modes. This sensing node set may include multiple sensing nodes used for sensing targets, and each sensing node in the set can periodically report its device status and load to the core network element. After establishing the sensing node set, the core network element can send the first sensing task to the first sensing node in the set.

[0193] After receiving the first sensing task, the first sensing node can determine the sensing targets and the types of first sensing data that can be acquired based on the task. It then senses the targets and acquires the first sensing data corresponding to the task. The first sensing node can compare its sensing range, prior knowledge, and the acquired first sensing data to determine whether a node handover is necessary. When the first sensing node determines that a handover is needed, it can request auxiliary information from the second sensing node, including information about recommended nodes, such as the location information of neighboring base stations with better distances, the location information of base stations that have achieved precise synchronization, and the location information of base stations with less interference / higher signal strength based on measurements. Alternatively, it can request the precise location information of available sensing terminal devices within the base station cell, the status information of available sensing terminal devices within the cell, and the first sensing node's own sensing function load information. The second sensing node can upload the handover auxiliary information to the first sensing node, enabling the first sensing node to upload the first sensing data, sensing configuration information, and handover auxiliary information to the core network elements. The sensing configuration information can include target characteristics, measurement accuracy, and time synchronization accuracy. After receiving information from the first sensing node, the core network element can calculate the first sensing result from the first sensing data and return it to the user equipment. It can also determine the second sensing node to replace the first sensing node based on handover assistance information, add the second sensing node to the sensing node set, add the first sensing node to the node set to be switched, and send node update results to both the first and second sensing nodes. The core network element can send second sensing tasks to both the first and second sensing nodes. The second sensing node can acquire second sensing data based on the second sensing task and return it to the core network element. The first sensing node can acquire second sensing data based on the second sensing task and compare it with the second sensing data. If the target distance between the sensing target and the first sensing node has increased, the second sensing data is not uploaded; otherwise, it is uploaded to the core network element. The core network element can calculate the second sensing result based on the second sensing data and return it to the user equipment. The core network element can also update the set of sensing nodes and the set of nodes to be switched based on whether the first sensing node uploads the second sensing data, and can return the update result to the first sensing node and the second sensing node so that the first sensing node and the second sensing node can decide whether to release the node sensing resources or execute subsequent sensing tasks after receiving the result.

[0194] For example, the sensing target can be a car about to enter the tunnel, the sensing task can be speed measurement, and the sensing mode can be switched from the base station self-transmitting and self-receiving mode to the terminal self-transmitting and self-receiving mode. Therefore, the above scheme can specifically be:

[0195] User equipment (UE) can first send a sensing service request to the core network element, which may carry a first sensing task. After receiving the sensing service request, the core network element can authenticate the UE and, upon successful authentication, send sensing signaling to multiple nodes. This sensing signaling may include a request to obtain identification information. After receiving the sensing signaling from the core network element, multiple nodes can return their own identification information, sensing range and accuracy, node type, and base station cell number or location area code to the core network element. Based on the information returned by the multiple nodes, the core network element can establish a sensing node set for different sensing modes. This sensing node set may include multiple sensing nodes used for sensing targets, and each sensing node in the set can periodically report its device status and load to the core network element. After establishing the sensing node set, the core network element can send the first sensing task to the base stations in the sensing node set.

[0196] After receiving the first sensing task, the base station can determine the sensing targets and the types of first sensing data that can be acquired based on the task. It can then sense the targets and acquire the first sensing data corresponding to the task. The base station can compare its own sensing range, prior map, and the acquired first sensing data to determine whether a sensing node handover is necessary. When the base station determines that the sensing target is about to enter a tunnel, it can choose to perform a sensing node handover, switching the sensing mode from base station self-transmitting and self-receiving mode to terminal self-transmitting and self-receiving mode. When the base station determines that a node handover is necessary, it can request auxiliary information from the terminal, including information about recommended nodes, such as: location information of neighboring base stations with better distances, location information of base stations that have achieved precise synchronization, and location information of base stations with less interference / higher signal strength based on measurements. Alternatively, it can request the precise location information of available sensing terminal devices within the base station cell, the status information of available sensing terminal devices within the cell, and the base station's own sensing function load information. The terminal can upload handover assistance information to the base station, enabling the base station to upload the first sensing data, sensing configuration information, and handover assistance information to the core network element. The sensing configuration information may include target characteristics, measurement accuracy, and time synchronization accuracy, while the first sensing data may include speed measurement results. After receiving the information from the base station, the core network element can calculate the first sensing result from the first sensing data and return it to the user equipment. It can also determine the terminal to replace the base station based on the handover assistance information, add the terminal to the sensing node set, add the base station to the set of nodes to be handed over, and send node update results to both the base station and the terminal. The core network element can send a second sensing task to both the base station and the terminal. The terminal can acquire second sensing data based on the second sensing task and return it to the core network element. The base station can acquire the second sensing data based on the second sensing task and compare the first and second sensing data. If the target distance between the sensed target and the base station has increased, the second sensing data is not uploaded; otherwise, it is uploaded to the core network element. Core network elements can calculate the second sensing result based on the second sensing data and return the second sensing result to the user equipment. Core network elements can also update the sensing node set and the set of nodes to be handed over based on whether the base station has uploaded the second sensing data, and can return the update result to the base station and the terminal, so that the base station and the terminal can decide whether to release the node sensing resources or execute subsequent sensing tasks after receiving the result.

[0197] As illustrated by the examples in the foregoing embodiments, since the first sensing node can locally determine whether a sensing node switch is needed, the uploading of unqualified sensing data can be reduced, data redundancy can be decreased, and communication efficiency can be improved. Furthermore, sensing nodes that do not meet the requirements can be released in a timely manner, thereby saving node sensing resources. In addition, for sensing nodes to be switched, a sensing operation can be performed after updating the sensing node set, which can effectively alleviate the problem of sensing service interruption caused by a sudden shift in the sensing target.

[0198] Please refer to Figure 6. Figure 6 shows a flowchart of another sensing node handover method provided in this application embodiment. It can be applied to the first sensing node. This sensing node handover method provided in this application embodiment is suitable for sensing working modes where the base station transmits and receives data independently or where base station A transmits and B receives data. The specific implementation process is as follows:

[0199] User equipment (UE) can first send a sensing service request to the core network element, which may carry a first sensing task. After receiving the sensing service request, the core network element can authenticate the UE and, upon successful authentication, send sensing signaling to multiple nodes. This sensing signaling may include a request to obtain identification information. After receiving the sensing signaling from the core network element, multiple nodes can return their own identification information, sensing range and accuracy, node type, and base station cell number or location area code to the core network element. Based on the information returned by the multiple nodes, the core network element can establish a sensing node set for different sensing modes. This sensing node set may include multiple sensing nodes used for sensing targets, and each sensing node in the set can periodically report its device status and load to the core network element. After establishing the sensing node set, the core network element can send the first sensing task to the first sensing node in the set.

[0200] The first sensing node can acquire corresponding first sensing data based on the first sensing task, including the speed and direction of the sensed target, and the target distance between the sensed target and the first sensing node. The first sensing node can compare the acquired surrounding terrain of the sensed target with a prior map to calculate the sensing accuracy error value of the first sensing data. The smaller the error value, the higher the accuracy of the first sensing data, which determines whether the first sensing node should upload the first sensing data. If the sensing accuracy error value of the first sensing data is less than the upload accuracy error threshold, the first sensing data is uploaded; otherwise, if it is greater than the upload accuracy error threshold, a sensing node switching request is uploaded, but the first sensing data is not uploaded. If the first sensing data is uploaded, the core network element can calculate the first sensing result based on the first sensing data and return the first sensing result to the user equipment. If the first sensing data is not uploaded, the core network element can further determine a second sensing node to replace the first sensing node, add the second sensing node to the sensing node set, add the first sensing node to the node set to be switched, and send the node update result to the first sensing node.

[0201] As illustrated by the examples in the foregoing embodiments, since the first sensing node can locally determine whether a sensing node switch is needed, the uploading of unqualified sensing data can be reduced, data redundancy can be decreased, and communication efficiency can be improved. Furthermore, sensing nodes that do not meet the requirements can be released in a timely manner, thereby saving node sensing resources. In addition, for sensing nodes to be switched, a sensing operation can be performed after updating the sensing node set, which can effectively alleviate the problem of sensing service interruption caused by a sudden shift in the sensing target.

[0202] Figure 7 is a schematic diagram of a communication device provided in an embodiment of this application. The communication device is used to implement the function of the first sensing node in the above method embodiment, and the communication device specifically includes:

[0203] The determination module 701 is used to determine the first perception accuracy of the first perception data, wherein the first perception data is the data obtained by the first perception node based on the first perception task, and the first perception task is used to instruct the perception target to be perceived.

[0204] The sending module 702 is used to send first indication information if the first sensing accuracy is less than a first threshold, wherein the first indication information is used to indicate switching sensing nodes;

[0205] The receiving module 703 is used to receive second indication information, which indicates that the first sensing node is a node to be switched.

[0206] In one possible implementation of this application embodiment, the determining module 701 is specifically used for:

[0207] The perception accuracy of the first perception data is determined based on the prior knowledge of the first perception node and the first perception data.

[0208] In one possible implementation of this application embodiment, the prior knowledge of the first sensing node includes a prior map.

[0209] In one possible implementation of this application embodiment, the apparatus further includes:

[0210] The sending module 702 is further configured to send at least one of the first sensing data, sensing configuration information, or switching assistance information; wherein the sensing configuration information is used to sense the sensing target, and the switching assistance information is used to determine the second sensing node.

[0211] In one possible implementation of this application embodiment, the perception configuration information includes at least one of the characteristics of the perception target, the first perception accuracy, or the time synchronization accuracy.

[0212] In one possible implementation of this application embodiment, the handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than a third threshold, and the sensing terminal device is a terminal device that can be used for sensing within the cell corresponding to the first sensing node.

[0213] In one possible implementation of this application embodiment, the apparatus further includes:

[0214] The sending module 702 is further configured to send a handover assistance information request, wherein the handover assistance information request is used to request the handover assistance information;

[0215] The receiving module 703 is also used to receive the handover assistance information.

[0216] In one possible implementation of this application embodiment, the apparatus further includes:

[0217] The receiving module 703 is further configured to receive a second sensing task, the second sensing task being configured to instruct the sensing target to be sensed;

[0218] The determining module 701 is further configured to determine the second sensing data corresponding to the second sensing task, wherein the first sensing data includes a first target distance, the second sensing data includes a second target distance, the first target distance is the distance between the sensing target and the first sensing node when the first sensing data is determined, and the second target distance is the distance between the sensing target and the first sensing node when the second sensing data is determined;

[0219] The sending module 702 is further configured to send the second sensing data if the distance to the second target is less than or equal to the distance to the first target.

[0220] In one possible implementation of this application embodiment, the apparatus further includes:

[0221] The transmitting module 702 is also used to transmit signal quality parameters, which include the signal-to-interference-plus-noise ratio of the echo path.

[0222] As illustrated by the foregoing embodiments, the first sensing node can determine whether it is suitable to continue as a target sensing node to sense the target based on the first sensing accuracy of the first sensing data. Furthermore, when the first sensing node determines that a sensing node switch is necessary based on the first sensing accuracy, it can complete the switching by sending a first indication message to indicate the switching and receiving a second indication message indicating that the first sensing node is the node to be switched, thereby enabling timely switching of sensing nodes.

[0223] It should be noted that the physical device corresponding to the transmitting module 702 can be a transmitter, and the physical device corresponding to the receiving module 703 can be a receiver.

[0224] Figure 8 is a schematic diagram of a communication device provided in an embodiment of this application. The communication device is used to implement the functions of the core network elements in the above method embodiments, and the communication device specifically includes:

[0225] The receiving module 801 is used to receive first indication information, which is used to indicate switching of the sensing node. The first indication information is sent by the first sensing node when the first sensing accuracy of the first sensing data is less than a first threshold. The first sensing data is the data obtained by the first sensing node based on the first sensing task. The first sensing task is used to indicate sensing of the sensing target.

[0226] The sending module 802 sends second indication information, which is used to indicate that the first sensing node is a node to be switched.

[0227] The sending module 802 is also used to send third indication information, which is used to indicate that the second sensing node is the target sensing node.

[0228] In one possible implementation of this application embodiment, the method further includes:

[0229] The receiving module 801 is further configured to receive at least one of the first sensing data, sensing configuration information, or switching assistance information; wherein the sensing configuration information is used to sense the sensing target, and the switching assistance information is used to determine the second sensing node body.

[0230] In one possible implementation of this application embodiment, the perception configuration information includes at least one of the characteristics of the perception target, the first perception accuracy, or the time synchronization accuracy.

[0231] In one possible implementation of this application embodiment, the handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than a third threshold, and the sensing terminal device is a terminal device that can be used for sensing within the cell corresponding to the first sensing node.

[0232] In one possible implementation of this application embodiment, if the receiving module 801 is used to receive the first sensing data, the device further includes:

[0233] The calculation module is used to calculate a first perception result based on the first perception data, wherein the first perception result includes the location information of the perception target or whether the perception target exists.

[0234] In one possible implementation of this application embodiment, if the receiving module 801 is used to receive the sensing configuration information, the device further includes:

[0235] The sending module 802 is also used to send the sensing configuration information to the second sensing node.

[0236] In one possible implementation of this application embodiment, if the receiving module 801 is used to receive the handover assistance information, the device further includes:

[0237] The determining module is used to determine the second sensing node based on the switching assistance information.

[0238] In one possible implementation of this application embodiment, the apparatus further includes:

[0239] The sending module 802 is further configured to send a second sensing task, the second sensing task being configured to instruct the sensing target to be sensed;

[0240] The receiving module 801 is further configured to receive second sensing data corresponding to the second sensing task. The first sensing data includes a first target distance, and the second sensing data includes a second target distance. The first target distance is the distance between the sensing target and the first sensing node when the first sensing data is determined, and the second target distance is the distance between the sensing target and the first sensing node when the second sensing data is determined. The second sensing data is sent by the first sensing node when the second target distance is greater than the first target distance.

[0241] In one possible implementation of this application embodiment, the apparatus further includes:

[0242] The receiving module 801 is also used to receive signal quality parameters, including the signal-to-interference-plus-noise ratio of the echo path;

[0243] The determination module is used to determine a set of sensing nodes and a set of nodes to be switched based on the signal quality parameters. The set of sensing nodes includes one or more target sensing nodes, and the set of nodes to be switched includes one or more nodes to be switched.

[0244] As can be seen from the examples in the foregoing embodiments, when the first sensing node determines that a sensing node switch needs to be performed based on the first sensing accuracy of the first sensing data, it can send a first indication message to the core network element to indicate that the sensing node needs to be switched. After receiving the first indication message, the core network element can complete the switching of the sensing node by sending a second indication message to the first sensing node to indicate that the first sensing node is the node to be switched, and sending a third indication message to the second sensing node to indicate that the second sensing node is the target sensing node, thereby enabling timely switching of the sensing node.

[0245] It should be noted that the physical device corresponding to the transmitting module 802 can be a transmitter, and the physical device corresponding to the receiving module 801 can be a receiver.

[0246] The communication device described in Figure 8 above can also be used to implement the function of the second sensing node in the above method embodiments. The communication device specifically includes:

[0247] The receiving module 801 is used to receive third indication information, which is used to indicate that the second sensing node is the target sensing node. The third indication information is sent after the core network element receives the first indication information. The first indication information is used to indicate the switching of sensing nodes. The first indication information is sent by the first sensing node when the first sensing accuracy of the first sensing data is less than a first threshold. The first sensing data is the data obtained by the first sensing node based on the first sensing task. The first sensing task is used to indicate that the sensing target is to be sensed.

[0248] In one possible implementation of this application embodiment, the apparatus further includes:

[0249] The receiving module 801 is further configured to receive a second sensing task, the second sensing task being configured to instruct the sensing target to be sensed;

[0250] The determining module is used to determine the second sensing data corresponding to the second sensing task;

[0251] The transmitting module 802 is used to transmit the second sensing data.

[0252] In one possible implementation of this application embodiment, the apparatus further includes:

[0253] The receiving module 801 is also used to receive sensing configuration information, which is used to sense the sensing target.

[0254] In one possible implementation of this application embodiment, the perception configuration information includes at least one of the characteristics of the perception target, the first perception accuracy, or the time synchronization accuracy.

[0255] In one possible implementation of this application embodiment, the apparatus further includes:

[0256] The receiving module 801 is further configured to receive a handover assistance information request, wherein the handover assistance information request is used to request handover assistance information, and the handover assistance information is used to determine the second sensing node;

[0257] The sending module 802 is also used to send the switching assistance information.

[0258] In one possible implementation of this application embodiment, the handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than a third threshold, and the sensing terminal device is a terminal device that can be used for sensing within the cell corresponding to the first sensing node.

[0259] As illustrated by the examples in the foregoing embodiments, when the first sensing node determines that a sensing node switch is required based on the first sensing accuracy of the first sensing data, it can send a first indication message to the core network element to indicate the switching of the sensing node. After receiving the first indication message, the core network element can complete the switching of the sensing node by sending a second indication message to the first sensing node to indicate that the first sensing node is the node to be switched, and sending a third indication message to the second sensing node to indicate that the second sensing node is the target sensing node. After the second sensing node becomes the target sensing node, it can determine the corresponding second sensing data based on the second sensing task sent by the core network element, thereby enabling timely switching of the sensing node.

[0260] Figure 9 illustrates an example of the composition of an electronic device provided in an embodiment of this application. This electronic device may be a first device, including but not limited to a base station and a core network unit. Figure 9 shows a simplified schematic diagram of a base station structure. The base station includes parts 910, 920, and 930. Part 910 is mainly used for baseband processing and controlling the base station; part 910 is typically the control center of the base station, often referred to as a processor, used to control the base station to perform the processing operations on the first device side in the above method embodiments. Part 920 is mainly used for storing computer program code and data. Part 930 is mainly used for transmitting and receiving radio frequency signals and converting radio frequency signals to baseband signals; part 930 is often referred to as a transceiver module, transceiver, transceiver circuit, or transceiver unit. The transceiver module of part 930, also referred to as a transceiver or transceiver unit, includes an antenna 933 and a radio frequency circuit (not shown in the figure), wherein the radio frequency circuit is mainly used for radio frequency processing. Optionally, the device used to implement the receiving function in part 930 can be regarded as a receiver, and the device used to implement the transmitting function can be regarded as a transmitter. That is, part 930 includes receiver 932 and transmitter 931. The receiver can also be called a receiving module, receiver, or receiving circuit, etc., and the transmitter can be called a transmitting module, transmitter, or transmitting circuit, etc.

[0261] Sections 910 and 920 may include one or more circuit boards, each of which may include one or more processors and one or more memories. The processors are used to read and execute programs from the memories to implement baseband processing functions and control the base station. If multiple circuit boards exist, they can be interconnected to enhance processing capabilities. As an alternative implementation, multiple circuit boards may share one or more processors, multiple circuit boards may share one or more memories, or multiple circuit boards may simultaneously share one or more processors.

[0262] For example, in one implementation, the transceiver module in section 930 is used to execute the transceiver-related processes performed by the base station (first device) in the aforementioned method embodiments. The processor in section 910 is used to execute the processing-related processes performed by the base station in the aforementioned method embodiments.

[0263] It should be understood that Figure 9 is merely an example and not a limitation, and the network devices described above, including processors, memory, and transceivers, may not depend on the structure shown in Figure 9.

[0264] This application also provides a communication system, which may include a first device (e.g., a network device such as a base station) and a second device (e.g., a terminal device such as a mobile phone).

[0265] In this application, the terminal device or network device may include a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system layer. The hardware layer may include hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also known as main memory). The operating system layer may be any one or more computer operating systems that implement business processing through processes, such as Linux, Unix, Android, iOS, or Windows. The application layer may include applications such as browsers, address books, word processing software, and instant messaging software.

[0266] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0267] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or modules, and may be electrical, mechanical, or other forms.

[0268] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0269] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0270] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essential contribution of the technical solution of this application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the processes of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0271] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for sensing node handover, the method comprising: Applied to the first sensing node, the method includes: Determine the first perception accuracy of the first perception data, where the first perception data is the data acquired by the first perception node based on the first perception task, and the first perception task is used to instruct the perception of the target. If the first sensing accuracy is less than the first threshold, a first indication message is sent, which is used to indicate the switching of the sensing node. Receive second indication information, which is used to indicate that the first sensing node is a node to be switched.

2. The method of claim 1, wherein, Determining the perception accuracy of the first perception data includes: The perception accuracy of the first perception data is determined based on the prior knowledge of the first perception node and the first perception data.

3. The method of claim 2, wherein, The prior knowledge of the first sensing node includes a prior map.

4. The method according to any one of claims 1 to 3, further comprising: Send at least one of the first sensing data, sensing configuration information, or switching assistance information; wherein the sensing configuration information is used to sense the sensing target, and the switching assistance information is used to determine the second sensing node.

5. The method of claim 4, wherein, The perception configuration information includes at least one of the characteristics of the perception target, the first perception accuracy, or the time synchronization accuracy.

6. The method of claim 4, wherein, The handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than a third threshold, and the sensing terminal device is a terminal device that can be used for sensing within the cell corresponding to the first sensing node.

7. The method according to any one of claims 4 to 6, characterized in that, The method further includes: Send a handover assistance information request, wherein the handover assistance information request is used to request the handover assistance information; Receive the handover assistance information.

8. The method of claim 1, wherein, The method further includes: Receive a second sensing task, which is used to instruct the sensing target to be sensed; Determine the second perception data corresponding to the second perception task. The first perception data includes a first target distance, and the second perception data includes a second target distance. The first target distance is the distance between the perception target and the first perception node when the first perception data is determined, and the second target distance is the distance between the perception target and the first perception node when the second perception data is determined. If the distance to the second target is less than or equal to the distance to the first target, the second sensing data is sent.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: Transmitted signal quality parameters, including the signal-to-interference-plus-noise ratio of the echo path.

10. A method for sensing node switching, the method comprising: Applied to core network elements, the method includes: Receive first indication information, the first indication information is used to indicate switching the sensing node, the first indication information is sent by the first sensing node when the first sensing accuracy of the first sensing data is less than a first threshold, the first sensing data is the data obtained by the first sensing node based on the first sensing task, the first sensing task is used to indicate sensing the sensing target. Send a second indication message, which is used to indicate that the first sensing node is a node to be switched; Send a third indication message, which is used to indicate that the second sensing node is the target sensing node.

11. The method of claim 10, wherein, The method further includes: The system receives at least one of the first sensing data, sensing configuration information, or switching assistance information; wherein the sensing configuration information is used to sense the sensing target, and the switching assistance information is used to determine the second sensing node body.

12. The method of claim 11, wherein, The perception configuration information includes at least one of the characteristics of the perception target, the first perception accuracy, or the time synchronization accuracy.

13. The method of claim 11, wherein, The handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than a third threshold, and the sensing terminal device is a terminal device that can be used for sensing within the cell corresponding to the first sensing node.

14. The method of claim 11, wherein, If the first sensed data is received, the method further includes: A first perception result is calculated based on the first perception data. The first perception result includes the location information of the perceived target or whether the perceived target exists.

15. The method according to claim 11, characterized in that, If the perception configuration information is received, the method further includes: The sensing configuration information is sent to the second sensing node.

16. The method of claim 11, wherein, If the handover assistance information is received, the method further includes: The second sensing node is determined based on the switching assistance information.

17. The method of claim 10, wherein, The method further includes: Send a second sensing task, which is used to instruct the sensing target to be sensed; The system receives second sensing data corresponding to the second sensing task. The first sensing data includes a first target distance, and the second sensing data includes a second target distance. The first target distance is the distance between the sensing target and the first sensing node when the first sensing data is determined, and the second target distance is the distance between the sensing target and the first sensing node when the second sensing data is determined. The second sensing data is sent by the first sensing node when the second target distance is greater than the first target distance.

18. The method according to any one of claims 10 to 16, characterized in that, The method further includes: Received signal quality parameters, the signal quality parameters including the signal-to-interference-plus-noise ratio of the echo path; Based on the signal quality parameters, a set of sensing nodes and a set of nodes to be switched are determined. The set of sensing nodes includes one or more target sensing nodes, and the set of nodes to be switched includes one or more nodes to be switched.

19. A sensing node handover method, comprising: Applied to a second sensing node, the method includes: The third indication information is received, which is used to indicate that the second sensing node is the target sensing node. The third indication information is sent after the core network element receives the first indication information. The first indication information is used to indicate the switching of sensing nodes. The first indication information is sent by the first sensing node when the first sensing accuracy of the first sensing data is less than the first threshold. The first sensing data is the data obtained by the first sensing node based on the first sensing task. The first sensing task is used to indicate that the sensing target is to be sensed.

20. The method of claim 19, wherein, The method further includes: Receive a second sensing task, which is used to instruct the sensing target to be sensed; Determine the second sensing data corresponding to the second sensing task; Send the second sensing data.

21. The method of claim 20, wherein, The method further includes: Receive perception configuration information, which is used to perceive the perception target.

22. The method of claim 21, wherein, The perception configuration information includes at least one of the characteristics of the perception target, the first perception accuracy, or the time synchronization accuracy.

23. The method of claim 19, wherein, The method further includes: Receive a handover assistance information request, wherein the handover assistance information request is used to request handover assistance information, and the handover assistance information is used to determine the second sensing node; Send the switching assistance information.

24. The method of claim 23, wherein, The handover assistance information includes at least one of the following: location information of adjacent base stations, location information of synchronous base stations, location information of weak interference base stations, location information of sensing terminal devices, status information of sensing terminal devices, or sensing function load information of the first sensing node. The distance between the adjacent base stations and the first sensing node is less than a second threshold, the synchronous base station is a base station that has completed synchronization, the signal strength of the weak interference base station is greater than a third threshold, and the sensing terminal device is a terminal device that can be used for sensing within the cell corresponding to the first sensing node.

25. A communications device, characterized by The device includes a processor coupled to a memory storing a program or instructions, the processor executing the program or instructions to cause the device to perform the method as described in any one of claims 1 to 24.

26. A computer readable storage medium having stored thereon a computer program or instructions, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1 to 24.

27. A communication system, characterized by Includes the communication device as described in claim 25.

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