WO2023231842A1 - 感知方式切换方法、装置、终端及网络侧设备 - Google Patents

感知方式切换方法、装置、终端及网络侧设备 Download PDF

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Publication number
WO2023231842A1
WO2023231842A1 PCT/CN2023/095795 CN2023095795W WO2023231842A1 WO 2023231842 A1 WO2023231842 A1 WO 2023231842A1 CN 2023095795 W CN2023095795 W CN 2023095795W WO 2023231842 A1 WO2023231842 A1 WO 2023231842A1
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Prior art keywords
sensing
node
target
mode
measurement
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PCT/CN2023/095795
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English (en)
French (fr)
Inventor
李健之
姜大洁
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维沃移动通信有限公司
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Publication of WO2023231842A1 publication Critical patent/WO2023231842A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements

Definitions

  • This application belongs to the field of communication technology, and specifically relates to a sensing mode switching method, device, terminal and network side equipment.
  • sensing nodes in a mobile communication network can achieve sensing measurement of the state of a sensing target or the sensing environment by sending and receiving sensing signals.
  • the state of the sensing target or the sensing environment may changes, changes in the location of sensing nodes, available resources, etc.
  • the current sensing nodes are unable to achieve accurate sensing measurements of the status of the sensing target or the sensing environment, which results in poor reliability of sensing results.
  • Embodiments of the present application provide a sensing mode switching method, device, terminal and network side equipment, which can switch the sensing mode, so that the switched sensing mode can accurately sense the status of the target or the sensing environment, thereby improving the reliability of the perceived results.
  • a sensing mode switching method which method includes:
  • the first node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report;
  • the handover measurement report includes measurement results used to determine the handover sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal receiving node of the second sensing mode The signal sending node and the signal receiving node of the second sensing mode are the same node.
  • a sensing mode switching device applied to the first node, and the device includes:
  • a first determination module configured to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report;
  • the handover measurement report includes measurement results used to determine the handover sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal receiving node of the second sensing mode The signal sending node and the signal receiving node of the second sensing mode are the same node.
  • a sensing mode switching method which method includes:
  • the target sensing node receives first request information, wherein the first request information is used to request the target sensing node to perform a sensing operation on the sensing target according to the second sensing mode;
  • the target sensing node sends first response information, wherein the first response information indicates that the target sensing node agrees to perform a sensing operation on the sensing target according to the second sensing mode, and the signal of the second sensing mode
  • the sending node and the signal receiving node of the second sensing mode are the same node.
  • a sensing mode switching device applied to a target sensing node, and the device includes:
  • the second receiving module is configured to receive first request information, where the first request information is used to request the target sensing node to perform a sensing operation on the sensing target according to the second sensing mode;
  • the second sending module is configured to send first response information, where the first response information indicates that the target sensing node agrees to perform sensing operations on the sensing target according to the second sensing mode, and the second sensing mode
  • the signal sending node and the signal receiving node of the second sensing mode are the same node.
  • a sensing mode switching method which method includes:
  • the second sensing node When the second sensing node performs a sensing operation on the sensing target according to the first sensing mode, it performs measurements related to the switching sensing mode and obtains a switching measurement report;
  • the switching measurement report is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are the same node,
  • the second sensing node is a signal receiving node in the first sensing mode.
  • a sensing mode switching device applied to the second sensing node, and the device includes:
  • a measurement module configured to perform measurements related to the switching sensing mode and obtain a switching measurement report when the second sensing node performs a sensing operation on the sensing target according to the first sensing mode;
  • the switching measurement report is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are the same node,
  • the second sensing node is a signal receiving node in the first sensing mode.
  • the seventh aspect provides a sensing mode switching method, which method includes:
  • the first sensing node When performing a sensing operation on the sensing target according to the first sensing mode, the first sensing node sends a handover measurement request to the second sensing node;
  • the handover measurement request is used to request the second sensing node to perform measurements related to the switching sensing mode to obtain a handover measurement report, and the handover measurement report is used to determine whether the sensing mode of the sensing target will be changed by the sensing mode.
  • the first sensing mode is switched to the second sensing mode;
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, The signal sending node in the second sensing mode and the signal receiving node in the second sensing mode are the same node, and the first sensing node is the signal sending node in the first sensing mode.
  • a sensing mode switching device applied to the first sensing node, and the device includes:
  • a third sending module configured to send a handover measurement request to the second sensing node when the first sensing node performs a sensing operation on the sensing target according to the first sensing mode
  • the handover measurement request is used to request the second sensing node to perform measurements related to the switching sensing mode to obtain a handover measurement report, and the handover measurement report is used to determine whether the sensing mode of the sensing target will be changed by the sensing mode.
  • the first sensing mode is switched to the second sensing mode;
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are the same node,
  • the first sensing node is a signal sending node in the first sensing mode.
  • a terminal in a ninth aspect, includes a processor and a memory.
  • the memory stores programs or instructions that can be run on the processor.
  • the program or instructions are executed by the processor, the following implementations are implemented: The steps of the method described in the third aspect, the fifth aspect, or the seventh aspect.
  • a terminal including a processor and a communication interface
  • the communication interface is used to receive first request information, and to send first response information, wherein the first request information is used to request the target sensing node.
  • the node performs a sensing operation on the sensing target according to the second sensing mode.
  • the first response information indicates that the target sensing node agrees to perform the sensing operation on the sensing target according to the second sensing mode.
  • the signal of the second sensing mode The sending node and the signal receiving node of the second sensing mode are the same node; or,
  • the communication interface is used to perform measurements related to switching sensing modes when the second sensing node performs a sensing operation on the sensing target according to the first sensing mode, and obtain A handover measurement report, wherein the handover measurement report is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the signal sending node of the first sensing mode and the third sensing mode.
  • the signal receiving nodes in the first sensing mode are different nodes, the signal sending node in the second sensing mode and the signal receiving node in the second sensing mode are the same node, and the second sensing node is the signal receiving node in the first sensing mode. signal receiving node; or,
  • the communication interface is used to send a handover measurement request to the second sensing node when the first sensing node performs a sensing operation on the sensing target in a first sensing manner.
  • the handover measurement request is used to request the second sensing node to perform measurements related to the handover sensing mode to obtain a handover measurement report, and the handover measurement report is used to determine whether the sensing mode of the sensing target will be changed by the sensing mode.
  • the first sensing mode is switched to the second sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes.
  • the signal receiving node in the second sensing mode is the same node, and the first sensing node is the signal sending node in the first sensing mode.
  • a network side device in an eleventh aspect, includes a processor and a memory.
  • the memory stores programs or instructions that can be run on the processor.
  • the program or instructions are used by the processor.
  • the implementation is as follows: The steps of the method described in the first aspect, the third aspect, the fifth aspect, or the seventh aspect.
  • a network side device including a processor and a communication interface
  • the processor when the network side device is a first node, the processor is configured to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report, wherein, the The handover measurement report includes measurement results used to determine the handover sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, the signal sending node of the second sensing mode and The signal receiving node of the second sensing mode is the same node; or,
  • the communication interface is used to receive first request information, and to send first response information, wherein the first request information is used to request the target sensing node.
  • the node performs a sensing operation on the sensing target according to the second sensing mode.
  • the first response information indicates that the target sensing node agrees to perform the sensing operation on the sensing target according to the second sensing mode.
  • the signal of the second sensing mode The sending node and the signal receiving node of the second sensing mode are the same node; or,
  • the communication interface is used to perform measurements related to switching sensing modes when the second sensing node performs a sensing operation on the sensing target according to the first sensing mode. , obtain a handover measurement report, wherein the handover measurement report is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the signal sending node of the first sensing mode and the The signal receiving node of the first sensing mode is a different node, the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are the same node, and the second sensing node is the first sensing node. signal receiving node in mode; or,
  • the communication interface is used to send a handover to the second sensing node when the first sensing node performs a sensing operation on the sensing target in a first sensing manner.
  • Measurement request wherein the handover measurement request is used to request the second sensing node to perform measurements related to the switching sensing mode to obtain a handover measurement report, and the handover measurement report is used to determine whether to change the sensing mode of the sensing target.
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, the signal sending node of the second sensing mode and The signal receiving node in the second sensing mode is the same node, and the first sensing node is the signal sending node in the first sensing mode.
  • a wireless sensing system including: a terminal and a network side device.
  • the network side device can be used to perform the sensing method as described in the first aspect, the third aspect, the fifth aspect, or the seventh aspect.
  • the terminal may be configured to perform the steps of the sensing mode switching method as described in the third aspect, the fifth aspect, or the seventh aspect.
  • a readable storage medium is provided. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the implementation of the first aspect or the third aspect or the fifth aspect or The steps of the method described in the seventh aspect.
  • a chip in a fifteenth aspect, includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the first aspect or the third aspect. aspect or fifth aspect Or the method described in the seventh aspect.
  • a computer program/program product is provided, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the first aspect or the third aspect.
  • the first node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report; wherein the switching measurement report includes a parameter used to determine the switching sensing mode.
  • Measurement results show that the signal sending node in the first sensing mode and the signal receiving node in the first sensing mode are different nodes, and the signal sending node in the second sensing mode and the signal receiving node in the second sensing mode are same node.
  • the first node when the sensing node performs sensing measurement on the sensing target based on the first sensing mode, the first node can determine based on the handover measurement report whether the second sensing mode is consistent with the state and location of the sensing target compared with the first sensing mode.
  • the environment is more suitable, so as to determine whether to switch the first sensing mode to the second sensing mode, so that the sensing mode of the sensing target can better match the state of the sensing target or the sensing environment, so as to obtain more accurate
  • the perception results improve the reliability of the perception measurement process.
  • Figure 1 is a schematic structural diagram of a wireless communication system to which embodiments of the present application can be applied;
  • Figure 2 is one of the flow charts of a sensing mode switching method provided by an embodiment of the present application.
  • Figure 3a is a schematic diagram of the first sensing mode
  • Figure 3b is a schematic diagram of the second sensing mode
  • Figure 4 is a schematic diagram of switching the first sensing mode to the second sensing mode
  • Figure 5 is the second flow chart of a sensing mode switching method provided by an embodiment of the present application.
  • Figure 6 is the third flow chart of a sensing mode switching method provided by an embodiment of the present application.
  • Figure 7 is the fourth flowchart of a sensing mode switching method provided by an embodiment of the present application.
  • Figure 8 is one of the structural schematic diagrams of a sensing mode switching device provided by an embodiment of the present application.
  • Figure 9 is the second structural schematic diagram of a sensing mode switching device provided by an embodiment of the present application.
  • Figure 10 is the third structural schematic diagram of a sensing mode switching device provided by an embodiment of the present application.
  • Figure 11 is the fourth structural schematic diagram of a sensing mode switching device provided by an embodiment of the present application.
  • Figure 12 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • Figure 13 is a schematic structural diagram of a terminal provided by an embodiment of the present application.
  • Figure 14 is a schematic structural diagram of a network side device provided by an embodiment of the present application.
  • Figure 15 is a schematic structural diagram of another network-side device provided by an embodiment of the present application.
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in sequences other than those illustrated or described herein, and that "first" and “second” are distinguished objects It is usually one type, and the number of objects is not limited.
  • the first object can be one or multiple.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/" generally indicates that the related objects are in an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced, LTE-A Long Term Evolution
  • LTE-A Long Term Evolution
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency Division Multiple Access
  • NR New Radio
  • FIG. 1 shows a block diagram of a wireless communication system to which embodiments of the present application are applicable.
  • the wireless communication system includes a terminal 11 and a network side device 12.
  • the terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a palmtop computer, a netbook, or a super mobile personal computer.
  • Tablet Personal Computer Tablet Personal Computer
  • laptop computer laptop computer
  • PDA Personal Digital Assistant
  • PDA Personal Digital Assistant
  • UMPC ultra-mobile personal computer
  • UMPC mobile Internet device
  • MID mobile Internet Device
  • AR augmented reality
  • VR virtual reality
  • robots wearable devices
  • WUE Vehicle User Equipment
  • PUE Pedestrian User Equipment
  • smart home home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture, etc.
  • game consoles personal computers (personal computer, PC), teller machine or self-service machine and other terminal-side devices.
  • Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets) bracelets, smart anklets, etc.), smart wristbands, smart clothing, etc.
  • the network side device 12 may include an access network device or a core network device, where the access network device may also be called a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a wireless access network unit.
  • Access network equipment may include a base station, a Wireless Local Area Network (WLAN) Access Point (AP) or a Wireless Fidelity (Wireless Fidelity, WiFi) node, etc.
  • the base station may be called a Node B (Node B).
  • NB evolved node B
  • Evolved Node B evolved Node B
  • BTS Base Transceiver Station
  • BTS basic Service Set
  • ESS Extended Service Set
  • HNB Home Node B
  • HNB Home Evolved Node B
  • TRP Transmission Reception Point Point
  • the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only the base station in the NR system is used. This is introduced as an example and does not limit the specific type of base station.
  • Core network equipment may include but is not limited to at least one of the following: core network nodes, core network functions, mobility management entities (Mobility Management Entity, MME), access mobility management functions (Access and Mobility Management Function, AMF), session management functions (Session Management Function, SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Service Discovery function (Edge Application Server Discovery Function, EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), centralized network configuration ( Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (Local NEF, or L-NEF), Binding Support Function (Binding Support Function, BSF), application function (Application Function, AF), etc.
  • MME mobility management entities
  • AMF Access and Mobility Management Function
  • SMF Session Management Function
  • UPF User Plane Function
  • PCF Policy Control Function
  • Radar systems often use specially designed waveforms, such as short pulses and chirps, that enable high-power radiation and simplified receiver processing.
  • waveforms are not necessary for radar detection, a good example is passive radar or passive sensing that uses different radio signals as sensing signals.
  • Wireless sensing can broadly refer to retrieving information from received radio signals, rather than modulating communication data into a signal at a transmitter.
  • AOA arrival Angle of Arrival
  • AOD Angle of Departure
  • Doppler Doppler
  • the two sensing methods can be called sensing parameter estimation and pattern recognition respectively.
  • wireless sensing refers to more general sensing technologies and applications that use radio signals.
  • Integrated Sensing And Communication has the potential to integrate wireless sensing into large-scale mobile networks, here called Perceptive Mobile Networks (PMNs).
  • PMN can evolve from the current 5G mobile network and is expected to become a ubiquitous wireless sensor network while providing stable and high-quality mobile communication services. It can be built on existing mobile network infrastructure without requiring major changes to network structures and equipment. It will unleash the maximum capabilities of mobile networks and avoid the high infrastructure costs of building new wide-area wireless sensor networks separately. As coverage expands, integrated communication and sensing capabilities are expected to enable many new applications.
  • Sensing mobile networks are capable of providing both communication and wireless sensing services, and have the potential to become a ubiquitous wireless sensing solution due to their large broadband coverage and strong infrastructure.
  • Sensitive mobile networks can be widely used in communication and sensing in the fields of transportation, communications, energy, precision agriculture, and security, where existing solutions are either unfeasible or inefficient. It can also provide complementary sensing capabilities to existing sensor networks, with unique day and night operation capabilities and the ability to penetrate fog, foliage and even solid objects.
  • the base station in the mobile communication network can be used as a sensing node to participate in sensing/synaesthesia integrated services.
  • TRP Transmission Reception Point
  • UE User Equipment
  • Array/Panel can be used as a sensing node to participate in sensing/synaesthesia integrated services.
  • the sensing signal may be a signal that does not contain transmission information, such as existing LTE/NR synchronization and reference signals (including: synchronization signals and physical broadcast channel (Synchronization Signal and PBCH block, SSB) signals, channel state information (Channel State Information, CSI) reference signal (CSI Reference Signal, CSI-RS), demodulation reference signal (Demodulation Reference Signal, DMRS), channel sounding reference signal (Sounding Reference Signal, SRS), positioning reference signal (Positioning Reference Signal, PRS) , Phase-Tracking Reference Signal (PTRS), etc.), or single-frequency continuous wave (CW), frequency-modulated continuous wave (Frequency Modulated CW, FMCW) commonly used in radar, and ultra-wideband Gaussian pulse wait.
  • existing LTE/NR synchronization and reference signals including: synchronization signals and physical broadcast channel (Synchronization Signal and PBCH block, SSB) signals, channel state information (Channel State Information, CSI) reference signal (CSI Reference Signal, CSI
  • the sensing signal can also be a newly designed dedicated sensing signal with good correlation characteristics and low peak-to-average power ratio (PAPR), or a newly designed synaesthesia integrated signal that carries both Certain information, and at the same time having good sensing performance, the type of sensing signal is not specifically limited here, and for convenience of explanation, the above signals are collectively referred to as the first signal in the following embodiments.
  • PAPR peak-to-average power ratio
  • the sensing mode is divided into a first sensing mode and a second sensing mode according to whether the sending node and the receiving node of the sensing signal are the same device.
  • sensing node A sends the first signal.
  • sensing node B receives the first signal.
  • the sensing node A and sensing node B are not the same device and are physically separated.
  • the same sensing node spontaneously receives the first signal, that is, sensing signal transmission and reception. Executed by the same device, the sensing node senses by receiving the signal echo sent by itself.
  • one sensing method is usually used to perform sensing measurement on the sensing target.
  • the sensing node uses the first sensing mode to perform sensing measurement on the sensing target, it can determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report.
  • the sensing performance requirements for the sensing targets can be changed.
  • the sensing mode of the sensing target is switched to the second sensing mode, thereby improving the sensing performance of the sensing target.
  • sensing mode switching method sensing mode switching device, terminal and network side device provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through some embodiments and application scenarios.
  • the execution subject may be a first node, and the first node may include a core network (such as a sensing network function/aware network element in the core network) device.
  • a core network such as a sensing network function/aware network element in the core network
  • the source base station may be a base station that performs sensing operations on the sensing target according to the first sensing mode before switching the sensing mode
  • the source access base station may be a base station that performs sensing operations before switching the sensing mode.
  • a base station accessed by a UE that performs a sensing operation on the sensing target according to the first sensing mode.
  • the above-mentioned first node may also be a UE participating in the sensing service, which is not specifically limited here.
  • a sensing mode switching method provided by an embodiment of the present application may include the following steps:
  • Step 201 The first node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report.
  • the handover measurement report includes measurement results used to determine the handover sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal receiving node of the second sensing mode The signal sending node and the signal receiving node of the second sensing mode are the same node.
  • the node that senses the sensing target according to the first sensing mode can be called the source sensing node (such as the source base station or the source UE); in order to further distinguish, the source sensing node can also be used for
  • the node that sends the sensing signal is called the first sensing node
  • the node in the source sensing node that receives the sensing signal is called the second sensing node
  • the sensing operation in the first sensing mode is called the first sensing node.
  • the first sensing node before switching the sensing mode, sends a sensing signal, which is received by the second sensing node after being reflected by the sensing target.
  • the second sensing node performs sensing measurement on the received sensing signal, so as to obtain
  • the measurement value of the perceptual measurement quantity (such as the received power of the received signal, the angle of arrival or the angle of departure, etc.)
  • the final perception result can be determined based on the measurement value of the perceptual measurement quantity.
  • the first sensing node is node A
  • the second sensing node is node B
  • the core network device is the first device
  • the sensing target is a vehicle.
  • the node that senses the sensing target according to the second sensing mode can be called the target sensing node (such as the target base station or the target UE), and the node in the second sensing mode is The perceptual operation is called second perception.
  • the target sensing node spontaneously receives the sensing signal, thereby obtaining the measurement value of the sensing measurement quantity based on the echo signal reflected by the sensing target.
  • the target sensing node can be any one of node A, node B and node C, where node A is the source signal sending node before switching the sensing mode, and node B is the source signal before switching the sensing mode.
  • the signal receiving node, node C can be any node except node A and node B.
  • the target sensing node may be different from the above-mentioned first sensing node and the second sensing node. In another implementation manner, the target sensing node may also be one of the first sensing node and the second sensing node.
  • the first sensing method can be divided into the following three scenarios:
  • the first sensing method is: uplink sensing between the base station and the UE (that is, the UE sends the first signal, and base station A receives the first signal) or downlink sensing (that is, base station A sends the first signal, UE receives the first signal)
  • the first sensing method is: sensing between two base stations (for example: base station A sends a first signal and base station B receives the first signal, or base station B sends a first signal and base station A receives the first signal).
  • the first signal base station B receives the sensing signal;
  • the first sensing method is: sensing between two UEs (such as: UE A sends the first signal and UE B receives the first signal, or UE B sends the first signal and UE A receives the first signal). the first signal).
  • the second sensing method can be divided into the following two scenarios:
  • the second sensing mode is: spontaneous and self-received sensing by the base station.
  • the base station may be the source base station (base station A or base station B) participating in the first sensing mode, or it may be another base station C.
  • the second sensing mode is: UE spontaneous and self-received sensing.
  • the UE may be the source base station (UE A or UE B) participating in the first sensing mode, or it may be another UE C.
  • the sensing node in the network may change before and after the handover, and the sensing node may be a base station or a UE after the handover, there are 6 combinations of switching from the first sensing mode to the second sensing mode, specifically including:
  • the base station-UE performs the first sensing, and switches to the base station to perform the second sensing;
  • Base station the base station performs the first sensing, and switches to the base station to perform the second sensing;
  • the base station-UE performs the first sensing, and switches to the UE to perform the second sensing;
  • UE-UE performs the first sensing, switching to UE performing the second sensing;
  • UE-UE performs the first sensing, switching to the base station to perform the second sensing;
  • Base station - the base station performs the first sensing, and switches to the UE to perform the second sensing.
  • the handover measurement report may include measurement results used to determine whether it is necessary to switch the sensing mode. That is to say, the handover measurement report may at least include the measurement value of the sensing measurement quantity required for handover measurement.
  • the sensing measurement quantity required for the handover measurement may include the sensing measurement quantity of the current sensing service, that is, the sensing measurement quantity required for the switching measurement may be to sense the sensing target according to the first sensing mode before switching the sensing mode. The measured value measured by the sensing node.
  • the handover measurement report includes at least one of the following:
  • Instruction information used to indicate whether a preset event occurs the preset event being used to trigger the switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • the measurement value of at least one sensing measurement quantity can be the measurement value of all or part of the sensing measurement quantities obtained by the first sensing of the sensing target by the source sensing node before switching. Based on this measurement value, the sensing target or perception can be reflected. The state of the environment changes, thereby determining whether the sensing mode needs to be switched to the second sensing mode, where the first sensing means the sensing in the first sensing mode.
  • the measurement result of at least one perceptual performance evaluation index can be that after the perceptual target is first perceived to obtain the perceptual result, the perceptual performance evaluation is performed on the perceptual result based on the perceptual performance evaluation index. Based on the perceptual performance evaluation result, the perceptual performance evaluation result can reflect The perception performance of the perception target is determined by the first perception. In this way, when the perception performance is poor, you can switch to the second perception mode.
  • the perceptual performance evaluation index may include at least one of the following:
  • Perceptual SNR represents the energy of the perceived signal reflected by the sensing target or sensing area, compared with the noise signal in the environment and device. The ratio of signal energy
  • Perception SINR represents the ratio of the energy of the sensing signal reflected by the sensing target or sensing area to the sum of the energy of the interference signal and noise signal in the environment and equipment;
  • Perception can reuse existing evaluation indicators (such as the sum of the Euclidean distance (Euclidean Distance) between the two sequence sample points, or the regular path distance in dynamic time planning (Dynamic Time Warping, DTW), or other indicators that can reflect the two Indicators of sequence similarity.
  • other indicators that can reflect the similarity of two sequences include but are not limited to: Longest Common Subsequence (LCSS), Edit Distance on Real Sequences (EDR) ), Edit Distance with Real Penalty (ERP), Hausdorff Distance (Hausdorff Distance), Fréchet Distance (Fréchet Distance), One Way Distance (OWD) and multi-line position distance (Locality In-between Polylines, LIP) etc.
  • the measurement value of at least one communication measurement quantity of the signal sending node and/or the signal receiving node in the first sensing mode may be the reference signal received power (Reference Signal Received Power). , RSRP), Signal Noise Ratio (SNR), Signal to Interference plus Noise Ratio (SINR), Reference Signal Received Quality (RSRQ), Received Signal Strength Indicator (Received Signal Strength Indicator (RSSI), bit error rate, block error rate, throughput, spectrum efficiency, etc.
  • the measurement values based on this communication measurement quantity can reflect the communication performance of the source signal sending node and/or the source signal receiving node. In this way, when the communication performance of the source signal sending node and/or the source signal receiving node is poor, the second sensing mode can be switched.
  • the measurement results of at least one communication performance evaluation index of the signal sending node and/or the signal receiving node in the first sensing mode are similar to the above sensing performance evaluation index.
  • the source signal can be measured based on the communication performance evaluation index.
  • the communication performance of the sending node and/or the source signal receiving node is evaluated. Based on the communication performance evaluation result, the communication performance of the source signal sending node and/or the source signal receiving node can be reflected. In this way, between the source signal sending node and/or the source signal receiving node, Or when the communication performance of the source signal receiving node is poor, you can switch to the second sensing mode.
  • Option five Instruction information used to indicate whether a preset event occurs.
  • the preset event is used to trigger the switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • the above preset events may include at least one of the following:
  • the state of the sensing target changes (such as: the position, movement speed, etc. of the sensing target change, etc.);
  • the position of the first sensing node changes, and the first sensing node is a signal sending node in the first sensing mode (for example: the distance between the first sensing node and the sensing target exceeds the maximum sensing distance, or the first sensing node The node moves outside the communication range of the second sensing node, etc.);
  • the position of the second sensing node changes (for example: the distance between the second sensing node and the sensing target exceeds the maximum sensing distance, or the second sensing node moves outside the communication range of the first sensing node, etc.);
  • the environment of the sensing area where the sensing target is located changes (such as: the density of sensing targets in the sensing area, weather, etc. change);
  • the sensing resources available to the first sensing node change for example: the channel resources, antennas and other sensing resources that the first sensing node can use to perform sensing services change);
  • the sensing resources available to the second sensing node change for example: the channel resources, antennas and other sensing resources that the second sensing node can use to perform sensing services change);
  • the measured value of the sensing measurement quantity obtained by the second sensing node reaches the first preset threshold (such as: sensing signal received power, sensing SNR, sensing SINR, distance/speed/angle measurement value, etc., at least one of which satisfies the preset switching threshold. limit);
  • the first preset threshold such as: sensing signal received power, sensing SNR, sensing SINR, distance/speed/angle measurement value, etc., at least one of which satisfies the preset switching threshold. limit
  • the measurement value of the communication measurement amount obtained by the second sensing node or the measurement value of the communication measurement amount between the second sensing node and the access network side device of the second sensing node reaches the second preset threshold (
  • the definition of the communication measurement quantity can be the same as the communication measurement quantity in the above option three.
  • the measurement value of the communication measurement quantity reaching the second preset threshold can indicate poor communication quality or communication quality lower than the perceived performance requirements) , for example: the measurement value of the communication measurement quantity reaches the second preset threshold, which may include at least one of the following:
  • the reference signal received power RSRP is less than or equal to the first preset value
  • the signal-to-noise ratio SNR is less than or equal to the second preset value
  • the signal-to-interference-to-noise ratio SINR is less than or equal to the third preset value
  • the reference signal reception quality RSRQ is less than or equal to the fourth preset value
  • the received signal strength indicator RSSI is less than or equal to the fifth preset value
  • the bit error rate is greater than or equal to the sixth preset value
  • the block error rate is greater than or equal to the seventh preset value
  • the throughput is greater than or equal to the eighth preset value
  • the spectrum efficiency is greater than or equal to the ninth preset value
  • the measurement value of the communication measurement amount between the first sensing node and the access network side device of the first sensing node reaches the third preset threshold (in the case where the first sensing node is a terminal, the terminal needs to communicate with The connected network side device communicates to realize the sensing function. At this time, if the communication quality between the first sensing node and its connected network side device is poor, the sensing performance will be reduced).
  • Option six Instruction information used to indicate whether a preset switching condition is satisfied.
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • satisfying the preset switching condition can be understood as the occurrence of the above preset event.
  • the sensing performance in the first sensing mode is low or insufficient to meet the sensing requirements, so the sensing mode can be switched to the second sensing mode. way to improve perceived performance.
  • the above-mentioned handover measurement report may simultaneously include at least two of the above-mentioned options one to six. Based on the handover measurement report, the first node can determine whether the second sensing method can be compared with the first sensing method. Achieve better perceived performance.
  • the first node determines whether to detect the sensing target based on the handover measurement report.
  • the sensing mode switching method further includes:
  • the first node sends a handover measurement request to a second sensing node, and the second sensing node is a signal receiving node in the first sensing mode;
  • the first node receives the handover measurement report from the second sensing node.
  • the handover measurement request is used to request the second sensing node to measure and report the above handover measurement report.
  • the first node may be the same device as the first sensing node, or the first node may be a core network device (such as a sensing function network element).
  • the core network device will be collectively referred to as the core network device in this embodiment. (which is the first device), or in the case where the second sensing node is a terminal, the first node may be the access network side device of the terminal.
  • the first node may be at least one of the first device, base station A, and the UE's access base station, and the second node may be the UE;
  • the first node may be at least one of the first device and base station A, and the second node may be base station B;
  • the first node may be at least one of the first device, the access base station of UE A and UE B, and the second node is UE B.
  • the first node can periodically send handover measurement requests to the second sensing node to periodically detect whether the sensing target needs to be The mode switches to the second sensing mode.
  • the first node may send a handover to the second sensing node only after determining that a preset event occurs. Measurement request, in this way, the frequency of the second sensing node performing measurements related to switching sensing modes can be reduced.
  • the preset events include at least one of the following:
  • the state of the sensing target changes
  • the position of the first sensing node changes, and the first sensing node is the signal sending node in the first sensing mode
  • the position of the second sensing node changes
  • the environment of the sensing area where the sensing target is located changes
  • the sensing resources available to the first sensing node change
  • the sensing resources available to the second sensing node change
  • the measurement value of the sensing measurement quantity obtained by the second sensing node reaches the first preset threshold
  • the measurement value of the communication measurement amount obtained by the second sensing node or the measurement value of the communication measurement amount between the second sensing node and the access network side device of the second sensing node reaches the second preset threshold
  • the measurement value of the communication measurement amount between the first sensing node and the access network side device of the first sensing node reaches a third preset threshold.
  • the preset event has the same meaning as the preset event in the above embodiment, and is not specifically limited here. Based on the preset event, measurements related to switching sensing modes can be triggered when the sensing performance is reduced, which can reduce the second feel Knowing the frequency at which the node performs measurements related to switching sensing modes can reduce resource consumption and reduce the energy consumption of the second sensing node.
  • the method before the first node receives the handover measurement report from the second sensing node, the method further includes:
  • the first node sends first configuration information to the second sensing node, where the first configuration information is used to configure the second sensing node to perform handover measurement to obtain the handover measurement report.
  • the above-mentioned first node may respectively send the first configuration information and the first request information to the second sensing node, wherein the first request information is used to request the recipient of the first request information to complete the sensing mode. After switching, perform a second perception of the perception target.
  • the above-mentioned first configuration information may be carried in the first request information, so that the second sensing node can be requested to perform measurements related to switching sensing modes through one message, and how to configure the second sensing node to perform measurements and reporting.
  • the above-mentioned first configuration information may configure which signals the second sensing node needs to measure, which measurement quantities need to be measured, how to report handover measurement reports, etc.
  • the first configuration information includes at least one of the following:
  • Measurement object indication information measurement report configuration information corresponding to the handover measurement report, configuration information of the target event, and measurement identification;
  • the measurement object indication information includes the identification information of the second signal used to perform the handover measurement, the sensing measurement quantity associated with the second signal and the sensing parameter configuration information of the second signal, and the target event For triggering execution of the handover measurement, one measurement identifier corresponds to one measurement object and one measurement report configuration information.
  • the measurement report configuration corresponding to the above handover measurement report may include the principle of reporting the handover measurement report, for example, it may be configured to report periodically or trigger the report based on an event.
  • the measurement report configuration corresponding to the above-mentioned handover measurement report can also configure the format of the measurement report, such as the maximum number of reported cells and the number of beams.
  • the above-mentioned target events and related parameters may include: measurement event definitions, event-related parameters, switching decision conditions, etc., for example: the event that needs to be measured by the second sensing node is defined as a certain action to detect the sensing target (such as: assuming that the sensing target is person, the measurement event is a fall event), the above event-related parameters may be parameters used to determine whether the detected event is related to the defined target event, and the switching decision condition may be used to determine whether to switch the sensing mode from the first sensing mode is the judgment condition for the second perception mode.
  • the above-mentioned measurement identification is used to identify measurement behavior, for example: to identify a target event for measuring a certain measurement object.
  • the measurement identification corresponding to the measurement report corresponding to a measurement object and a switching measurement report the measurement object can be combined with the measurement identification.
  • the measurement report configurations corresponding to the handover measurement report are in one-to-one correspondence, thereby enabling the second sensing node to determine the object that needs to be measured based on the measurement identifier, and the configuration used in the process of measuring and reporting the handover measurement.
  • the second sensing node can also actively perform measurements related to switching sensing modes. Measure and report the switching measurement report.
  • the above handover measurement report may also be measured by other sensing nodes except the second sensing node, which is not specifically limited here.
  • the sensing mode switching method when the first node determines to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report, the sensing mode switching method also includes:
  • the first node sends a sensing end command to a third sensing node, wherein the third sensing node includes at least one of a signal receiving node and a signal sending node in the first sensing mode, and the third sensing node
  • the node does not include the target sensing node.
  • the sensing end command is used to notify the third sensing node to end the sensing operation on the sensing target.
  • the target sensing node is used to complete the sensing mode switching according to the The sensing node performs sensing operations in the second sensing mode.
  • the third sensing node when the third sensing node receives the sensing end command, it will end the sensing operation on the sensing target based on the sensing end command, thereby saving the waste of resources caused by the third sensing node continuing to perform sensing operations on the sensing target. and energy consumption.
  • the first node may send a sensing end command to the third sensing node when it determines to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • the first node may send a sensing end command to the third sensing node when sending a handover measurement request to the second sensing node.
  • the sensing mode switching method before the first node sends a sensing end command to the third sensing node, the sensing mode switching method further includes:
  • the first node receives a handover success message from the target sensing node, wherein the target sensing node sends the handover success message when the measurement value and/or sensing result of at least one sensing measurement quantity is obtained.
  • this implementation adopts a soft handover process for switching the sensing mode, that is, the first sensing mode is ended only after ensuring that the target sensing node starts to perform sensing according to the second sensing mode. Allows for no interruption in perception of the perceived target.
  • the target sensing node when the target sensing node obtains at least one measurement value of the sensing measurement quantity according to the second sensing mode, or obtains at least one sensing result, the target sensing node sends the above-mentioned handover success message.
  • the first sensing mode can be ended when the target sensing node can correctly perform sensing according to the second sensing mode, which reduces the risk of sensing failure due to sensing failure in the process of the target sensing node sensing the sensing target according to the second sensing mode.
  • the problem caused by the interruption of perception of the perception target is not limited to
  • a hard handover process can also be used to switch the sensing mode.
  • the first node sends a switching command to the target sensing node, it also sends a sensing end command to the third sensing node. This is not specifically limited here. .
  • the method when the first node determines to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the method further includes:
  • the first node determines a target sensing node from the candidate sensing nodes, and the target sensing node is a sensing node used to perform sensing operations according to the second sensing mode after completing the sensing mode switching.
  • the above-mentioned candidate sensing nodes may be those that the first node believes are capable of sensing after switching the sensing mode.
  • the node where the target performs sensing may be those that the first node believes are capable of sensing after switching the sensing mode.
  • the first node when the first node stores prior information such as capability information and resource information of candidate sensing nodes, the first node can determine the target sensing node from the candidate sensing nodes based on the prior information.
  • the first node determines the target sensing node from the candidate sensing nodes, further comprising:
  • the first node sends first request information to the candidate sensing node or the access network side device of the candidate sensing node, wherein the first request information is used to request the candidate sensing node to follow the second
  • the sensing method performs a sensing operation on the sensing target
  • the candidate sensing node including the first candidate sensing node
  • the first node determines the first candidate sensing node as the target sensing node.
  • the first request information may carry at least one of the following information:
  • Perception requirements may include perception target areas, object types, required perception functions, perception purposes and perception results, etc.;
  • Perceived quality of service can include at least one of the following: perceptual resolution (which can be further divided into: ranging resolution, angle measurement resolution, speed measurement resolution, imaging resolution, etc.), perception accuracy (Further divided into: ranging accuracy, angle measurement accuracy, speed measurement accuracy, positioning accuracy, etc.), sensing range (further divided into: ranging range, speed measurement range, angle measurement range, imaging range, etc.), sensing delay (such as the time interval from the sensing signal sent to the sensing result obtained, or the time interval from the sensing demand initiated to the sensing result obtained), sensing update rate (such as the time interval between two consecutive sensing executions and sensing results obtained), detection probability (such as the probability of being correctly detected when the sensing object exists), false alarm probability (such as the probability of incorrectly detecting the sensing target when the sensing object does not exist), perceived security and perceived privacy;
  • perceptual resolution which can be further divided into: ranging resolution, angle measurement resolution, speed measurement resolution, imaging resolution, etc.
  • perception accuracy Frether divided into:
  • the perceptual measurement results may, for example, include perceptual results obtained directly or indirectly based on the measurement value of at least one perceptual measurement quantity;
  • the sensing conditions may include, for example, at least one of sensing start time, sensing end time, sensing duration, etc.;
  • the prior information of the sensing target or sensing area may include, for example, at least one of the sensing target type, the approximate location/area of the sensing target, and the historical status of the sensing target (speed, angle, distance, acceleration, spatial orientation);
  • Determination conditions for successful sensing mode switching may indicate that the measurement value of at least one sensing measurement quantity and/or the measurement result of the communication measurement quantity reaches a preset threshold within a preset time/preset number of times).
  • the first node sends first request information to each candidate sensing node or to the access network side device of the candidate UE, so as to request these candidate nodes to use the second sensing mode after switching the sensing mode.
  • the sensing target performs a sensing operation.
  • the first candidate sensing node among these candidate sensing nodes determines based on the first request information that it can perform the sensing operation on the sensing target according to the second sensing mode, it can send a message to the sensing target.
  • the first node feeds back the first response information.
  • the first node can receive the first response from the first candidate sensing node. information to determine the first candidate sensing node as the target sensing node.
  • the first candidate sensing node when the first request information is received, if it is determined based on the first request information that it is unable to operate according to the second sensing mode By performing a sensing operation on the sensing target, the first rejection information can be fed back to the first node. At this time, the first node can select the target sensing node from other candidate sensing nodes based on receiving the first rejection information.
  • the first node may send a signal to the access network side device of the candidate UE (i.e., the candidate access device).
  • the first request information can request the candidate access base station to search for the candidate UE, so that the candidate UE can perform sensing operation on the sensing target according to the second sensing mode after the sensing mode switching is completed.
  • the candidate access base station may send a handover measurement request to at least one candidate UE.
  • the handover measurement request is used to request the receiver to perform sensing target detection in the second sensing mode after the sensing mode switching is completed.
  • the candidate UE can feed back the first response information or the first rejection information to the candidate access base station.
  • the candidate access base station can select the target UE from the candidate UEs that feed back the first response information, and send the target UE to the first node.
  • Feed back indication information of the target UE may indicate that the target UE can perform sensing operations on the sensing target in the second sensing mode after the sensing mode switching is completed. In this way, the first node can determine the target UE as the target sensing node accordingly.
  • the first node may send the first request information to a candidate sensing node each time, and when receiving the first rejection information, send the first request information to the next candidate sensing node, and iterate sequentially. , until the first response information of the first candidate sensing node is received, and the first candidate sensing node is determined as the target sensing node accordingly.
  • the first node may send the first request information to at least two candidate sensing nodes at the same time, and when receiving the first response information from the at least two first candidate sensing nodes, use other methods to obtain the first request information from the at least two candidate sensing nodes. Select one of the two first candidate sensing nodes as the target sensing node, for example, select the one with the strongest capability as the target sensing node.
  • the method further includes:
  • the first node determines a candidate sensing node from the preset sensing node set according to the first information of each sensing node in the preset sensing node set, and the candidate sensing node includes the target sensing node, where,
  • the first information includes at least one of the following:
  • the preset sensing node set may be all nodes in the device information list stored by the first node.
  • the preset sensing node set may include all UEs accessing the base station, as well as other base stations communicating with the base station, etc.
  • the device information list may include each sensing node therein.
  • Device information such as: location information, antenna resource information, capability information, resource configuration information, etc.
  • the first node can determine, based on the device information, which sensing nodes support sensing operations on the sensing target according to the second sensing mode, thereby determining that these sensing nodes can serve as candidate sensing nodes for the target sensing node.
  • candidate terminals can be determined based on at least one of the following:
  • the status information of the terminal may include, for example, moving speed, moving direction, time period of remaining stationary/moving, etc.;
  • the terminal's sensing capability information may include, for example, the terminal's sensing coverage, the maximum bandwidth available for sensing, the maximum duration of the sensing service, the supported sensing signal types and frame formats, and terminal antenna array information (such as array type, number of antennas) , array aperture, antenna polarization characteristics, array element gain and directivity characteristics, etc.);
  • the resource information that the terminal can currently use for sensing can include, for example, time resources (number of symbols, number of time slots, number of frames, etc.), frequency resources (such as the number of resource blocks (RB), resource units (Resource Element, RE) number, total bandwidth, available frequency band location, etc.), antenna resources (such as the number of antenna arrays/number of antenna sub-arrays), phase modulation resources (such as the number of hardware phase shifters) and orthogonal code resources (such as the length and number of orthogonal codes) wait;
  • time resources number of symbols, number of time slots, number of frames, etc.
  • frequency resources such as the number of resource blocks (RB), resource units (Resource Element, RE) number, total bandwidth, available frequency band location, etc.
  • antenna resources such as the number of antenna arrays/number of antenna sub-arrays
  • phase modulation resources such as the number of hardware phase shifters
  • orthogonal code resources such as the length and number of orthogonal codes
  • the channel state information of the terminal may, for example, include the channel transfer function/channel impulse response of at least one communication link, channel quality indicator (Channel Quality Indicator, CQI), precoding matrix indicator (Precoding Matrix Indicator, PMI), CSI-RS At least one of resource indication, SSB resource indication, layer indicator (Layer Indicator, LI), rank indicator (Rank indicator, RI), and layer 1 reference signal received power (L1-Reference Signal Received Power, L1-RSRP).
  • channel quality indicator Channel Quality Indicator, CQI
  • Precoding Matrix Indicator, PMI Precoding Matrix Indicator
  • CSI-RS At least one of resource indication, SSB resource indication, layer indicator (Layer Indicator, LI), rank indicator (Rank indicator, RI), and layer 1 reference signal received power (L1-Reference Signal Received Power, L1-RSRP).
  • candidate network-side devices can be determined based on at least one of the following:
  • Network-side device antenna panel orientation information
  • the sensing capability information of the network side device may include, for example, the sensing coverage of the network side device, the maximum bandwidth available for sensing, the maximum duration of the sensing service, the supported sensing signal type and frame format, and the network side device antenna array information (such as array type, number of antennas, array aperture, antenna polarization characteristics, array element gain and directivity characteristics, etc.);
  • the resource information that the network side device can currently use for sensing can include, for example, time resources (number of symbols, number of time slots, number of frames, etc.), frequency resources (such as the number of resource blocks (RB), resource units (Resource Element, etc.) RE) number, total bandwidth, available frequency band location, etc.), antenna resources (such as the number of antenna arrays/number of antenna sub-arrays), phase modulation resources (such as the number of hardware phase shifters) and orthogonal code resources (such as the orthogonal code length and Quantity), etc.;
  • the channel state information of the network side device may include, for example, the channel transfer function/channel impulse response of at least one communication link, channel quality indicator (Channel Quality Indicator, CQI), precoding matrix indicator (Precoding Matrix Indicator, PMI), CSI -RS resource indication, SSB resource indication, layer indicator (Layer Indicator, LI), At least one of the rank indicator (Rank indicator, RI) and the layer 1 reference signal received power (L1-Reference Signal Received Power, L1-RSRP).
  • the first node can select a target sensing node from a large number of candidate sensing nodes, so that the selected target sensing node can sense the sensing target according to the second sensing mode.
  • the node used to select the target sensing node from a large number of candidate sensing nodes may also be other nodes besides the first node, for example, when the first node is the first device , the node used to select the target sensing node from a large number of candidate sensing nodes can be the source base station (that is, the base station that participates in the first sensing mode before switching the sensing mode), the source access base station (that is, the base station that participates in the first sensing mode before switching the sensing mode) The base station accessed by the UE).
  • the sensing mode switching method further includes:
  • the first node sends a switching command to the target sensing node, where the switching command is used to notify the target sensing node to perform a sensing operation according to the second sensing mode.
  • the first node after determining the target sensing node, the first node also sends a switching command to the target sensing node, so that the target sensing node performs sensing operations in the second sensing manner based on the switching command.
  • the switching command includes third configuration information, which is used to configure sensing parameters for the target sensing node to perform sensing operations according to the second sensing mode; and/or,
  • the first response information includes second configuration information, and the second configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations according to the second sensing mode.
  • the switching command includes third configuration information
  • the third configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations according to the second sensing mode.
  • the target sensing node can determine the parameter configuration information for performing the second sensing based on the third parameter configuration information.
  • the first response information includes second configuration information
  • the second configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations according to the second sensing mode.
  • the first node can configure sensing parameters related to the second sensing according to the second configuration information recommended by the target sensing node.
  • the first response information includes second configuration information
  • the switching command includes third configuration information
  • the first response information fed back by the target sensing node to the first node may carry second parameter configuration information.
  • the second parameter configuration information may represent parameters recommended by the target sensing node for performing the second sensing. Configuration information.
  • the above third parameter configuration information may be the same as or different from the second parameter configuration information, and the parameter configuration information actually used by the target sensing node during the second sensing process after switching the sensing mode may be the second parameter configuration information or the third parameter configuration information.
  • the parameter configuration information or the fourth parameter configuration information determined based on the second parameter configuration information and the third parameter configuration information are not specifically limited here. In this way, the target sensing node can perform the second sensing by integrating the second parameter configuration information recommended by the target sensing node and the third parameter configuration information configured by the first node.
  • the second configuration information includes at least one of the following:
  • Waveform type subcarrier interval, guard interval, bandwidth, data burst duration, time domain interval, transmission Send signal power, signal format, signal direction, time resources, frequency resources, quasi-co-located QCL relationship, and antenna configuration information;
  • the third configuration information includes at least one of the following:
  • Waveform type subcarrier interval, guard interval, bandwidth, data burst duration, time domain interval, transmit signal power, signal format, signal direction, time resources, frequency resources, quasi-co-located QCL relationship, and antenna configuration information.
  • the waveform type for example, orthogonal frequency division multiplex (OFDM), single carrier frequency division multiplexing access technology (Single Carrier Frequency Division Multiple Accessing, SC-FDMA), orthogonal time-frequency space ( Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signal and other types;
  • OFDM orthogonal frequency division multiplex
  • SC-FDMA single carrier frequency division multiplexing access technology
  • OFDM Single Carrier Frequency Division Multiple Accessing
  • OFDM single carrier frequency division multiplexing access technology
  • SC-FDMA Single Carrier Frequency Division Multiple Accessing
  • OFDM single carrier frequency division multiplexing access technology
  • OFDM Single Carrier Frequency Division Multiple Accessing
  • SC-FDMA Single Carrier Frequency Division Multiple Accessing
  • OFDM single carrier frequency division multiplexing access technology
  • OTFS Orthogonal Time Frequency Space
  • FMCW Frequency Modulated Continuous Wave
  • Subcarrier spacing For example, the subcarrier spacing of OFDM system is 30KHz;
  • Guard interval represents the time interval from the time when the signal ends sending to the time when the latest echo signal of the signal is received. This parameter is proportional to the maximum sensing distance. For example, it can be calculated by 2d max /c, where d max is the maximum sensing distance (belonging to sensing requirements). For example, for spontaneous self-received sensing signals, d max represents the maximum distance from the sensing signal transmitting and receiving point to the signal transmitting point; in some cases, the OFDM signal cyclic prefix (CP) can play the role of the minimum guard interval;
  • Bandwidth This parameter is inversely proportional to the distance resolution and can be obtained by c/(2 ⁇ d), where ⁇ d is the distance resolution (belonging to the perception requirements); c is the speed of light;
  • Burst duration This parameter is inversely proportional to the rate resolution (belongs to the sensing requirements). This parameter is the time span of the sensing signal. It is mainly used to calculate the Doppler frequency offset; this parameter can be passed c/(2f c ⁇ v) Calculated; where, ⁇ v is the velocity resolution; f c is the carrier frequency of the sensing signal;
  • Time domain interval This parameter can be calculated by c/(2f c v range ); where v range is the maximum rate minus the minimum speed (belonging to the sensing requirements); this parameter is the time between two adjacent sensing signals interval;
  • Transmit signal power for example, take a value every 2dBm from -20dBm to 23dBm;
  • Signal format For example, SRS, DMRS, PRS, etc., or other predefined signals, as well as related sequence format and other information;
  • Signal direction such as the direction of the perceived signal or beam information
  • Time resources such as the time slot index where the sensing signal is located or the symbol index of the time slot; among them, time resources are divided into two types, one is a one-time time resource, such as one symbol transmits an omnidirectional sensing signal; the other is a non- One-time time resources, such as multiple groups of periodic time resources or discontinuous time resources (can include start time and end time). Each group of periodic time resources sends sensing signals in the same direction. Different groups of periodic time resources The beam directions on time resources are different;
  • Frequency resources including the center frequency point of the sensing signal, bandwidth, RB or subcarrier, reference point A (Point A), starting bandwidth position, etc.;
  • the sensing signal includes multiple resources, each resource is associated with a synchronization signal block (Synchronization Signal and PBCH block, SSB) QCL, and QCL includes Type A (Type A), Type B, Type C or Type D.
  • synchronization signal block Synchronization Signal and PBCH block, SSB
  • Type A Type A
  • Type B Type B
  • Type C Type D
  • the above antenna configuration information may include:
  • Antenna element ID or antenna port ID used to send and/or receive sensing signals
  • Panel ID and array element ID used to send and/or receive sensing signals
  • the position information of the antenna element used to send and/or receive sensing signals relative to a local reference point on the antenna array can be represented by Cartesian coordinates (x, y, z) or spherical coordinates);
  • the position information of the panel used to send and/or receive sensing signals relative to a local reference point on the antenna array can be represented by Cartesian coordinates (x, y, z) or spherical coordinates), as well as the user information within the selected panel.
  • the position information of the antenna element that sends the sensing signal relative to a unified reference point of the panel (such as the center point of the panel) (can be represented by Cartesian coordinates (x, y, z) or spherical coordinates);
  • the bitmap information of the antenna array element uses “1" to indicate that the array element is selected for sending and/or receiving sensing signals, and uses “0" to indicate that the array element is not selected (and vice versa);
  • bitmap information of the array panel uses “1” to indicate that the array element is selected for sending and/or receiving sensing signals, and uses "0" to indicate that the array element is not selected (it can also be reversed).
  • each first candidate sensing node may, after determining to switch to the second sensing mode, Perform sensing operations according to the recommended sensing parameter configuration information, thereby further improving sensing performance.
  • the target sensing node may, after completing the sensing mode switching, use at least one of the second configuration information and the third configuration information recommended by itself. item to perform second perception
  • the first response information may also include communication measurement quantities and their measurement values.
  • each first candidate sensing node can feed back the measured value of the communication measurement quantity so that the third sensing node can A node selects a target sensing node among the first candidate nodes with better communication measurement volume and performs the sensing operation according to the second sensing mode, thereby improving the sensing performance.
  • the second configuration information and/or the third configuration information includes first switching mode configuration information, wherein the first switching mode configuration information is used to configure the second sensing mode when the second sensing mode is successfully established. , ending the first sensing mode.
  • ending the first sensing mode may mean that the sensing mode is switched using a soft handover process.
  • the first handover mode configuration information configures sensing operations during soft handover.
  • the sensing mode switching method further includes:
  • the first node sends first indication information, where the first indication information is used to notify the recipient of the first indication information that after completing the sensing mode switching, the target sensing node will perform the sensing operation according to the second sensing mode. Perform a sensing operation on the sensing target.
  • the first node when the first node determines to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, it may send the first sensing mode to the core network device, the source base station, etc. Instruction information is used to instruct the recipient of the first indication information that after completing the sensing mode switching, the target sensing node performs a sensing operation on the sensing target according to the second sensing mode. In this way, the recipient of the first indication information can perform subsequent operations based on the first indication information. For example, the first device can determine whether to switch the sensing mode and/or the nodes participating in sensing during the subsequent sensing process.
  • the sensing mode switching method when the first node determines to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the sensing mode switching method also includes:
  • the first node sends second indication information, wherein the second indication information is used to instruct the signal sending node and/or the signal receiving node in the first sensing mode to exit the sensing mode after completing the switching of the sensing mode.
  • the first node when the first node determines to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, it may perform the sensing of the first sensing before switching the sensing mode.
  • the node, or the access base station of the sensing node that performs the first sensing sends the above-mentioned second instruction information to instruct it to no longer perform the sensing operation on the sensing target.
  • the first device when the first device determines to switch the first perception between base station A and the UE to the second perception of base station B, the first device may send second indication information to base station A and the UE respectively to instruct base station A. and the UE will no longer participate in sensing after the sensing mode switching is completed.
  • the sensing mode switching method further includes:
  • the first node sends sensing reference information to a target sensing node, where the target sensing node is a sensing node used to perform sensing operations according to the second sensing mode after completing the sensing mode switching, and the sensing reference information includes At least one of the following:
  • the sensing measurement quantity in the sensing reference information before switching the sensing mode may be the same as or different from the sensing measurement quantity of the target sensing node after the sensing mode is switched, which is not specifically limited here.
  • the first node sends the above-mentioned sensing reference information to the target sensing node, so that the target sensing node can perform the second sensing based on the sensing reference information, thereby improving the sensing performance of the sensing target.
  • the first node determines whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report; wherein the switching measurement report includes information for determining the switching sensing mode.
  • the measurement results, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode for the same node.
  • the first node when the sensing node performs sensing measurement on the sensing target based on the first sensing mode, the first node can determine based on the handover measurement report whether the second sensing mode is consistent with the state and location of the sensing target compared with the first sensing mode.
  • the environment is more suitable, so as to determine whether to switch the first sensing mode to the second sensing mode, so that the sensing mode of the sensing target can better match the state of the sensing target or the sensing environment, so as to obtain more accurate
  • the perception results improve the reliability of the perception measurement process.
  • the execution subject may be the target sensing node, that is, the node used to perform the second sensing after the sensing mode switching is completed.
  • the second sensing mode switching method may include the following steps:
  • Step 501 The target sensing node receives first request information, where the first request information is used to request the target sensing node to perform a sensing operation on the sensing target according to the second sensing mode.
  • Step 502 The target sensing node sends first response information, wherein the first response information indicates that the target sensing node agrees to perform a sensing operation on the sensing target according to the second sensing mode.
  • the second sensing node The signal sending node of the mode and the signal receiving node of the second sensing mode are the same node.
  • first request information, second sensing mode and first response information respectively have the same meaning as the first request information, second sensing mode and first response information in the method embodiment as shown in Figure 2, and will not be discussed here. Repeat.
  • the target sensing node when the first node determines to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the target sensing node can determine to participate in the second sensing mode at the request of the first node. , thereby feeding back the first response information to the first node, so that the first node can determine based on the first response information that the second sensing can be performed by the target sensing node after completing the sensing mode switching.
  • the sensing mode switching method further includes:
  • the target sensing node receives a switching command, wherein the switching command is used to notify the target sensing node to perform a sensing operation according to the second sensing mode;
  • the target sensing node sends a first signal according to the second sensing mode, and receives the first signal reflected by the sensing target to obtain a measurement value of a sensing measurement quantity and/or a sensing result.
  • the target sensing node when receiving the switching command, sends a first signal based on the switching command, and receives the echo signal of the first signal reflected by the sensing target to obtain the measurement value of the sensing measurement quantity.
  • the target sensing node may also calculate the sensing result based on the measurement value of the sensing measurement quantity, or send the measurement value of the sensing measurement quantity to the base station and/or core network equipment, etc., so as to pass the base station and/or core network equipment. to calculate the perception result based on the measured value of the sensory measurement quantity.
  • the sensing party Switching methods also include:
  • the target sensing node When the target sensing node obtains at least one measurement value and/or sensing result of the sensing measurement quantity, it sends a handover success message.
  • the above-mentioned handover success message has the same meaning and function as the handover success message in the method embodiment shown in Figure 2, and will not be described again here.
  • the target sensing node when it obtains at least one measurement value and/or sensing result of the sensing measurement quantity, it sends a handover success message to the first node. In this way, the first node can control based on the handover success message.
  • the source sensing node ends the first sensing to implement the soft handover process of the sensing mode.
  • the first node may also control the source sensing node to end the first sensing before receiving the handover success message to implement a hard handover process in sensing mode. At this time, the first node may based on the handover success message. It is determined that the target sensing node has successfully performed the second sensing. In other words, if the first node does not receive the handover success message sent by the target sensing node within the preset time period, it can control the source sensing node to continue to perform the first sensing, or select another sensing node to perform the second sensing. Sensing, or terminating sensing services, etc.
  • the first response information includes second configuration information, and the second configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations according to the second sensing mode; and/or,
  • the switching command includes third configuration information, and the third configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations in accordance with the second sensing mode;
  • the sensing mode switching method also includes:
  • the target sensing node configures sensing parameters in the second sensing mode according to at least one of the first request information, the second configuration information, and the third configuration information.
  • second configuration information and third configuration information respectively have the same meaning as the second configuration information and third configuration information in the method embodiment shown in Figure 2, and will not be described again here.
  • the target sensing node may configure the second sensing by comprehensively considering sensing requirements, configuration information recommended by itself, and configuration information recommended by the first node.
  • the second configuration information and/or the third configuration information includes first switching mode configuration information, wherein the first switching mode configuration information is used to configure the second sensing mode when the second sensing mode is successfully established.
  • first switching mode configuration information is used to configure the second sensing mode when the second sensing mode is successfully established.
  • end the first sensing mode which is the sensing mode for the sensing target before switching, and the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes.
  • the above-mentioned first switching mode configuration information has the same meaning as the first switching mode configuration information in the method embodiment as shown in Figure 2, and the target sensing node can perform related tasks in the soft handover process according to the first switching mode configuration information. Configuration will not be described in detail here.
  • the sensing mode switching method further includes:
  • the target sensing node receives sensing reference information, wherein the sensing reference information includes at least one of the following:
  • the target sensing node can obtain the above-mentioned sensing reference information from at least one of the first node and the source sensing node, so that the target sensing node can perform the second sensing based on these sensing reference information, thereby improving the perception of the target. perceived performance.
  • the sensing mode switching method performed by the target sensing node provided by the embodiment of the present application is based on the same concept as the sensing mode switching method performed by the first node as shown in Figure 2, so that the first node and the target sensing node cooperate with each other to perform sensing.
  • the mode switching method can achieve the same beneficial effects as the method embodiment shown in Figure 2, and will not be described again to avoid repetition.
  • the execution subject may be the second sensing node, that is, the signal receiving node used to perform the first sensing before switching the sensing mode.
  • the sensing mode switching method performed by the second sensing node may include the following steps:
  • Step 601 When the second sensing node performs a sensing operation on the sensing target according to the first sensing mode, it performs measurements related to the switching sensing mode and obtains a switching measurement report.
  • the switching measurement report is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode; the signal sending node of the first sensing mode and the first sensing mode
  • the signal receiving nodes are different nodes, the signal sending node in the second sensing mode and the signal receiving node in the second sensing mode are the same node, and the second sensing node is the signal receiving node in the first sensing mode.
  • the above-mentioned second sensing node, first sensing mode, handover measurement report and second sensing mode are respectively different from the second sensing node, first sensing mode, handover measurement report and second sensing method in the method embodiment as shown in Figure 2.
  • the methods have the same meaning and will not be repeated here.
  • the second sensing node when it performs the first sensing of the sensing target, it can perform measurements related to the switching sensing mode and obtain a switching measurement report.
  • the switching measurement report can be used to determine whether the sensing target will be sensed. The basis for switching the mode from the first sensing mode to the second sensing mode.
  • the second sensing node when the second sensing node performs a sensing operation on the sensing target according to the first sensing mode, it performs measurements related to the switching sensing mode and obtains a switching measurement report, including:
  • the second sensing node receives a handover measurement request when performing a sensing operation on the sensing target according to the first sensing mode
  • the second sensing node performs measurements related to the handover sensing mode according to the handover measurement request, and obtains the handover measurement report.
  • the above handover measurement request has the same meaning and effect as the handover measurement request in the method embodiment shown in Figure 2, and will not be described again here.
  • the second sensing node performs measurements related to the handover sensing mode according to the handover measurement request sent by the first node (such as the source base station, the source access base station or the first device). At this time, the handover sensing is performed. The timing of mode-dependent measurements is determined by the first node.
  • the second sensing node when the second sensing node performs a sensing operation on the sensing target according to the first sensing mode, it performs measurements related to the switching sensing mode and obtains a switching measurement report, including:
  • the second sensing node When the second sensing node performs a sensing operation on the sensing target according to the first sensing mode, if it is determined that a preset event has occurred, it will perform measurements related to the switching sensing mode and obtain a switching measurement report, wherein the preset Events include at least one of the following:
  • the state of the sensing target changes
  • the position of the first sensing node changes, and the first sensing node is a signal sending node in the first sensing mode
  • the position of the second sensing node changes
  • the environment of the sensing area where the sensing target is located changes
  • the sensing resources available to the first sensing node change
  • the sensing resources available to the second sensing node change
  • the measurement value of the sensing measurement quantity obtained by the second sensing node reaches the first preset threshold
  • the measurement value of the communication measurement amount obtained by the second sensing node or the measurement value of the communication measurement amount between the second sensing node and the access network side device of the second sensing node reaches the second preset threshold
  • the measurement value of the communication measurement amount between the first sensing node and the access network side device of the first sensing node reaches a third preset threshold.
  • the measurement value of the communication measurement quantity reaches the second preset threshold, including at least one of the following:
  • the reference signal received power RSRP is less than or equal to the first preset value
  • the signal-to-noise ratio SNR is less than or equal to the second preset value
  • the signal-to-interference-to-noise ratio SINR is less than or equal to the third preset value
  • the reference signal reception quality RSRQ is less than or equal to the fourth preset value
  • the received signal strength indicator RSSI is less than or equal to the fifth preset value
  • the bit error rate is greater than or equal to the sixth preset value
  • the block error rate is greater than or equal to the seventh preset value
  • the throughput is greater than or equal to the eighth preset value
  • the spectrum efficiency is greater than or equal to the ninth preset value.
  • the above-mentioned preset event, and the meaning that the measured value of the communication measurement quantity reaches the second preset threshold are the same as the preset event in the method embodiment shown in Figure 2, and the meaning that the measured value of the communication measurement quantity reaches the second preset threshold.
  • the meaning of threshold is the same and will not be described again here.
  • the second sensing node can also perform measurements related to switching sensing modes based on the triggering of certain conditions. For example, when poor sensing performance or communication performance is detected, measurements related to switching sensing modes are performed. At this time, the second sensing node determines the timing to perform measurements related to switching the sensing mode.
  • the sensing mode switching method further includes:
  • the second sensing node sends third indication information according to the handover measurement report, wherein the third indication The information is used to indicate that the second sensing node can perform sensing operations on the sensing target according to the second sensing mode.
  • the second sensing node serves as the target sensing node.
  • the second sensing node determines that it can perform the second sensing on the sensing target according to the handover measurement report, it can send the above-mentioned third instruction to the first node.
  • the first node can instruct the second sensing node to perform the second sensing, so as to switch the sensing mode from the first sensing mode to the second sensing mode.
  • the first node may also select other nodes besides the above-mentioned second sensing node as the target sensing node, which will not be described again here.
  • the sensing mode switching method further includes:
  • the second sensing node receives first configuration information, where the first configuration information is used to configure the second sensing node to perform measurements related to switching sensing modes to obtain the handover measurement report.
  • the first configuration information includes at least one of the following:
  • Measurement object indication information measurement report configuration information corresponding to the handover measurement report, configuration information of the target event, and measurement identification;
  • the measurement object indication information includes the identification information of the second signal used to perform the handover measurement, the sensing measurement quantity associated with the second signal and the sensing parameter configuration information of the second signal, and the target event For triggering execution of the handover measurement, one measurement identifier corresponds to one measurement object and one measurement report configuration information.
  • Each item in the above-mentioned first configuration information has the same meaning as each item in the first configuration information in the method embodiment shown in Figure 2, and will not be described again here.
  • the second sensing node may perform measurements related to the handover sensing mode according to the first configuration information sent by the first node to obtain the handover measurement report.
  • the sensing mode switching method further includes:
  • the second sensing node receives a sensing end command, where the sensing end command is used to notify the second sensing node to end the sensing operation on the sensing target.
  • sensing end command has the same meaning as the sensing end command in the method embodiment shown in Figure 2, and will not be described again here.
  • the second sensing node when the second sensing node and the target sensing node are not the same node, the second sensing node ends the first sensing of the sensing target based on the received sensing end command, thereby saving the time of the second sensing node. Waste of resources, and reduce energy consumption of the second sensing node.
  • the handover measurement report includes at least one of the following:
  • Instruction information used to indicate whether a preset event occurs the preset event being used to trigger the switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • the sensing mode switching method further includes:
  • the second sensing node receives first indication information, wherein the first indication information is used to notify the recipient of the first indication information.
  • the target sensing node is a sensing node used to perform the sensing operation according to the second sensing mode after the sensing mode switching is completed.
  • first instruction information are the same as the meaning and function of the first instruction information in the method embodiment shown in Figure 2, and will not be described again here.
  • the sensing mode switching method further includes:
  • the second sensing node receives second instruction information, wherein the second instruction information is used to instruct the second sensing node to exit the sensing operation of the sensing target after completing the sensing mode switching.
  • the sensing mode switching method further includes:
  • the second sensing node sends sensing reference information to the target sensing node, where the sensing reference information includes at least one of the following:
  • the sensing mode switching method performed by the second sensing node provided by the embodiment of the present application is based on the same sensing mode switching method performed by the first node as shown in Figure 2 and the sensing mode switching method performed by the target sensing node as shown in Figure 5.
  • the idea is to make the first node, the target sensing node and the second sensing node cooperate with each other to perform the sensing mode switching method (in a special case, the target sensing node and the second sensing node can be the same node), and can obtain the same result as shown in the figure
  • the method embodiment shown in 2 has the same beneficial effects and will not be described again in order to avoid repetition.
  • the execution subject may be the first sensing node, that is, the signal sending node used to perform the first sensing before switching the sensing mode.
  • this The sensing mode switching method performed by a sensing node may include the following steps:
  • Step 701 When performing a sensing operation on the sensing target according to the first sensing mode, the first sensing node sends a handover measurement request to the second sensing node.
  • the handover measurement request is used to request the second sensing node to perform measurements related to the switching sensing mode to obtain a handover measurement report, and the handover measurement report is used to determine whether the sensing mode of the sensing target will be changed by the sensing mode.
  • the first sensing mode is switched to the second sensing mode; the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes.
  • the signal receiving nodes in the two sensing modes are the same node, and the first sensing node is the signal sending node in the first sensing mode.
  • first sensing node second sensing node
  • first sensing mode second sensing mode
  • handover measurement request and handover measurement report are respectively the same as the first sensing node, the second sensing node in the method embodiment as shown in Figure 2.
  • the sensing node, the first sensing mode, the second sensing mode, the handover measurement request and the handover measurement report have the same meaning and will not be described again here.
  • the first sensing node can perform the method shown in Figure 2.
  • the first node is the same device, and the first sensing node sends a handover measurement request to the second sensing node.
  • the specific meaning and function are as shown in Figure 2.
  • the meaning and function of the first node sending a handover measurement request to the second sensing node are the same and will not be described again here.
  • the sensing mode switching method further includes:
  • the first sensing node obtains the handover measurement report
  • the first sensing node sends fourth indication information according to the handover measurement report, wherein the fourth indication information is used to indicate that the first sensing node can perform the sensing target according to the second sensing mode. Perceptual operation.
  • the first sensing node serves as the target sensing node.
  • the first sensing node may send the above-mentioned fourth instruction to the first node.
  • the first node can instruct the first sensing node to perform the second sensing, so as to switch the sensing mode from the first sensing mode to the second sensing mode.
  • the first node may also select other nodes besides the above-mentioned first sensing node as the target sensing node, which will not be described again here.
  • the sensing mode switching method further includes:
  • the first sensing node sends first configuration information to a second sensing node, where the first configuration information is used to configure the second sensing node to perform handover measurement, and the second sensing node is the first sensing node.
  • Signal receiving node in mode.
  • the first configuration information includes at least one of the following:
  • Measurement object indication information measurement report configuration information corresponding to the handover measurement report, configuration information of the target event, and measurement identification;
  • the measurement object indication information includes the identification information of the second signal used to perform the handover measurement, the sensing measurement quantity associated with the second signal and the sensing parameter configuration information of the second signal, and the target event for touch The handover measurement is performed, and one measurement identifier corresponds to one measurement object and one measurement report configuration information.
  • Each item in the above-mentioned first configuration information has the same meaning as each item in the first configuration information in the method embodiment shown in Figure 2, and will not be described again here.
  • the first sensing node when it sends a handover measurement request to the second sensing node, it can also send the first configuration information to the second sensing node (for example: the first configuration information is carried in the handover measurement request ), so that the second sensing node can perform measurements related to the handover sensing mode according to the first configuration information to obtain the handover measurement report.
  • the first configuration information for example: the first configuration information is carried in the handover measurement request
  • the sensing mode switching method further includes:
  • the first sensing node receives a sensing end command, where the sensing end command is used to notify the first sensing node to end the sensing operation on the sensing target.
  • sensing end command has the same meaning as the sensing end command in the method embodiment shown in Figure 2, and will not be described again here.
  • the first sensing node when the first sensing node and the target sensing node are not the same node, the first sensing node ends the first sensing of the sensing target based on the received sensing end command, thereby saving the time of the first sensing node. Waste of resources, and reduce the energy consumption of the first sensing node.
  • the handover measurement report includes at least one of the following:
  • Instruction information used to indicate whether a preset event occurs the preset event being used to trigger the switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • the sensing mode switching method further includes:
  • the first sensing node receives first indication information, wherein the first indication information is used to notify the first sensing node that after the sensing mode switching is completed, the target sensing node performs the sensing operation on the target sensing node according to the second sensing mode.
  • the sensing target performs a sensing operation, and the target sensing node is a sensing node used to perform sensing operations according to the second sensing mode after completing the sensing mode switching.
  • first instruction information are the same as the meaning and function of the first instruction information in the method embodiment shown in Figure 2, and will not be described again here.
  • the sensing mode switching method further includes:
  • the first sensing node receives second instruction information, wherein the second instruction information is used to instruct the first sensing node to exit the sensing operation of the sensing target after completing the sensing mode switching.
  • the second sensing node receives second instruction information, wherein the second instruction information is used to instruct the second sensing node to exit the sensing operation of the sensing target after completing the sensing mode switching.
  • the sensing mode switching method further includes:
  • the first sensing node sends sensing reference information to a target sensing node, where the target sensing node is a sensing node used to perform sensing operations according to the second sensing mode after completing the sensing mode switching, and the sensing reference information include at least one of the following:
  • the sensing mode switching method performed by the first sensing node provided by the embodiment of the present application is different from the sensing mode switching method performed by the first node as shown in Figure 2, the sensing mode switching method performed by the target sensing node shown in Figure 5, and the sensing mode switching method performed by the target sensing node shown in Figure 6. shows the sensing mode switching method executed by the second sensing node.
  • the first node, the target sensing node, the first sensing node and the second sensing node cooperate with each other to execute the sensing mode switching method, which can obtain the same results as shown in the figure.
  • the method embodiment shown in 2 has the same beneficial effects and will not be described again in order to avoid repetition.
  • the target sensing node and the first sensing node may be the same node.
  • the first sensing node as one of the candidate sensing nodes, receives the first request information and feeds back the first response information.
  • the target sensing node obtains a handover measurement report, it determines based on the handover measurement report that it can support performing second sensing on the sensing target.
  • the first node and the first sensing node may be the same node.
  • the first sensing node may switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode. , sending the first request information to the candidate sensing node, and receiving the first response information, to request the candidate sensing node to perform a sensing operation on the sensing target according to the second sensing mode through the first request information, and according to the received The first response information determines the target sensing node.
  • Example 1 The base station performs the first sensing on the UE, and switches to the base station to perform the second sensing.
  • the sensing mode switching method may include the following steps:
  • Step 11 The network performs handover measurements.
  • This step can be divided into the following situations:
  • Base station-UE performs downlink sensing:
  • the source base station sends a handover measurement request to the UE. After receiving the handover measurement request, the UE performs handover measurement and feeds back a handover measurement report to the source base station;
  • the first device (for example, the sensing function network element) sends a handover measurement request to the UE.
  • the UE After receiving the handover measurement request, the UE performs handover measurement and feeds back the handover measurement report to the first device; optionally, the UE or the first device reports to the source base station Send handover measurement report.
  • the first device or the source base station Before the UE performs handover measurement, the first device or the source base station sends the first configuration information to the UE, or carries the first configuration information in the handover measurement request.
  • Base station-UE performs uplink sensing:
  • the source base station performs handover measurements.
  • the first device or UE sends a handover measurement request to the source base station.
  • the first device or UE sends the first configuration information to the source base station.
  • the first configuration information is included in the handover measurement request.
  • the above-mentioned first configuration information has the same content and meaning as the first configuration information in the method embodiment shown in Figure 2, and will not be described again here.
  • Step 12 The source base station decides whether to initiate handover based on the handover measurement report.
  • the source base station reports a handover measurement report to the first device, and the first device decides whether to initiate a handover request.
  • the first device decides whether to initiate a handover request based on the handover measurement report received from the UE.
  • subsequent processing may be to maintain or end the current first sensing.
  • the first device or the source base station determines which node switches to the second sensing mode, which can be divided into the following situations:
  • Case 12-1 The source base station decides to switch to the base station to perform the second sensing.
  • the source base station sends first request information to at least one candidate target base station, where the first request information requests the recipient of the first request information to perform second sensing after the sensing mode switching is completed.
  • the source base station sends first indication information to the first device, where the first indication information is to notify the recipient of the first indication information that after the sensing mode is switched, the base station performs the second sensing.
  • the source base station sends second indication information to the UE, where the second indication information indicates that the recipient of the second indication information will no longer participate in sensing after the sensing mode switching is completed.
  • Case 12-2 The first device decides to switch to the base station to perform the second sensing mode.
  • the first device sends first request information to at least one candidate target base station.
  • the first device sends the first indication information to the source base station.
  • the first device sends second indication information to the UE.
  • the candidate target base station may include a source base station.
  • Case 12-3 The source base station decides to actively switch to perform second sensing.
  • the source base station is a candidate target base station.
  • the source base station sends third indication information (the base station-UE performs downlink sensing) or fourth indication information (the base station-UE performs uplink sensing) to the first device, where the third indication information or the fourth indication information indicates the third indication information.
  • the receiver the sender of the third indication information or the fourth indication information, can perform the second sensing after the sensing mode switching is completed.
  • this case 12-3 may include case 12-1.
  • the source base station determines that it needs to switch to the second sensing mode based on the handover measurement, it may determine to perform the second sensing by itself if its own capability information supports the second sensing of the sensing target.
  • the first request information may include a soft handover request.
  • the first configuration information includes first switching mode configuration information.
  • Step 13 The candidate target base station decides whether to accept the second sensing after switching the sensing mode.
  • the candidate target base station sends the first response information to the first request information sender (source base station or first device), where the first response information indicates the first request information sender, in sensing mode
  • the sender of the first response information agrees to perform the second sensing.
  • the candidate target base station feeds back the suggested second configuration information in the first response information.
  • the second configuration information is used to configure sensing parameters for the candidate target sensing node to perform second sensing.
  • the second configuration information includes the first handover mode configuration information.
  • the first handover mode configuration information will have some configuration information for soft handover relative to the second configuration information.
  • the candidate target base station may send first rejection information to the first request information sender (source base station or first device), where the first rejection information indicates the first request information sender, A rejection message means that the sender does not perform second sensing.
  • Subsequent processing can be one of the following:
  • the source base station or the first device re-determines the candidate target base station
  • Step 14 Based on the received first response information, the source base station or the first device determines at least one target base station among the candidate target base stations as a sensing node that performs second sensing after handover.
  • the source base station or the first device sends a handover command to the target base station.
  • the switching command is used to notify the target sensing node to perform the second sensing operation.
  • the source base station or the first device feeds back the suggested third configuration information in the handover command.
  • the third configuration information is used for the target sensing node to configure sensing parameters for performing second sensing.
  • the third configuration information includes first switching mode configuration information.
  • Step 15 The target base station performs second sensing.
  • Scenario 1 If the soft handover method is used.
  • the target base station configures sensing parameters based on at least one of the first request information, the second configuration information, and the third configuration information, and performs the second sensing.
  • the target base station After obtaining at least one sensing measurement result and/or sensing result, the target base station sends a handover success message to the source base station or the first device.
  • the sender of the first request information is the source base station, and the source base station and the target base station are not the same device:
  • the source base station After receiving the handover success message, the source base station sends a sensing end command to the UE.
  • the source base station and UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and the source base station and the target base station are not the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to the source base station and the UE.
  • the source base station and UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and the source base station and the target base station are the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to the UE.
  • the UE ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the source base station actively serves as the target base station:
  • the first device or the source base station After the first device receives the handover success message, the first device or the source base station sends a sensing end command to the UE.
  • the UE ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Scenario 2 If the hard switching method is used. Then, while performing step 14, the source base station or the first device does not need to wait for the handover success message. This specifically includes one of the following situations:
  • the sender of the first request information is the source base station, and the source base station and the target base station are not the same device:
  • the source base station sends a sensing end command to the UE.
  • the source base station and UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and the source base station and the target base station are not the same device:
  • the first device sends a sensing end command to the source base station and the UE.
  • the source base station and UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and the source base station and the target base station are the same device:
  • the first device sends a sensing end command to the UE.
  • the UE ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the source base station actively serves as the target base station:
  • the first device or the source base station sends a sensing end command to the UE.
  • the UE ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Step 16 The source base station and/or the first device may store part or all of the measurement values and/or history of the historical sensing measurement quantities. The sensing results and sensing target/area prior information are sent to the target base station.
  • Example 2 Base station - the base station performs the first sensing, and switches to the base station to perform the second sensing.
  • base station A the base station that sends the first signal
  • base station B the base station that receives the first signal
  • base station A and base station B are already performing the first sensing.
  • the base stations A and B that perform the first sensing before the handover are called source base stations, and the base station that performs the second sensing after the handover is called the target base station.
  • Step 21 The network performs handover measurements.
  • Base station A sends a handover measurement request to base station B. After receiving the handover measurement request, base station B performs handover measurement and feeds back a handover measurement report to base station A; optionally, base station A or base station B sends a handover measurement report to the first device.
  • the first device (for example, the sensing function network element) sends a handover measurement request to base station B.
  • base station B After receiving the handover measurement request, base station B performs handover measurement and feeds back the handover measurement report to the first device; optionally, base station B or the first device Send a handover measurement report to base station A.
  • Base station B actively performs handover measurements and obtains handover measurement reports. Optionally, base station B sends a handover measurement report to the first device or base station A.
  • base station A or the first device Before base station B performs handover measurement, base station A or the first device sends the first configuration information to base station B.
  • the first configuration information is included in the handover measurement request.
  • Step 22 Base station A decides whether to initiate handover based on the handover measurement report.
  • base station A or base station B reports a handover measurement report to the first device, and the first device decides whether to initiate a handover request.
  • subsequent processing may be to maintain or end the current first sensing.
  • the first device or the source base station decides which node switches to the second sensing mode, which can be divided into one of the following situations:
  • Base station A decides to switch to the base station to perform the second sensing.
  • Base station A sends first request information to at least one candidate target base station.
  • base station A sends first indication information to the first device, where the first indication information is to notify the recipient of the first indication information that after the sensing mode is switched, the base station performs the second sensing.
  • the candidate target base station may include base station B.
  • Case 22-2 Base station B decides to switch to the base station to perform the second sensing. Base station B sends the first request information to at least one candidate target base station.
  • base station B sends the first indication information to the first device.
  • the candidate target base stations include base station A.
  • Case 22-3 The first device decides to switch to the base station to perform the second sensing mode.
  • the first device sends first request information to at least one candidate target base station.
  • the first device sends the first indication information to base station A and/or base station B.
  • the candidate target base stations include base station A and base station B.
  • Base station A decides to actively switch to perform second sensing.
  • Base station A sends third indication information (base station A is the source receiving base station) or fourth indication information (base station A is the source sending base station) to base station B and/or the first device.
  • base station A is a candidate target base station, and the third indication information or the fourth indication information indicates its receiver.
  • the sender of the third indication information or the fourth indication information can perform the third indication information or the fourth indication information. 2. Perception.
  • case 22-4 also includes case 22-1.
  • Base station B decides to actively switch to perform second sensing. Base station B sends third indication information to base station A and/or the first device. In this case, base station B is a candidate target base station.
  • case 5 also includes case 2.
  • the first request information may include a soft handover request.
  • Step 23 The candidate target base station decides whether to accept the second sensing after switching the sensing mode.
  • the candidate target base station sends the first response information to the first request information sender (source base station or first device).
  • the candidate target base station feeds back the suggested second configuration information in the first response information.
  • the second configuration information includes at least one of the following: the same as Example 1.
  • the second configuration information includes the first handover mode configuration information.
  • the candidate target base station may send the first rejection information to the first request information sender (source base station or first device).
  • Subsequent processing can be one of the following:
  • the source base station or the first device re-determines the candidate target base station
  • Step 24 Same as step 14 in Example 1.
  • Step 25 The target base station performs the second sensing.
  • Scenario 1 If the soft handover method is used.
  • the target base station configures sensing parameters based on at least one of the first request information, the second configuration information, and the third configuration information, and performs the second sensing.
  • the target base station After obtaining at least one sensing measurement result and/or sensing result, the target base station sends a handover success message to the source base station or the first device.
  • the sender of the first request information is base station A, and the source base station and the target base station are not the same device:
  • base station A After receiving the handover success message, base station A sends a sensing end command to base station B.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is base station B, and the source base station and the target base station are not the same device:
  • base station B After receiving the handover success message, base station B sends a sensing end command to base station A.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and the source base station and the target base station are not the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to base station A and base station B.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and base station A and the target base station are the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to base station B.
  • Base station B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and base station B and the target base station are the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to base station A.
  • Base station A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Base station A actively serves as the target base station:
  • the first device After receiving the handover success message, the first device sends a sensing end command to base station B. After receiving the sensing end command sent by the first device or the handover success message sent by base station A, base station B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Base station B takes the initiative as the target base station:
  • the first device After receiving the handover success message, the first device sends a sensing end command to base station A.
  • Base station A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is base station A, and the source base station and the target base station are not the same device:
  • Base station A sends a sensing end command to base station B.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is base station B, and the source base station and the target base station are not the same device:
  • Base station B sends a sensing end command to base station A.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and the source base station and the target base station are not the same device:
  • the first device sends a sensing end command to base station A and base station B.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and base station A and the target base station are the same device:
  • the first device sends a sensing end command to base station B.
  • Base station B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the first request information is the first device, and base station B and the target base station are the same device:
  • the first device sends a sensing end command to base station A.
  • Base station A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Base station A actively serves as the target base station:
  • the first device sends a sensing end command to base station B.
  • Base station B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Base station B takes the initiative as the target base station:
  • the first device sends a sensing end command to base station A.
  • Base station A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Step 26 The source base station and/or the first device may send part or all of the measurement values of historical sensing measurement quantities and/or historical sensing results, and sensing target/area prior information to the target base station.
  • Example 3 The base station performs the first sensing on the UE, and switches to the UE to perform the second sensing.
  • the base station and UE are already performing the first sensing in the early stage.
  • the UE that performs the first sensing before the handover is called the source UE, and the UE that performs the second sensing after the handover is called the target UE;
  • the base station that performs the first sensing before the handover is called the source base station, and the access of the target UE is called the source base station.
  • the base station is called the target access base station.
  • Step 31 Same as step 11 in Example 1.
  • Step 32 The source base station decides whether to initiate handover based on the handover measurement report.
  • the source base station reports a handover measurement report to the first device, and the first device decides whether to initiate the first request information.
  • the first device decides whether to initiate the first request information based on the handover measurement report received from the source UE.
  • subsequent processing may be to maintain or end the current first sensing.
  • the first device or the source base station determines which node switches to the second sensing mode, which can be divided into one of the following situations:
  • Case 32-1 The source base station decides to switch to perform second sensing for the UE.
  • the source base station sends first request information to at least one candidate target UE.
  • the source base station may also send the second request information to at least one candidate target access base station.
  • the second request information requests the recipient of the second request information (ie, the candidate target access base station) to find the candidate target UE.
  • the candidate target access base station sends the first request information to at least one candidate target UE.
  • the source base station sends the first indication information to the first device, and the fourth indication information is to notify the recipient of the fourth indication information that the UE performs second sensing after the sensing mode is switched.
  • the candidate target UEs include source UEs.
  • Case 32-2 The first device decides to switch to perform the second sensing mode for the UE.
  • the first device sends first request information to at least one candidate target UE.
  • the method may include: the first device sending the second request information to at least one candidate target access base station, and the candidate target access base station sending the first request information to at least one candidate target UE.
  • the first device sends the second indication information to the source base station and/or the source UE.
  • the candidate target access base stations include source base stations.
  • Case 32-3 The source UE decides to actively switch to perform second sensing.
  • the source UE is a candidate target UE.
  • the source UE sends third indication information or fourth indication information to the source base station and/or the first device.
  • the above situation 32-3 also includes situation 32-1.
  • the first request information and the second request information may include a soft handover request.
  • Step 33 The candidate target UE decides whether to accept performing the second sensing after switching the sensing mode.
  • the candidate target UE sends the first response information to the first request information sender (source base station, or candidate target access base station, or first device).
  • first request information sender source base station, or candidate target access base station, or first device.
  • the candidate target access base station sends second response information to the second request information sender (source base station or first device), where the second response information indicates the second request information sender, in the sensing mode.
  • the UE accessing the cell agrees to perform the second sensing.
  • the second response information includes part or all of the first response information.
  • the candidate target UE feeds back the suggested second configuration information in the first response information.
  • the second configuration information includes the first handover mode configuration information.
  • the candidate target UE sends the first rejection information to the first request information sender (source base station, or candidate target access base station, or first device).
  • the candidate target access base station sends second rejection information to the second request information sender (source base station or first device), where the second rejection information indicates that the second request information sender, the cell receives The incoming UE does not perform second sensing.
  • Subsequent processing can be one of the following:
  • the source base station or the first device re-determines the candidate target UE
  • the candidate target access base station re-determines the candidate target UE
  • the source base station or the first device re-determines the candidate target access base station, and the candidate target access base station determines the candidate target UE;
  • Step 34 Based on the received first response information and/or second response information, the source base station or the first device determines at least one target UE among the candidate target UEs as a sensing node that performs second sensing after handover.
  • the source base station or the first device sends a handover command to the target UE.
  • the source base station or the first device feeds back the suggested third configuration information in the handover command.
  • the third configuration information includes first switching mode configuration information.
  • Step 35 The target UE performs second sensing. Specifically, subsequent processing is divided into the following two situations:
  • Scenario 1 If the soft handover method is used.
  • the target UE configures sensing parameters based on at least one of the first request information or the second request information, the second configuration information, and the third configuration information, and performs the second sensing.
  • the target UE After obtaining at least one measurement value and/or sensing result of the sensing measurement quantity, the target UE sends a handover success message to the source base station or the first device.
  • the sender of the first request information or the second request information is the source base station, and the source UE and the target UE are not the same device:
  • the source base station After receiving the handover success message, the source base station sends a sensing end command to the source UE.
  • the source base station and source UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the source base station, and the source UE and the target UE are the same device:
  • the source base station After receiving the handover success message, the source base station ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device, and the source UE and the target UE are not the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to the source base station and the source UE.
  • the source base station and source UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device, and the source UE and the target UE are the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to the source base station.
  • the source base station ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the source UE actively acts as the target UE:
  • the first device After receiving the handover success message, the first device sends a sensing end command to the source base station.
  • the source base station ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Scenario 2 If the hard switching method is used. Then, while performing step 34, the source base station or the first device does not need to wait for the handover success message. Including one of the following situations:
  • the sender of the request information is the source base station, and the source UE and the target UE are not the same device:
  • the source base station sends a sensing end command to the source UE.
  • the source base station and source UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the source base station, and the source UE and the target UE are the same device:
  • the source base station ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device, and the source UE and the target UE are not the same device:
  • the first device sends a sensing end command to the source base station and the source UE.
  • the source base station and source UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device, and the source UE and the target UE are the same device:
  • the first device sends a sensing end command to the source base station.
  • the source base station ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the source UE actively acts as the target UE:
  • the source base station ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Step 36 The source base station and/or the first device may send part or all of the measurement values of the historical sensing measurement quantities and/or the historical sensing results and sensing target/area prior information to the target UE.
  • Example 4 UE-UE performs the first sensing, switching to UE performing the second sensing.
  • the UE that sends the first signal is UE A
  • the UE that receives the first signal is UE B.
  • UE A and UE B already performing first perception.
  • UE A and UE B that perform first sensing before handover are called source UEs, and the access base station of the source UE is called the source access base station (in implementation, UE A and UE B can be located in the same cell (cell A)) ;
  • the UE that performs second sensing after handover is called the target UE, and the access base station of the target UE is called the target access base station (wherein, the cell accessed by the target UE may be cell A or other cells except cell A. ).
  • Step 41 The network performs handover measurements.
  • UE A sends a handover measurement request to UE B.
  • UE B After receiving the handover measurement request, UE B performs handover measurement and feeds back the handover measurement report to UE A; optionally, UE A or UE B accesses the base station and/or the first source to the source.
  • the device (for example, the sensing function network element) sends a handover measurement report.
  • the source access base station sends a handover measurement request to UE B.
  • UE B After receiving the handover measurement request, UE B performs handover measurement and feeds back a handover measurement report to the source access base station; optionally, UE B or the source access base station sends a handover measurement request to the first device. and/or UE A sends a handover measurement report.
  • the first device (such as the sensing function network element) sends a handover measurement request to UE B.
  • UE B After receiving the handover measurement request, UE B performs handover measurement and feeds back the handover measurement report to the first device; optionally, the first device receives the handover measurement request from the source.
  • the incoming base station and/or UE A sends a handover measurement report.
  • any one of UE A, the source access base station, and the first device sends the first configuration information to UE B.
  • the first configuration information is included in the handover measurement request.
  • Step 42 The source access base station or the first device decides whether to initiate a handover based on the handover measurement report.
  • subsequent processing may be to maintain or end the current first sensing.
  • any one of the first device, the source access base station, and the source UE determines which node switches to the second sensing mode, which is specifically divided into one of the following situations:
  • Case 42-1 The source access base station decides to switch to perform second sensing for the UE.
  • the source access base station sends first request information to at least one candidate target UE.
  • the method may also include: the source access base station sending the second request information to at least one candidate target access base station, and the candidate target access base station sending the first request information to at least one candidate target UE.
  • the source access base station sends the first indication information to the first device.
  • the candidate target UEs may include source UEs.
  • Case 42-2 The first device decides to switch to perform the second sensing mode for the UE.
  • the first device sends first request information to at least one candidate target UE.
  • the method may include: the first device sending the second request information to at least one candidate target access base station, and the candidate target access base station sending the first request information to at least one candidate target UE.
  • the first device sends the first indication information to the source access base station.
  • the candidate target UE may include a source UE, and the candidate target access base station may include a source access base station.
  • Case 42-3 UE A decides to actively switch to perform second sensing.
  • UE A accesses the base station and/or the first device to the source Send the third instruction message.
  • UE A is the candidate target UE.
  • At least one of UE A, the source access base station, and the first device sends the second indication information to UE B.
  • case 42-3 also includes case 42-1 or case 42-2.
  • Case 42-4 UE B decides to actively switch to perform second sensing. UE B sends the third indication information or the fourth indication information to the source access base station and/or the first device. In this case, UE B is the candidate target UE.
  • At least one of UE B, the source access base station, and the first device sends the second indication information to UE A.
  • case 42-4 also includes case 42-1 or case 42-2.
  • the first request information and the second request information may include a soft handover request.
  • Step 43 The candidate target UE decides whether to accept performing the second sensing after switching the sensing mode.
  • the candidate target UE sends the first response information to the first request information sender (source access base station, candidate target access base station, or first device).
  • the candidate target access base station sends the second response information to the second request information sender (source access base station or first device).
  • the second response information includes part or all of the first response information.
  • the candidate target UE feeds back the suggested second configuration information in the first response information.
  • the second configuration information includes the first handover mode configuration information.
  • the candidate target UE may send the first rejection information to the first request information sender (source access base station, candidate target access base station, or first device).
  • the candidate target access base station sends the second rejection information to the second request information sender (source access base station or first device).
  • Subsequent processing can be one of the following:
  • the source access base station or the first device re-determines the candidate target UE
  • the candidate target access base station re-determines the candidate target UE
  • the source access base station or the first device re-determines the candidate target access base station, and the candidate target access base station determines the candidate target UE;
  • Step 44 Based on the received first response information and/or second response information, the source access base station or the first device determines at least one target UE among the candidate target UEs as a sensing node that performs second sensing after handover.
  • the source access base station or the first device sends a handover command to the target UE.
  • the source access base station or the first device feeds back the suggested third configuration information in the handover command.
  • Step 45 The target UE performs second sensing.
  • Scenario 1 If the soft handover method is used. Then the target UE based on the first request information or the second request information, the second configuration At least one item of the configuration information and the third configuration information is used to configure the sensing parameters and perform the second sensing.
  • the target UE After obtaining at least one sensing measurement result and/or sensing result, the target UE sends a handover success message to the source access base station or the first device.
  • the sender of the request information is the source access base station, and the source UE and the target UE are not the same device:
  • the source access base station After receiving the handover success message, the source access base station sends a sensing end command to UE A and UE B.
  • UE A and UE B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device, and the source UE and the target UE are not the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to UE A and UE B.
  • UE A and UE B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the request information sender is the source access base station, and UE A and the target UE are the same device:
  • the source access base station After receiving the handover success message, the source access base station sends a sensing end command to UE B.
  • UE B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the request information sender is the source access base station, and UE B and the target UE are the same device:
  • the source access base station After receiving the handover success message, the source access base station sends a sensing end command to UE A.
  • UE A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device, and UE A and the target UE are the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to UE B.
  • UE B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the request information sender is the first device, and UE B and the target base station are the same device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to UE A.
  • UE A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • UE A actively serves as the target UE:
  • the first device After receiving the handover success message, the first device sends a sensing end command to UE B.
  • UE B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • UE B takes the initiative as the target UE:
  • the first device After receiving the handover success message, the first device sends a sensing end command to UE A.
  • UE A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Scenario 2 If the hard switching method is used. While performing step 44, the source access base station or the first device does not need to wait for a handover success message. Including one of the following situations:
  • the sender of the request information is the source access base station, and the source access base station and the target access base station are not the same device:
  • the source access base station sends a sensing end command to UE A and UE B.
  • UE A and UE B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device, and the source access base station and the target access base station are not the same device:
  • the device sends sensing end commands to UE A and UE B.
  • UE A and UE B end the original sensing operation and release the sense Know the occupied resources (including time-frequency resources, antenna port resources, etc.);
  • the request information sender is the source access base station, and UE A and the target UE are the same device:
  • the source access base station sends a sensing end command to UE B.
  • UE B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the request information sender is the source access base station, and UE B and the target UE are the same device:
  • the source access base station sends a sensing end command to UE A.
  • UE A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device, and UE A and the target UE are the same device:
  • the first device sends a sensing end command to UE B.
  • UE B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the request information sender is the first device, and UE B and the target base station are the same device:
  • the first device sends a sensing end command to UE A.
  • UE A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • UE A actively serves as the target UE:
  • the first device sends a sensing end command to UE B.
  • UE B ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • UE B takes the initiative as the target UE:
  • the first device sends a sensing end command to UE A.
  • UE A ends the original sensing operation and releases the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Step 46 The source access base station and/or the first device may send part or all of the measurement values of historical sensing measurement quantities and/or historical sensing results, and sensing target/area prior information to the target UE.
  • Example 5 UE-UE performs the first sensing, and switches to the base station to perform the second sensing.
  • the UE that sends the first signal is UE A
  • the UE that receives the first signal is UE B.
  • UE A and UE B are already performing the first sensing.
  • the UEs A and B that perform the first sensing before the handover are called source UEs, and the access base station of the source UE is called the source access base station; the base station that performs the second sensing after the handover is called the target base station.
  • Step 51 Same as step 41 in Example 4.
  • Step 52 The source access base station or the first device decides whether to initiate a handover based on the handover measurement report.
  • subsequent processing may be to maintain or end the current first sensing.
  • the first device or the source access base station determines which node switches to the second sensing mode, which can be divided into one of the following situations:
  • Case 52-1 The source access base station decides to switch to the base station to perform the second sensing.
  • the source access base station sends first request information to at least one candidate target base station.
  • the source access base station sends the first indication information to the first device.
  • the source access base station sends the second indication information to UE A and UE B.
  • Case 52-2 The first device decides to switch to the base station to perform the second sensing mode.
  • the first device sends first request information to at least one candidate target base station.
  • the first device sends the first indication information to the source access base station.
  • the first device sends the second indication information to UE A and/or UE B.
  • the candidate target base stations include source access base stations.
  • Case 52-3 The source access base station decides to actively switch to perform second sensing.
  • the source access base station sends third indication information to the first device.
  • the source access base station is the candidate target base station.
  • the source access base station and/or the first device sends second indication information to UE A and UE B.
  • case 52-3 also includes case 52-1.
  • the first request information may include a soft handover request.
  • Step 53 When the source access base station and the candidate target base station are not the same device, the candidate target base station decides whether to accept performing the second sensing after switching the sensing mode.
  • the candidate target base station sends the first response information to the first request information sender (source access base station or first device).
  • the candidate target base station feeds back the suggested second configuration information in the first response information.
  • the second configuration information includes the first handover mode configuration information.
  • the candidate target base station may send the first rejection information to the first request information sender (source access base station or first device).
  • Subsequent processing can be one of the following:
  • the source access base station or the first device re-determines the candidate target base station
  • Step 54 Based on the received first response information, the source access base station or the first device determines at least one target base station among the candidate target base stations as a sensing node that performs second sensing after handover.
  • the source access base station or the first device sends a handover command to the target base station.
  • the source access base station or the first device feeds back the suggested third configuration information in the handover command.
  • the third configuration information includes first switching mode configuration information.
  • Step 55 The target base station performs the second sensing.
  • Scenario 1 If the soft handover method is used.
  • the target base station configures sensing parameters based on at least one of the first request information, the second configuration information, and the third configuration information, and performs the second sensing.
  • the target base station After obtaining at least one sensing measurement result and/or sensing result, the target base station sends a handover success message to the source access base station or the first device.
  • the source access base station or the first device After receiving the handover success message, the source access base station or the first device sends a sensing end command to UE A and UE B.
  • UE A and UE B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources and antenna port resources). source, etc.);
  • Scenario 2 If the hard switching method is used. Then, while performing step 54, the source access base station or the first device does not need to wait for the handover success message.
  • the source access base station or the first device sends a sensing end command to UE A and UE B.
  • UE A and UE B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • Step 56 The source access base station and/or the first device may send part or all of the measurement values of historical sensing measurement quantities and/or historical sensing results, and sensing target/area prior information to the target base station.
  • Example 6 Base station - the base station performs the first sensing, and switches to the UE to perform the second sensing.
  • base station A the base station that sends the first signal
  • base station B the base station that receives the first signal
  • base station A and base station B are already performing the first sensing.
  • the base stations A and B that perform the first sensing before the handover are called source base stations
  • the UE that performs the second sensing after the handover is called the target UE
  • the access base station of the target UE is called the target access base station.
  • Step 61 Same as step 21 in Example 2.
  • Step 62 Base station A decides whether to initiate handover based on the handover measurement report.
  • base station A or base station B reports a handover measurement report to the first device, and the first device decides whether to initiate a handover measurement request.
  • subsequent processing may be to maintain or end the current first sensing.
  • the first device or the source base station determines which node switches to the second sensing mode. Specifically, it is divided into one of the following situations:
  • Base station A decides to switch to perform second sensing for the UE.
  • Base station A sends first request information to at least one candidate target UE.
  • the method may also include base station A sending the second request information to at least one candidate target access base station, and the candidate target access base station sending the first request information to at least one candidate target UE.
  • base station A sends the first indication information to the first device.
  • the candidate target access base station includes base station B.
  • Base station B decides to switch to perform second sensing for the UE.
  • Base station B sends the first request information to at least one candidate target UE.
  • the method may also include base station B sending the second request information to at least one candidate target access base station, and the candidate target access base station sending the first request information to at least one candidate target UE.
  • base station B sends the first indication information to the first device.
  • the candidate target access base station includes base station A.
  • Case 62-3 The first device decides to switch to perform the second sensing mode for the UE.
  • the first device sends first request information to at least one candidate target UE.
  • the method may include: the first device sending the second request information to at least one candidate target access base station, and the candidate target access base station sending the first request information to at least one candidate target UE.
  • the first device sends the first indication information to base station A and/or base station B.
  • the candidate target access base stations include base station A and base station B.
  • the first request information or the second request information may include a soft handover request.
  • Step 63 The candidate target UE decides whether to accept performing the second sensing after switching the sensing mode.
  • the candidate target UE sends the first response information to the first request information sender (source base station (base station A or base station B), candidate target access base station, or first device).
  • source base station base station A or base station B
  • candidate target access base station or first device
  • the candidate target access base station sends the second response information to the second request information sender (source base station (base station A or base station B) or the first device).
  • source base station base station (base station A or base station B) or the first device).
  • the second response information includes part or all of the first response information.
  • the candidate target UE feeds back the suggested second configuration information in the first response information.
  • the second configuration information includes the first handover mode configuration information.
  • the candidate target UE may send the first rejection information to the first request information sender (source access base station or first device).
  • Subsequent processing can be one of the following:
  • the source base station or the first device re-determines the candidate target UE
  • the candidate target access base station re-determines the candidate target UE
  • the source base station or the first device re-determines the candidate target access base station, and the candidate target access base station determines the candidate target UE;
  • Step 64 Based on the received first response information and/or second response information, the source base station or the first device determines at least one target UE among the candidate target UEs as a sensing node that performs second sensing after handover.
  • the source base station or the first device sends a handover command to the target UE.
  • the source access base station or the first device feeds back the suggested third configuration information in the handover command.
  • the third configuration information includes first switching mode configuration information.
  • Step 65 The target UE performs second sensing.
  • Scenario 1 If the soft handover method is used.
  • the target UE configures sensing parameters based on at least one of the first request information, the second configuration information, and the third configuration information, and performs the second sensing.
  • the target UE After obtaining at least one sensing measurement result and/or sensing result, the target UE sends a handover success message to the source access base station or the first device.
  • the request information sender is base station A:
  • base station A After receiving the handover success message, base station A sends a sensing end command to base station B.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is base station B:
  • base station B After receiving the handover success message, base station B sends a sensing end command to base station A.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device:
  • the first device After receiving the handover success message, the first device sends a sensing end command to base station A and base station B.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.).
  • Scenario 2 If the hard switching method is used. Then, while performing step 64, the source access base station or the first device does not need to wait for the handover success message.
  • the request information sender is base station A:
  • Base station A sends a sensing end command to base station B.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the request information sender is base station B:
  • Base station B sends a sensing end command to base station A.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.);
  • the sender of the request information is the first device:
  • the first device sends a sensing end command to base station A and base station B.
  • Base station A and base station B end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.).
  • Step 66 The source base station and/or the first device may send part or all of the measurement values of the historical sensing measurement quantities and/or the historical sensing results, and the sensing target/area prior information to the target UE.
  • the execution subject may be a sensing mode switching device.
  • the sensing mode switching device performing the sensing mode switching processing method is used as an example to illustrate the sensing mode switching device provided by the embodiment of the present application.
  • the embodiment of the present application also provides a sensing mode switching device, which is applied to the first node.
  • the sensing mode switching device 800 includes:
  • the first determination module 801 is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report;
  • the handover measurement report includes measurement results used to determine the handover sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal receiving node of the second sensing mode The signal sending node and the signal receiving node of the second sensing mode are the same node.
  • the sensing mode switching device 800 also includes:
  • a first sending module configured to send a handover measurement request to a second sensing node, where the second sensing node is a signal receiving node in the first sensing mode;
  • a first receiving module configured to receive the handover measurement report from the second sensing node.
  • the sensing mode switching device 800 also includes:
  • the fourth sending module is configured to send first configuration information to the second sensing node, where the first configuration information is used to configure the second sensing node to perform handover measurement to obtain the handover measurement report.
  • the first configuration information includes at least one of the following:
  • Measurement object indication information measurement report configuration information corresponding to the handover measurement report, and target event configuration information. information and measurement markings;
  • the measurement object indication information includes the identification information of the second signal used to perform the handover measurement, the sensing measurement quantity associated with the second signal and the sensing parameter configuration information of the second signal, and the target event For triggering execution of the handover measurement, one measurement identifier corresponds to one measurement object and one measurement report configuration information.
  • the handover measurement report includes at least one of the following:
  • Instruction information used to indicate whether a preset event occurs the preset event being used to trigger the switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • the first sending module is specifically used for:
  • a handover measurement request is sent to the second sensing node, wherein the preset event includes at least one of the following:
  • the state of the sensing target changes
  • the position of the first sensing node changes, and the first sensing node is the signal sending node in the first sensing mode
  • the position of the second sensing node changes
  • the environment of the sensing area where the sensing target is located changes
  • the sensing resources available to the first sensing node change
  • the sensing resources available to the second sensing node change
  • the measurement value of the sensing measurement quantity obtained by the second sensing node reaches the first preset threshold
  • the measurement value of the communication measurement amount obtained by the second sensing node or the measurement value of the communication measurement amount between the second sensing node and the access network side device of the second sensing node reaches the second preset threshold
  • the measurement value of the communication measurement amount between the first sensing node and the access network side device of the first sensing node reaches a third preset threshold.
  • the measurement value of the communication measurement quantity reaches the second preset threshold, including at least one of the following:
  • the reference signal received power RSRP is less than or equal to the first preset value
  • the signal-to-noise ratio SNR is less than or equal to the second preset value
  • the signal-to-interference-to-noise ratio SINR is less than or equal to the third preset value
  • the reference signal reception quality RSRQ is less than or equal to the fourth preset value
  • the received signal strength indicator RSSI is less than or equal to the fifth preset value
  • the bit error rate is greater than or equal to the sixth preset value
  • the block error rate is greater than or equal to the seventh preset value
  • the throughput is greater than or equal to the eighth preset value
  • the spectrum efficiency is greater than or equal to the ninth preset value.
  • the sensing mode switching device 800 when the first node determines to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode according to the switching measurement report, the sensing mode switching device 800 also includes:
  • the fifth sending module is configured to send a sensing end command to a third sensing node, wherein the third sensing node includes at least one of a signal receiving node and a signal sending node in the first sensing mode, and the third sensing node
  • the three sensing nodes do not include the target sensing node.
  • the sensing end command is used to notify the third sensing node to end the sensing operation on the sensing target.
  • the target sensing node is used to complete sensing mode switching according to
  • the second sensing mode is a sensing node that performs sensing operations.
  • the sensing mode switching device 800 also includes:
  • the fourth receiving module is configured to receive a switching success message from the target sensing node, wherein the target sensing node sends the switching success message after acquiring at least one measurement value and/or sensing result of the sensing measurement quantity. information.
  • the sensing mode switching device 800 further includes:
  • the second determination module is configured to determine a target sensing node from the candidate sensing nodes.
  • the target sensing node is a sensing node that is used to perform sensing operations according to the second sensing mode after completing the sensing mode switching.
  • the sensing mode switching device 800 also includes:
  • a third determination module configured to determine candidate sensing nodes from the preset sensing node set according to the first information of each sensing node in the preset sensing node set, where the candidate sensing nodes include the target sensing node, wherein, the first information includes at least one of the following:
  • the second determination module includes:
  • the first sending unit is configured to send first request information to the candidate sensing node or the access network side device of the candidate sensing node, wherein the first request information is used to request the candidate sensing node to follow the described
  • the second sensing mode performs a sensing operation on the sensing target
  • the first receiving unit is used to receive the first response information, wherein the first response information represents the first
  • the candidate sensing nodes agree to perform sensing operations on the sensing target according to the second sensing mode, and the candidate sensing nodes include the first candidate sensing nodes;
  • a first determining unit configured to determine the first candidate sensing node as the target sensing node.
  • the sensing mode switching device 800 also includes:
  • a sixth sending module is configured to send a switching command to the target sensing node, where the switching command is used to notify the target sensing node to perform a sensing operation according to the second sensing mode.
  • the first response information includes second configuration information, and the second configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations according to the second sensing mode; and/or,
  • the switching command includes third configuration information, and the third configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations in accordance with the second sensing mode.
  • the second configuration information includes at least one of the following:
  • Waveform type subcarrier interval, guard interval, bandwidth, data burst duration, time domain interval, transmit signal power, signal format, signal direction, time resources, frequency resources, quasi-co-located QCL relationship, antenna configuration information;
  • the third configuration information includes at least one of the following:
  • Waveform type subcarrier interval, guard interval, bandwidth, data burst duration, time domain interval, transmit signal power, signal format, signal direction, time resources, frequency resources, quasi-co-located QCL relationship, and antenna configuration information.
  • the second configuration information and/or the third configuration information includes first switching mode configuration information, wherein the first switching mode configuration information is used to configure the second sensing mode when the second sensing mode is successfully established. , ending the first sensing mode.
  • the sensing mode switching device 800 further includes:
  • a seventh sending module configured to send first indication information, wherein the first indication information is used to notify the recipient of the first indication information that after completing the sensing mode switching, the target sensing node will The sensing mode performs a sensing operation on the sensing target.
  • the sensing mode switching device 800 further includes:
  • the eighth sending module is used to send second indication information, wherein the second indication information is used to instruct the signal sending node and/or the signal receiving node in the first sensing mode to exit the pair after completing the sensing mode switching.
  • the sensing operation of the sensing target is used to send second indication information, wherein the second indication information is used to instruct the signal sending node and/or the signal receiving node in the first sensing mode to exit the pair after completing the sensing mode switching.
  • the sensing mode switching device 800 also includes:
  • a ninth sending module configured to send sensing reference information to a target sensing node, where the target sensing node is a sensing node used to perform sensing operations according to the second sensing mode after completing the sensing mode switching, and the sensing parameter Examination information includes at least one of the following:
  • the embodiment of the present application also provides a sensing mode switching device, which is applied to the target sensing node.
  • the sensing mode switching device 900 includes:
  • the second receiving module 901 is configured to receive first request information, where the first request information is used to request the target sensing node to perform a sensing operation on the sensing target according to the second sensing mode;
  • the second sending module 902 is configured to send first response information, where the first response information indicates that the target sensing node agrees to perform a sensing operation on the sensing target according to the second sensing mode, and the second sensing node
  • the signal sending node of the mode and the signal receiving node of the second sensing mode are the same node.
  • the sensing mode switching device 900 also includes:
  • a third receiving module configured to receive a switching command, where the switching command is used to notify the target sensing node to perform a sensing operation according to the second sensing mode;
  • a sensing module configured to send a first signal according to the second sensing mode, and receive the first signal reflected by the sensing target to obtain a measurement value and/or a sensing result of a sensing measurement quantity.
  • the sensing mode switching device 900 also includes:
  • the tenth sending module is configured to send a switching success message when the measurement value and/or the sensing result of at least one sensing measurement quantity is obtained.
  • the first response information includes second configuration information, and the second configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations according to the second sensing mode; and/or,
  • the switching command includes third configuration information, and the third configuration information is used to configure sensing parameters for the target sensing node to perform sensing operations in accordance with the second sensing mode;
  • the sensing mode switching device 900 also includes:
  • a configuration module configured to configure sensing parameters of the second sensing mode according to at least one of the first request information, the second configuration information, and the third configuration information.
  • the second configuration information and/or the third configuration information includes first switching mode configuration information, wherein the first switching mode configuration information is used to configure the second sensing mode when the second sensing mode is successfully established.
  • first switching mode configuration information is used to configure the second sensing mode when the second sensing mode is successfully established.
  • end the first sensing mode which is the sensing mode for the sensing target before switching, and the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes.
  • the sensing mode switching device 900 also includes:
  • the fifth receiving module is used to receive perceptual reference information, wherein the perceptual reference information includes at least one of the following:
  • the embodiment of the present application also provides a sensing mode switching device, which is applied to the second sensing node.
  • the sensing mode switching device 1000 includes:
  • the measurement module 1001 is configured to perform measurements related to the switching sensing mode and obtain a switching measurement report when the second sensing node performs a sensing operation on the sensing target according to the first sensing mode;
  • the switching measurement report is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are the same node,
  • the second sensing node is a signal receiving node in the first sensing mode.
  • measurement module 1001 includes:
  • a second receiving unit configured to receive a handover measurement request when the second sensing node performs a sensing operation on the sensing target according to the first sensing mode
  • a measurement unit configured to perform measurements related to the handover sensing mode according to the handover measurement request, and obtain the handover measurement report.
  • measurement module 1001 specifically used for:
  • the second sensing node When the second sensing node performs a sensing operation on the sensing target according to the first sensing mode, if it is determined that a preset event occurs, measurements related to the switching sensing mode are performed to obtain a switching measurement report, wherein the preset Events include at least one of the following:
  • the state of the sensing target changes
  • the position of the first sensing node changes, and the first sensing node is a signal sending node in the first sensing mode
  • the position of the second sensing node changes
  • the environment of the sensing area where the sensing target is located changes
  • the sensing resources available to the first sensing node change
  • the sensing resources available to the second sensing node change
  • the measurement value of the sensing measurement quantity obtained by the second sensing node reaches the first preset threshold
  • the measurement value of the communication measurement amount obtained by the second sensing node or the measurement value of the communication measurement amount between the second sensing node and the access network side device of the second sensing node reaches the second preset threshold
  • the measurement value of the communication measurement amount between the first sensing node and the access network side device of the first sensing node reaches a third preset threshold.
  • the measurement value of the communication measurement quantity reaches the second preset threshold, including at least one of the following:
  • the reference signal received power RSRP is less than or equal to the first preset value
  • the signal-to-noise ratio SNR is less than or equal to the second preset value
  • the signal-to-interference-to-noise ratio SINR is less than or equal to the third preset value
  • the reference signal reception quality RSRQ is less than or equal to the fourth preset value
  • the received signal strength indicator RSSI is less than or equal to the fifth preset value
  • the bit error rate is greater than or equal to the sixth preset value
  • the block error rate is greater than or equal to the seventh preset value
  • the throughput is greater than or equal to the eighth preset value
  • the spectrum efficiency is greater than or equal to the ninth preset value.
  • the sensing mode switching device 1000 also includes:
  • An eleventh sending module configured to send third indication information according to the handover measurement report, wherein the third indication information is used to indicate that the second sensing node can sense the sensing node in accordance with the second sensing mode.
  • Target performs sensing operations.
  • the sensing mode switching device 1000 also includes:
  • the sixth receiving module is configured to receive first configuration information, where the first configuration information is used to configure the second sensing node to perform measurements related to the switching sensing mode to obtain the switching measurement report.
  • the first configuration information includes at least one of the following:
  • Measurement object indication information measurement report configuration information corresponding to the handover measurement report, configuration information of the target event, and measurement identification;
  • the measurement object indication information includes the identification information of the second signal used to perform the handover measurement, the sensing measurement quantity associated with the second signal and the sensing parameter configuration information of the second signal, and the target event For triggering execution of the handover measurement, one measurement identifier corresponds to one measurement object and one measurement report configuration information.
  • the sensing mode switching device 1000 also includes:
  • the seventh receiving module is configured to receive a sensing end command, where the sensing end command is used to notify the second sensing node to end the sensing operation on the sensing target.
  • the handover measurement report includes at least one of the following:
  • Instruction information used to indicate whether a preset event occurs the preset event being used to trigger the switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • the sensing mode switching device 1000 also includes:
  • the eighth receiving module is configured to receive the first indication information, wherein the first indication information is used to notify the recipient of the first indication information that after the sensing mode switching is completed, the target sensing node performs the task according to the second The sensing mode performs a sensing operation on the sensing target, and the target sensing node is a sensing node used to perform sensing operations according to the second sensing mode after completing the sensing mode switching.
  • the sensing mode switching device 1000 also includes:
  • the ninth receiving module is configured to receive second indication information, wherein the second indication information is used to instruct the second sensing node to exit the sensing operation of the sensing target after completing the sensing mode switching.
  • the sensing mode switching device 1000 also includes:
  • a twelfth sending module configured to send sensing reference information to the target sensing node, where the sensing reference information includes at least one of the following:
  • the embodiment of the present application also provides a sensing mode switching device, which is applied to the first sensing node.
  • the sensing mode switching device 1100 includes:
  • the third sending module 1101 is configured to send a handover measurement request to the second sensing node when the first sensing node performs a sensing operation on the sensing target according to the first sensing mode;
  • the handover measurement request is used to request the second sensing node to perform measurements related to the switching sensing mode to obtain a handover measurement report, and the handover measurement report is used to determine whether the sensing mode of the sensing target will be changed by the sensing mode.
  • the first sensing mode is switched to the second sensing mode;
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are the same node,
  • the first sensing node is a signal sending node in the first sensing mode.
  • the sensing mode switching device 1100 also includes:
  • Obtaining module used to obtain the handover measurement report
  • a thirteenth sending module configured to send fourth indication information according to the handover measurement report, wherein the fourth indication information is used to indicate that the first sensing node can sense the sensing node in accordance with the second sensing mode.
  • Target performs sensing operations.
  • the sensing mode switching device 1100 also includes:
  • the fourteenth sending module is configured to send first configuration information to a second sensing node, where the first configuration information is used to configure the second sensing node to perform handover measurement, and the second sensing node is the first sensing node.
  • a signal receiving node in sensing mode is configured to send first configuration information to a second sensing node, where the first configuration information is used to configure the second sensing node to perform handover measurement, and the second sensing node is the first sensing node.
  • the first configuration information includes at least one of the following:
  • Measurement object indication information measurement report configuration information corresponding to the handover measurement report, and target event configuration information. information and measurement markings;
  • the measurement object indication information includes the identification information of the second signal used to perform the handover measurement, the sensing measurement quantity associated with the second signal and the sensing parameter configuration information of the second signal, and the target event For triggering execution of the handover measurement, one measurement identifier corresponds to one measurement object and one measurement report configuration information.
  • the sensing mode switching device 1100 also includes:
  • the tenth receiving module is configured to receive a sensing end command, where the sensing end command is used to notify the first sensing node to end the sensing operation on the sensing target.
  • the handover measurement report includes at least one of the following:
  • Instruction information used to indicate whether a preset event occurs the preset event being used to trigger the switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode;
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the first sensing mode to the second sensing mode.
  • the sensing mode switching device 1100 also includes:
  • the eleventh receiving module is configured to receive first indication information, wherein the first indication information is used to notify the first sensing node that after completing the sensing mode switching, the target sensing node will perform the sensing operation according to the second sensing mode. Perform a sensing operation on the sensing target, and the target sensing node is a sensing node used to perform sensing operations according to the second sensing mode after completing the sensing mode switching.
  • the sensing mode switching device 1100 also includes:
  • the twelfth receiving module is configured to receive second indication information, where the second indication information is used to instruct the first sensing node to exit the sensing operation of the sensing target after completing the sensing mode switching.
  • the sensing mode switching device 1100 also includes:
  • the fifteenth sending module is configured to send sensing reference information to a target sensing node, where the target sensing node is a sensing node that is used to perform sensing operations according to the second sensing mode after completing the sensing mode switching.
  • Reference information includes at least one of the following:
  • the sensing mode switching processing device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system.
  • a device can also be a component in an electronic device, such as an integrated circuit or chip.
  • the electronic device may be a terminal or a network side device.
  • the terminal may include but is not limited to the types of terminal 11 listed above.
  • the network side device may be an access network side device (such as a base station) or a core network device (such as a sensing function network element). This application implements Examples are not specifically limited.
  • the sensing mode switching device provided by the embodiment of the present application can implement each process implemented by the method embodiments of Figures 2 to 7, and achieve the same technical effect. To avoid duplication, the details will not be described here.
  • this embodiment of the present application also provides a communication device 1200, which includes a processor 1201 and a memory 1202.
  • the memory 1202 stores programs or instructions that can be run on the processor 1201, such as , when the communication device 1200 is a terminal, when the program or instruction is executed by the processor 1201, each step of the sensing mode switching method embodiment shown in Figure 5 or Figure 6 or Figure 7 is implemented, and the same technical effect can be achieved.
  • the communication device 1200 is a network-side device, when the program or instruction is executed by the processor 1201, the steps of the sensing mode switching processing method embodiment shown in Figure 2 or Figure 5 or Figure 6 or Figure 7 are implemented, and the same can be achieved. The technical effects will not be repeated here to avoid repetition.
  • An embodiment of the present application also provides a terminal, including a processor and a communication interface.
  • the terminal is a target sensing node
  • the communication interface is used to receive first request information and to send first response information
  • the first request information is used to request the target sensing node to perform a sensing operation on the sensing target according to the second sensing mode
  • the first response information indicates that the target sensing node agrees to perform sensing operation on the sensing target according to the second sensing mode.
  • the sensing target performs a sensing operation
  • the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are the same node; or,
  • the communication interface is used to perform measurements related to switching sensing modes when the second sensing node performs a sensing operation on the sensing target according to the first sensing mode, and obtain A handover measurement report, wherein the handover measurement report is used to determine whether to switch the sensing mode of the sensing target from the first sensing mode to the second sensing mode, the signal sending node of the first sensing mode and the third sensing mode.
  • the signal receiving nodes in the first sensing mode are different nodes, the signal sending node in the second sensing mode and the signal receiving node in the second sensing mode are the same node, and the second sensing node is the signal receiving node in the first sensing mode. signal receiving node; or,
  • the communication interface is used to send a handover measurement request to the second sensing node when the first sensing node performs a sensing operation on the sensing target in a first sensing manner.
  • the handover measurement request is used to request the second sensing node to perform measurements related to the handover sensing mode to obtain a handover measurement report, and the handover measurement report is used to determine whether the sensing mode of the sensing target will be changed by the sensing mode.
  • the first sensing mode is switched to the second sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are different nodes, the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes.
  • the signal receiving node in the second sensing mode is the same node, and the first sensing node is the signal sending node in the first sensing mode.
  • FIG. 13 is a schematic diagram of the hardware structure of a terminal that implements an embodiment of the present application.
  • the terminal 1300 includes but is not limited to: a radio frequency unit 1301, a network module 1302, an audio output unit 1303, an input unit 1304, a sensor 1305, a display unit 1306, a user input unit 1307, an interface unit 1308, a memory 1309, a processor 1310, etc. At least some parts.
  • the terminal 1300 may also include a power supply (such as a battery) that supplies power to various components.
  • the power supply may be logically connected to the processor 1310 through a power management system, thereby managing charging, discharging, and power consumption through the power management system. Management and other functions.
  • the terminal structure shown in FIG. 13 does not constitute a limitation on the terminal.
  • the terminal may include more or fewer components than shown in the figure, or some components may be combined or arranged differently, which will not be described again here.
  • the input unit 1304 may include a graphics processing unit (Graphics Processing Unit, GPU) 13041 and a microphone 13042.
  • the GPU 13041 is responsible for the image capture device (such as a camera) in the video capture mode or the image capture mode. ) to process the image data of still pictures or videos obtained.
  • the display unit 1306 may include a display panel 13061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 1307 includes a touch panel 13071 and at least one of other input devices 13072 .
  • Touch panel 13071 also called touch screen.
  • the touch panel 13071 may include two parts: a touch detection device and a touch controller.
  • Other input devices 13072 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.
  • the radio frequency unit 1301 after receiving downlink data from the network side device, the radio frequency unit 1301 can transmit it to the processor 1310 for processing; in addition, the radio frequency unit 1301 can send uplink data to the network side device.
  • the radio frequency unit 1301 includes, but is not limited to, an antenna, amplifier, transceiver, coupler, low noise amplifier, duplexer, etc.
  • Memory 1309 may be used to store software programs or instructions as well as various data.
  • the memory 1309 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, Image playback function, etc.) etc.
  • memory 1309 may include volatile memory or nonvolatile memory, or memory 1309 may include both volatile and nonvolatile memory.
  • non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory.
  • Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM) , SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM).
  • RAM Random Access Memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • synchronous dynamic random access memory Synchronous DRAM, SDRAM
  • Double data rate synchronous dynamic random access memory Double Data Rate SDRAM, DDRSDRAM
  • Enhanced SDRAM, ESDRAM synchronous link dynamic random access memory
  • Synch link DRAM synchronous link dynamic random access memory
  • SLDRAM direct memory bus random access memory
  • the processor 1310 may include one or more processing units; optionally, the processor 1310 integrates an application processor and a modem processor, where the application processor mainly handles operations related to the operating system, user interface, application programs, etc., Modem processors mainly process wireless communication signals, such as baseband processors. It can be understood that the above modem processor may not be integrated into the processor 1310.
  • the radio frequency unit 1301 is configured to receive first request information, wherein the first request information is used to request the target sensing node to perform processing according to the second sensing mode. Perceive the target to perform the perceptual operation;
  • the target sensing node sends first response information, wherein the first response information indicates that the target sensing node agrees to perform a sensing operation on the sensing target according to the second sensing mode, and the signal of the second sensing mode
  • the sending node and the signal receiving node of the second sensing mode are the same node.
  • the radio frequency unit 1301 is also configured to receive a switching command, send a first signal according to the second sensing mode, and receive the first signal reflected by the sensing target to obtain a measurement value of the sensing measurement quantity. and/or sensing results; wherein the switching command is used to notify the target sensing node to perform a sensing operation according to the second sensing mode.

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Abstract

本申请公开了一种感知方式切换方法、装置、终端及网络侧设备，属于通信技术领域，本申请实施例的感知方式切换方法包括：第一节点根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式；其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。

Description

感知方式切换方法、装置、终端及网络侧设备
相关申请的交叉引用
本申请主张在2022年05月30日在中国提交的中国专利申请No.202210605681.9的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于通信技术领域，具体涉及一种感知方式切换方法、装置、终端及网络侧设备。
背景技术
在相关技术中，移动通信网络中的感知节点可以通过发送和接收感知信号，来实现对感知目标的状态或感知环境的感知测量，在某些情况下(例如：感知目标的状态或感知环境可能发生改变、感知节点的位置、可用资源等发生变化)，当前的感知节点不能够实现对感知目标的状态或感知环境进行准确的感知测量，这就造成了感知结果的可靠性较差。
发明内容
本申请实施例提供一种感知方式切换方法、装置、终端及网络侧设备，能够进行感知方式的切换，以使切换后的感知方式能够对目标的状态或感知环境进行准确的感知测量，从而提升了感知结果的可靠性。
第一方面，提供了一种感知方式切换方法，该方法包括：
第一节点根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式；
其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
第二方面，提供了一种感知方式切换装置，应用于第一节点，所述装置包括：
第一确定模块，用于根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式；
其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
第三方面，提供了一种感知方式切换方法，该方法包括：
目标感知节点接收第一请求信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作；
所述目标感知节点发送第一应答信息，其中，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
第四方面，提供了一种感知方式切换装置，应用于目标感知节点，所述装置包括：
第二接收模块，用于接收第一请求信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作；
第二发送模块，用于发送第一应答信息，其中，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
第五方面，提供了一种感知方式切换方法，该方法包括：
第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告；
其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式；
所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点。
第六方面，提供了一种感知方式切换装置，应用于第二感知节点，所述装置包括：
测量模块，用于在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告；
其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式；
所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点。
第七方面，提供了一种感知方式切换方法，该方法包括：
第一感知节点在按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求；
其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式；
所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点， 所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
第八方面，提供了一种感知方式切换装置，应用于第一感知节点，所述装置包括：
第三发送模块，用于在所述第一感知节点按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求；
其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式；
所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
第九方面，提供了一种终端，该终端包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第三方面或第五方面或第七方面所述的方法的步骤。
第十方面，提供了一种终端，包括处理器及通信接口；
其中，在所述终端为目标感知节点的情况下，所述通信接口用于接收第一请求信息，以及用于发送第一应答信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点；或者，
在所述终端为第二感知节点的情况下，所述通信接口用于在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点；或者，
在所述终端为第一感知节点的情况下，所述通信接口用于在所述第一感知节点按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求，其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
第十一方面，提供了一种网络侧设备，该网络侧设备包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如 第一方面或第三方面或第五方面或第七方面所述的方法的步骤。
第十二方面，提供了一种网络侧设备，包括处理器及通信接口；
其中，在所述网络侧设备为第一节点的情况下，所述处理器用于根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式，其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点；或者，
在所述网络侧设备为目标感知节点的情况下，所述通信接口用于接收第一请求信息，以及用于发送第一应答信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点；或者，
在所述网络侧设备为第二感知节点的情况下，所述通信接口用于在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点；或者，
在所述网络侧设备为第一感知节点的情况下，所述通信接口用于在所述第一感知节点按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求，其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
第十三方面，提供了一种无线感知系统，包括：终端及网络侧设备，所述网络侧设备可用于执行如第一方面或第三方面或第五方面或第七方面所述的感知方式切换方法的步骤，所述终端可用于执行如第三方面或第五方面或第七方面所述的感知方式切换方法的步骤。
第十四方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面或第三方面或第五方面或第七方面所述的方法的步骤。
第十五方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面或第三方面或第五方面 或第七方面所述的方法。
第十六方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面或第三方面或第五方面或第七方面所述的感知方式切换方法的步骤。
在本申请实施例中，第一节点根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式；其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。这样，在感知节点基于第一感知方式对感知目标进行感知测量的过程中，第一节点能够基于切换测量报告判断与第一感知方式相比，第二感知方式是否与感知目标的状态、所处环境等更加适配，从而据此判断是否将第一感知方式切换为第二感知方式，以使对感知目标的感知方式能够与感知目标的状态或感知环境等更加匹配，从而能够得到更加准确的感知结果，提升了感知测量过程的可靠性。
附图说明
图1是本申请实施例能够应用的一种无线通信系统的结构示意图；
图2是本申请实施例提供的一种感知方式切换方法的流程图之一；
图3a是第一感知方式的示意图；
图3b是第二感知方式的示意图；
图4是第一感知方式切换为第二感知方式的示意图；
图5是本申请实施例提供的一种感知方式切换方法的流程图之二；
图6是本申请实施例提供的一种感知方式切换方法的流程图之三；
图7是本申请实施例提供的一种感知方式切换方法的流程图之四；
图8是本申请实施例提供的一种感知方式切换装置的结构示意图之一；
图9是本申请实施例提供的一种感知方式切换装置的结构示意图之二；
图10是本申请实施例提供的一种感知方式切换装置的结构示意图之三；
图11是本申请实施例提供的一种感知方式切换装置的结构示意图之四；
图12是本申请实施例提供的一种通信设备的结构示意图；
图13是本申请实施例提供的一种终端的结构示意图；
图14是本申请实施例提供的一种网络侧设备的结构示意图；
图15是本申请实施例提供的另一种网络侧设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显 然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)系统，还可用于其他无线通信系统，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency Division Multiple Access，SC-FDMA)和其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，并且在以下大部分描述中使用NR术语，但是这些技术也可应用于NR系统应用以外的应用，如第6代(6th Generation，6G)通信系统。
图1示出本申请实施例可应用的一种无线通信系统的框图。无线通信系统包括终端11和网络侧设备12。其中，终端11可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant，PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer，UMPC)、移动上网装置(Mobile Internet Device，MID)、增强现实(augmented reality，AR)/虚拟现实(virtual reality，VR)设备、机器人、可穿戴式设备(Wearable Device)、车载设备(Vehicle User Equipment，VUE)、行人终端(Pedestrian User Equipment，PUE)、智能家居(具有无线通信功能的家居设备，如冰箱、电视、洗衣机或者家具等)、游戏机、个人计算机(personal computer，PC)、柜员机或者自助机等终端侧设备，可穿戴式设备包括：智能手表、智能手环、智能耳机、智能眼镜、智能首饰(智能手镯、智能手链、智能戒指、智能项链、智能脚镯、智能脚链等)、智能腕带、智能服装等。需要说明的是，在本申请实施例并不限定终端11的具体类型。网络侧设备12可以包括接入网设备或核心网设备，其中，接入网设备也可以称为无线接入网设备、无线接入网(Radio Access Network,RAN)、无线接入网功能或无线接入网单元。接入网设备可以包括基站、无线局域网(Wireless Local Area Network，WLAN)接入点(Access Point，AP)或无线保真(Wireless Fidelity，WiFi)节点等，基站可被称为节点B(Node B，NB)、演进节点B(Evolved Node B，eNB)、接入点、基收发机站(Base Transceiver Station，BTS)、无线电基站、无线电收发机、基本 服务集(Basic Service Set，BSS)、扩展服务集(Extended Service Set，ESS)、家用B节点(home Node B，HNB)、家用演进型B节点(home evolved Node B)、发送接收点(Transmission Reception Point，TRP)或所述领域中其他某个合适的术语，只要达到相同的技术效果，所述基站不限于特定技术词汇，需要说明的是，在本申请实施例中仅以NR系统中的基站为例进行介绍，并不限定基站的具体类型。核心网设备可以包含但不限于如下至少一项：核心网节点、核心网功能、移动管理实体(Mobility Management Entity，MME)、接入移动管理功能(Access and Mobility Management Function，AMF)、会话管理功能(Session Management Function，SMF)、用户平面功能(User Plane Function，UPF)、策略控制功能(Policy Control Function，PCF)、策略与计费规则功能单元(Policy and Charging Rules Function，PCRF)、边缘应用服务发现功能(Edge Application Server Discovery Function，EASDF)、统一数据管理(Unified Data Management，UDM)，统一数据仓储(Unified Data Repository，UDR)、归属用户服务器(Home Subscriber Server，HSS)、集中式网络配置(Centralized network configuration，CNC)、网络存储功能(Network Repository Function，NRF)，网络开放功能(Network Exposure Function，NEF)、本地NEF(Local NEF，或L-NEF)、绑定支持功能(Binding Support Function，BSF)、应用功能(Application Function，AF)等。需要说明的是，在本申请实施例中仅以NR系统中的核心网设备为例进行介绍，并不限定核心网设备的具体类型。
近几十年来，无线通信和雷达传感(Communication&Sensing，C&S)一直在并行发展，但交集有限。它们在信号处理算法、设备以及一定程度上的系统架构方面都有很多共性。近年来，这两个系统在共存、合作和联合设计上受到了越来越多研究人员的关注。
早期人们对通信系统和雷达系统共存的问题进行了广泛的研究，研究侧重是开发有效的干扰管理技术，使两个单独部署的系统能够在相互不干扰的情况下平稳运行。虽然雷达和通信系统可能在同一位置，甚至物理上集成，但它们在时间/频率域传输的是不同的两种信号。它们通过合作共享相同的资源，以最大限度地减少同时工作时对彼此之间的干扰。相应的措施包括波束赋形、合作频谱共享、主次频谱共享、动态共存等。然而有效的干扰消除通常对节点的移动性和节点之间的信息交换有着严格的要求，因此频谱效率的提高实际比较有限。由于共存系统中的干扰是由发射两个独立的信号引起的，因此很自然地会问，我们是否可以同时使用一个发射信号同时进行通信和雷达传感。雷达系统通常使用特别设计的波形，如短脉冲和啁啾，能够实现高功率辐射和简化接收机处理。然而这些波形对雷达探测来说不是必需的，无源雷达或无源传感以不同的无线电信号作为感知信号就是一个很好的例子。
机器学习，特别是深度学习技术进一步促进了非专用无线电信号用于雷达传感的潜力。有了这些技术，传统雷达正朝着更通用的无线感知方向发展。这里的无线感知可以广泛地指从接收到的无线电信号中检索信息，而不是在发射机上调制到信号的通信数据。对于感知目标位置相关的无线感知，可以通过常用的信号处理方法，对目标信号反射时延、到达 角(Angle of Arrival，AOA)、离开角(Angle of Departure，AOD)、多普勒等动力学参数进行估计；对于感知目标物理特征，可以通过测量设备、对象、活物的固有模式信号来实现。两种感知方式可以分别称为感知参数估计以及模式识别。在这个意义上，无线感知是指使用无线电信号的更通用的传感技术和应用。
通信和感知一体化(Integrated Sensing And Communication，ISAC)有潜力将无线感知集成到大规模移动网络中，在这里称为感知移动网络(Perceptive Mobile Networks，PMNs)。PMN可以从目前的5G移动网络演变而来，有望成为一个无处不在的无线传感网络，同时提供稳定高质量的移动通信服务。它可以建立在现有移动网络基础设施之上，而不需要对网络结构和设备进行重大改变。它将释放移动网络的最大能力，并避免花费高昂基础设施成本去额外单独建设新的广域无线传感网络。随着覆盖范围的扩大，综合通信和传感能力有望实现许多新的应用。感知移动网络能够同时提供通信和无线感知服务，并且由于其较大的宽带覆盖范围和强大的基础设施，有可能成为一种无处不在的无线传感解决方案。其联合协调的通信和传感能力将提高我们社会的生产力，并有助于催生出大量现有传感器网络无法有效实现的新应用。利用移动信号进行被动传感的一些早期工作已经证明了它的潜力。例如基于全球移动通信系统(Global System for Mobile Communications，GSM)的无线电信号的交通监控、天气预报和降雨遥感。感知移动网络可以广泛应用于交通、通信、能源、精准农业和安全领域的通信和传感，而现有的解决方案要么不可行，要么效率低下。它还可以为现有的传感器网络提供互补的传感能力，具有独特的昼夜操作功能，能够穿透雾、树叶甚至固体物体。一些常见的感知业务如下表1所示：
表1
移动通信网络中的基站(包括基站上的某1个或多个传输接收点(Transmission Reception Point，TRP)、用户设备(User Equipment，UE)(包括UE上1个或多个天线子 阵列/面板(Panel))，可以作为参与感知/通感一体化业务的感知节点。通过感知节点发送和接收感知信号，可以实现对某个区域或者某个实体目标进行感知。所述感知信号可以是不包含传输信息的信号，如现有的LTE/NR同步和参考信号(包括：同步信号和物理广播信道(Synchronization Signal and PBCH block，SSB)信号、信道状态信息(Channel State Information，CSI)参考信号(CSI Reference Signal，CSI-RS)、解调参考信号(Demodulation Reference Signal，DMRS)、信道探测参考信号(Sounding Reference Signal，SRS)、定位参考信号(Positioning Reference Signal，PRS)、相位追踪参考信号(Phase-Tracking Reference Signal，PTRS)等)，也可以是雷达常用的单频连续波(Continuous Wave，CW)、调频连续波(Frequency Modulated CW，FMCW)，以及超宽带高斯脉冲等。此外，该感知信号还可以是新设计的专用感知信号，具有良好的相关特性和低峰均功率比(Peak-to-Average Power Ratio，PAPR)，或者新设计的通感一体化信号，既承载一定信息，同时具有较好的感知性能，在此对感知信号的类型不作具体限定，且为了便于说明，以下实施例中将上述信号统一称之为第一信号。
本申请实施例中，根据感知信号的发送节点和接收节点是否为同一设备，将感知方式分为第一感知方式和第二感知方式，其中，在第一感知方式下感知节点A发送第一信号，感知节点B接收第一信号，该感知节点A和感知节点B不是同一设备，且物理位置分离；在第二感知方式下，由同一感知节点自发自收第一信号，即感知信号发送和接收由同一设备执行，该感知节点通过接收自己发送的信号回波进行感知。
在相关技术中，对于同一感知目标，通常固定采用一种感知方式对该感知目标进行感知测量。而本申请实施例中，在感知节点采用第一感知方式对感知目标进行感知测量的过程中，能够根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式，这样，随着感知环境的变化、感知节点的状态变化、感知目标的状态变化等，使得第一感知方式下的感知结果不能够满足对感知目标的感知性能需求的情况下，可以将对该感知目标的感知方式切换为第二感知方式，从而提升了对感知目标的感知性能。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的感知方式切换方法、感知方式切换装置、终端和网络侧设备进行详细地说明。
请参阅图2，本申请实施例提供的一种感知方式切换方法，其执行主体可以是第一节点，该第一节点可以包括核心网(如核心网中的感知网络功能/感知网元)设备、源基站和源接入基站中的至少一个，其中，源基站可以是在切换感知方式之前，按照第一感知方式对感知目标进行感知操作的基站，源接入基站可以是在切换感知方式之前，按照第一感知方式对感知目标进行感知操作的UE所接入的基站，当然，上述第一节点还可以是参与感知业务的UE，在此不作具体限定。
如图2所示，本申请实施例提供的一种感知方式切换方法可以包括以下步骤：
步骤201、第一节点根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式。
其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
其中，在切换感知方式之前，按照第一感知方式对感知目标进行感知的节点可以称之为源感知节点(如：源基站或源UE)；为了进一步区分，还可以将源感知节点中用于发送感知信号的节点称之为第一感知节点，并将源感知节点中用于接收感知信号的节点称之为第二感知节点，且将第一感知方式下的感知操作称之为第一感知。在实施中，在切换感知方式之前，第一感知节点发送感知信号，该感知信号经感知目标反射后，被第二感知节点接收，该第二感知节点对接收的感知信号进行感知测量，从而得到感知测量量(如：接收信号的接收功率、到达角或离开角等测量量)的测量值，基于该感知测量量的测量值便可以确定最终的感知结果。例如：如图3a所示，第一感知节点为节点A，第二感知节点为节点B，核心网设备为第一设备，感知目标为车辆。
与源感知节点相对的，在切换感知方式之后，按照第二感知方式对感知目标进行感知的节点可以称之为目标感知节点(如：目标基站或目标UE)，且将第二感知方式下的感知操作称之为第二感知。在实施中，在完成感知方式切换之后，该目标感知节点自发自收感知信号，从而基于经感知目标反射的回波信号来获取感知测量量的测量值。例如：如图3b所示，目标感知节点可以是节点A、节点B和节点C中的任一个，其中，节点A为切换感知方式之前的源信号发送节点，节点B为切换感知方式之前的源信号接收节点，节点C可以是除了节点A和节点B之外的任一节点。
在一种实施方式中，目标感知节点可以与上述第一感知节点和第二感知节点互不相同。在另一种实施方式中，目标感知节点也可以是上述第一感知节点和第二感知节点中的一个。
以如图4所示的对车辆进行感知的各个场景为例，第一感知方式具体可以分为以下三种场景：
在场景(a)中，第一感知方式为：基站与UE之间的上行感知(即UE发送第一信号，基站A接收所述第一信号)或下行感知(即基站A发送第一信号，UE接收所述第一信号)
在场景(b)中，第一感知方式为：两个基站之间的感知(如：基站A发送第一信号，基站B接收所述第一信号，或者基站B发送第一信号，基站A接收所述第一信号)基站B接收感知信号；
在场景(c)中，第一感知方式为：两个UE之间的感知(如：UE A发送第一信号，UE B接收所述第一信号，或者UE B发送第一信号，UE A接收所述第一信号)。
如图4所示，第二感知方式具体可以分为以下两种场景：
在场景(d)中，第二感知方式为：基站自发自收的感知，该基站可以是参与第一感知方式的源基站(基站A或基站B)，其也可以是其他的基站C。
在场景(e)中，第二感知方式为：UE自发自收的感知，该UE可以是参与第一感知方式的源基站(UE A或UE B)，其也可以是其他的UE C。
由图4可知，考虑到切换前后网络中的感知节点可能发生改变，以及切换后感知节点可能是基站或者UE，上述第一感知方式切换至第二感知方式的情况具有6种组合，具体包括：
1)基站-UE执行的第一感知，切换为基站执行第二感知；
2)基站-基站执行的第一感知，切换为基站执行第二感知；
3)基站-UE执行的第一感知，切换为UE执行第二感知；
4)UE-UE执行的第一感知，切换为UE执行第二感知；
5)UE-UE执行的第一感知，切换为基站执行第二感知；
6)基站-基站执行的第一感知，切换为UE执行第二感知。
在实施方式中，切换测量报告可以包括用于判断是否需要切换感知方式的测量结果，也就是说，切换测量报告至少可以包括切换测量所需的感知测量量的测量值。在实施中，该切换测量所需的感知测量量可以包括当前感知业务的感知测量量，即切换测量所需的感知测量量可以是在切换感知方式之前，按照第一感知方式对感知目标进行感知测量的感知节点测量得到的测量值。
可选地，所述切换测量报告包括以下至少一项：
至少一项感知测量量的测量值；
至少一项感知性能评价指标的测量结果；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
选项一，至少一项感知测量量的测量值，可以是切换前的源感知节点对感知目标进行第一感知得到的全部或部分感知测量量的测量值，基于该测量值可以反映感知目标或感知环境的状态变化，从而据此确定是否需要将感知方式切换为第二感知方式，其中，第一感知表示第一感知方式下的感知。
选项二，至少一项感知性能评价指标的测量结果，可以是对感知目标进行第一感知得到感知结果后，基于感知性能评价指标对该感知结果进行感知性能评价，基于该感知性能评价结果可以反映对感知目标进行第一感知得到的感知性能的好坏，这样，在感知性能较差时，可以切换至第二感知方式。
在一些实施例中，该感知性能评价指标可以包括以下至少一项：
感知SNR，表示感知目标或感知区域反射的感知信号能量，与环境和设备中的噪声信 号能量的比值；
感知SINR，表示感知目标或感知区域反射的感知信号能量，与环境和设备中的干扰信号和噪声信号的能量的和的比值；
同一种感知测量量的多次测量值的统计均值、标准差或方差；
感知测量量的测量值或感知结果的预测值与实际测量值偏差，以及所述偏差的统计均值、标准差或方差；
感知可以复用现有的评价指标(如前后两个序列样点间欧式距离(Euclidean Distance)之和，或者动态时间规划(Dynamic Time Warping，DTW)中的规整路径距离，或者其他能够反映两个序列的相似性的指标。其中，其他能够反映两个序列的相似性的指标包括但不限于：最长公共字符串(Longest Common Subsequence，LCSS)、实序列编辑距离(Edit Distance on Real Sequences，EDR)、实惩罚编辑距离(Edit Distance with Real Penalty，ERP)、豪斯多夫距离(Hausdorff Distance)、弗雷歇距离(Fréchet Distance)、单向距离(One Way Distance，OWD)和多线位置距离(Locality In-between Polylines，LIP)等。
选项三，所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值，在实施中，上述通信测量量可以是参考信号接收功率(Reference Signal Received Power，RSRP)，信噪比(Signal Noise Ratio，SNR)，信干噪比(Signal to Interference plus Noise Ratio，SINR)，参考信号接收质量(Reference Signal Received Quality，RSRQ)，接收信号强度指示器(Received Signal Strength Indicator,RSSI)，误码率，误块率，吞吐量，频谱效率等，基于该通信测量量的测量值可以反映源信号发送节点和/或源信号接收节点的通信性能的好坏，这样，在源信号发送节点和/或源信号接收节点的通信性能较差时，可以切换至第二感知方式。
选项四，所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果，与上述感知性能评价指标相似的，可以基于通信性能评价指标对源信号发送节点和/或源信号接收节点的通信性能进行评价，基于该通信性能评价结果可以反映源信号发送节点和/或源信号接收节点的通信性能的好坏，这样，在源信号发送节点和/或源信号接收节点的通信性能较差时，可以切换至第二感知方式。
选项五，用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
在实施中，上述预设事件可以包括以下至少一项：
所述感知目标的状态发生变化(如：感知目标的位置、移动速度等发生变化等)；
第一感知节点的位置发生变化，所述第一感知节点为所述第一感知方式下的信号发送节点(如：第一感知节点与感知目标之间的距离超过最大感知距离，或者第一感知节点移动至第二感知节点的通信范围之外等)；
所述第二感知节点的位置发生变化(如：第二感知节点与感知目标之间的距离超过最大感知距离，或者第二感知节点移动至第一感知节点的通信范围之外等)；
所述感知目标所在的感知区域的环境发生变化(如：感知区域内的感知目标的密度、天气等发生变化)；
所述第一感知节点可用的感知资源发生变化(如：第一感知节点可用于进行感知业务的信道资源、天线等感知资源发生变化)；
所述第二感知节点可用的感知资源发生变化(如：第二感知节点可用于进行感知业务的信道资源、天线等感知资源发生变化)；
所述第二感知节点获取的感知测量量的测量值达到第一预设门限(如：感知信号接收功率、感知SNR、感知SINR、距离/速度/角度测量值等至少一项满足预设切换门限值)；
所述第二感知节点获取的通信测量量的测量值或者所述第二感知节点与所述第二感知节点的接入网络侧设备之间的通信测量量的测量值达到第二预设门限(如：其中，通信测量量的定义与上述选项三中的通信测量量可以相同，该通信测量量的测量值达到第二预设门限可以表示通信质量较差或低于感知性能要求的通信质量)，例如：所述通信测量量的测量值达到第二预设门限，可以包括以下至少一项：
参考信号接收功率RSRP小于或等于第一预设值；
信噪比SNR小于或等于第二预设值；
信干噪比SINR小于或等于第三预设值；
参考信号接收质量RSRQ小于或等于第四预设值；
接收信号强度指示器RSSI小于或等于第五预设值；
误码率大于或等于第六预设值；
误块率大于或等于第七预设值；
吞吐量大于或等于第八预设值；
频谱效率大于或等于第九预设值；
所述第一感知节点与所述第一感知节点的接入网络侧设备之间的通信测量量的测量值达到第三预设门限(在第一感知节点是终端的情况下，该终端需要与其接入的网络侧设备进行通信，以实现感知功能，此时，若第一感知节点与其接入的网络侧设备之间的通信质量较差，将会降低感知性能)。
选项六，用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
在实施中，满足预设切换条件可以理解为发生了上述预设事件，此时，第一感知方式下的感知性能较低或不足以满足感知需求，从而可以通过将感知方式切换为第二感知方式，以提升感知性能。
值得提出的是，上述切换测量报告可以同时包括上述选项一至选项六中的至少两项，基于该切换测量报告，第一节点能够判断相较于第一感知方式而言，第二感知方式是否能够取得更好的感知性能。
作为一种可选的实施方式，在所述第一节点根据切换测量报告确定是否将对感知目标 的感知方式由第一感知方式切换为第二感知方式之前，所述感知方式切换方法还包括：
所述第一节点向第二感知节点发送切换测量请求，所述第二感知节点为所述第一感知方式下的信号接收节点；
所述第一节点接收来自所述第二感知节点的所述切换测量报告。
其中，切换测量请求用于请求所述第二感知节点测量并上报上述切换测量报告。
本实施方式中，第一节点可以与第一感知节点是同一设备，或者，第一节点是核心网设备(如：感知功能网元，为了便于说明，本申请实施例中将核心网设备统一称之为第一设备)，或者在第二感知节点是终端的情况下，第一节点可以是该终端的接入网络侧设备。
例如：在如图4中的场景(a)所示的第一感知方式中，第一节点可以是第一设备、基站A和UE的接入基站中的至少一个，第二节点为UE；
在如图4中的场景(b)所示的第一感知方式中，第一节点可以是第一设备和基站A中的至少一个，第二节点为基站B；
在如图4中的场景(c)所示的第一感知方式中，第一节点可以是第一设备、UE A和UE B的接入基站中的至少一个，第二节点为UE B。
在一种可能的实现方式中，在采用第一感知方式对感知目标进行感知的过程中，第一节点可以周期性的向第二感知节点发送切换测量请求，以周期性的检测是否需要将感知方式切换为第二感知方式。
在另一种可能的实现方式中，在采用第一感知方式对感知目标进行感知的过程中，第一节点可以在确定发生了预设事件的情况下，才向所述第二感知节点发送切换测量请求，这样，可以减少第二感知节点进行切换感知方式相关的测量的频率。
可选地，所述预设事件包括以下至少一项：
所述感知目标的状态发生变化；
第一感知节点的位置发生变化，所述第一感知节点为所述第一感知方式下的信号发送节点；
所述第二感知节点的位置发生变化；
所述感知目标所在的感知区域的环境发生变化；
所述第一感知节点可用的感知资源发生变化；
所述第二感知节点可用的感知资源发生变化；
所述第二感知节点获取的感知测量量的测量值达到第一预设门限；
所述第二感知节点获取的通信测量量的测量值或者所述第二感知节点与所述第二感知节点的接入网络侧设备之间的通信测量量的测量值达到第二预设门限；
所述第一感知节点与所述第一感知节点的接入网络侧设备之间的通信测量量的测量值达到第三预设门限。
该预设事件与以上实施例中的预设事件具有相同含义，在此不作具体限定，基于该预设事件，可以在感知性能降低的情况下，触发切换感知方式相关的测量，能够降低第二感 知节点进行切换感知方式相关的测量的频率，能够减少资源消耗，并降低第二感知节点的能耗。
可选地，在所述第一节点接收来自第二感知节点的所述切换测量报告之前，所述方法还包括：
所述第一节点向所述第二感知节点发送第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换测量，得到所述切换测量报告。
在一种实施方式中，上述第一节点可以分别向第二感知节点发送第一配置信息和第一请求信息，其中，第一请求信息用于请求该第一请求信息的接收方在完成感知方式切换后，对感知目标进行第二感知。
在一种实施方式中，上述第一配置信息可能携带在第一请求信息中，以通过一条消息便可以请求第二感知节点进行切换感知方式相关的测量，并配置该第二感知节点如何进行测量和上报。
在实施中，上述第一配置信息可以配置第二感知节点需要测量哪些信号、测量哪些测量量、如何上报切换测量报告等。例如：所述第一配置信息，包括以下至少一项：
测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信息和测量标识；
其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
在实施中，上述切换测量报告对应的测量报告配置可以包括上报切换测量报告的原则，例如：可以配置为周期性上报或者基于事件触发上报。此外，上述切换测量报告对应的测量报告配置还可以配置测量报告的格式，例如：上报的小区最大数量和波束数量等。
上述目标事件及相关的参数可以包括：测量事件定义、事件相关参数、切换判决条件等，例如：将第二感知节点需要测量的事件定义为检测感知目标的某一动作(如：假设感知目标是人物，测量事件为跌倒事件)，上述事件相关参数可以是用于判断检测到的事件是否为定义的目标事件相关的参数，切换判决条件可以是用于判断是否将感知方式由第一感知方式切换为第二感知方式的判决条件。
上述测量标识用于标识测量行为，例如：标识对某一测量对象进行测量的目标事件，通过该与一个测量对象和一个切换测量报告对应的测量报告配置分别对应的测量标识，可以将测量对象与切换测量报告对应的测量报告配置一一对应，从而使得第二感知节点能够基于该测量标识确定需要测量的对象，以及测量和上报切换测量包括的过程中采用的配置。
需要说明的是，除了上述第一节点向第二感知节点发送第一请求信息，以请求第二感知节点进行切换感知方式相关的测量之外，第二感知节点也可以主动执行切换感知方式相关的测量，并上报切换测量报告。此外，上述切换测量报告还可能是除了第二感知节点之外的其他感知节点测量得到的，在此不作具体限定。
作为一种可选的实施方式，在所述第一节点根据所述切换测量报告确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，所述感知方式切换方法还包括：
所述第一节点向第三感知节点发送感知结束命令，其中，所述第三感知节点包括所述第一感知方式下的信号接收节点和信号发送节点中的至少一个，且所述第三感知节点不包括所述目标感知节点，所述感知结束命令用于通知所述第三感知节点结束对所述感知目标的感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
在实施中，第三感知节点在接收到感知结束命令的情况下，会基于该感知结束命令结束对感知目标的感知操作，从而节约第三感知节点继续对感知目标进行感知操作所造成的资源浪费和能源消耗。
在一种实施方式中，第一节点可以在确定将对感知目标的感知方式由第一感知方式切换为第二感知方式的时候，向第三感知节点发送感知结束命令。
在一种实施方式中，第一节点可以在向第二感知节点发送切换测量请求的时候，向第三感知节点发送感知结束命令。
在一种实施方式中，在所述第一节点向第三感知节点发送感知结束命令之前，所述感知方式切换方法还包括：
所述第一节点接收来自所述目标感知节点的切换成功消息，其中，所述目标感知节点在获取至少一次感知测量量的测量值和/或感知结果的情况下，发送所述切换成功消息。
本实施方式相较于其他两种实施方式而言，对感知方式的切换采用软切换过程，即在确保目标感知节点开始按照第二感知方式执行感知的情况下，才结束第一感知方式，从而使得对感知目标的感知没有中断。
可选地，目标感知节点在按照第二感知方式获取至少一次感知测量量的测量值，或获取至少一次感知结果的情况下，发送上述切换成功消息。
这样，能够在目标感知节点能够正确地按照第二感知方式执行感知的情况下，结束第一感知方式，降低了因目标感知节点按照第二感知方式对感知目标进行感知的过程中，因感知失败而造成的对感知目标的感知中断的问题。
当然，在实际应用中，也可以对感知方式的切换采用硬切换过程，例如：在第一节点向目标感知节点发送切换命令的同时，向第三感知节点发送感知结束命令，在此不作具体限定。
作为一种可选的实施方式，在所述第一节点确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，所述方法还包括：
所述第一节点从候选感知节点中确定目标感知节点，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
在实施中，上述候选感知节点可以是第一节点认为的在切换感知方式后，能够对感知 目标进行感知的节点。
在一种实施方式中，在第一节点存储有候选感知节点的能力信息、资源信息等先验信息的情况下，该第一节点能够根据这些先验信息从候选感知节点中确定目标感知节点。
在一种实施方式中，所述第一节点从候选感知节点中确定目标感知节点，还包括：
所述第一节点向所述候选感知节点或所述候选感知节点的接入网络侧设备发送第一请求信息，其中，所述第一请求信息用于请求所述候选感知节点按照所述第二感知方式对所述感知目标进行感知操作；
所述第一节点接收第一应答信息的情况下，其中，所述第一应答信息表示第一候选感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述候选感知节点包括所述第一候选感知节点；
所述第一节点将所述第一候选感知节点确定为所述目标感知节点。
其中，第一请求信息可以携带以下信息中的至少一项：
感知需求，例如可以包括感知目标区域、对象类型、所需感知功能、感知目的和感知结果等；
感知服务质量(Quality of Service，QoS)，例如可以包括以下至少一项：感知分辨率(进一步可分为：测距分辨率、测角分辨率、测速分辨率和成像分辨率等)、感知精度(进一步可分为：测距精度、测角精度、测速精度和定位精度等)、感知范围(进一步可分为：测距范围、测速范围、测角范围、成像范围等)、感知时延(如从感知信号发送到获得感知结果的时间间隔，或，从感知需求发起到获取感知结果的时间间隔)、感知更新速率(如相邻两次执行感知并获得感知结果的时间间隔)、检测概率(如在感知对象存在的情况下被正确检测出来的概率)、虚警概率(如在感知对象不存在的情况下错误检测出感知目标的概率)，感知安全性和感知隐私性；
感知测量量；
感知测量结果，例如可以包括基于至少一种感知测量量的测量值直接或间接得到的感知结果；
感知条件，例如可以包括感知开始时间、感知结束时间、感知持续时间等至少一项；
感知目标或感知区域先验信息，例如可以包括感知目标类型、感知目标所在大致位置/区域和感知目标历史状态(速度、角度、距离、加速度、空间朝向)等至少一项；
感知方式切换成功判决条件(例如，可以指示至少一种感知测量量的测量值和/或通信测量量的测量结果在预设时间内/预设次数下达到预设门限)。
本实施方式中，第一节点向每一个候选感知节点或者对候选的UE的接入网络侧设备发送第一请求信息，以请求这些候选节点在切换感知方式后，按照所述第二感知方式对所述感知目标进行感知操作，这样，若这些候选感知节点中的第一候选感知节点根据该第一请求信息确定其能够按照所述第二感知方式对所述感知目标进行感知操作，则可以向第一节点反馈第一应答信息，此时，第一节点便可以基于接收到第一候选感知节点的第一应答 信息而确定该第一候选感知节点作为目标感知节点。
需要说明的是，对于除了第一候选感知节点之外的其他候选感知节点，可以在接收到第一请求信息的情况下，若根据该第一请求信息确定其不能够按照所述第二感知方式对所述感知目标进行感知操作，则可以向第一节点反馈第一拒绝信息，此时，第一节点便可以基于接收到第一拒绝信息而从其他候选感知节点中选择目标感知节点。
值得提出的是，在第一节点是基站或第一设备(即核心网设备)，且候选感知节点包括候选UE的情况下，第一节点可以向候选UE的接入网络侧设备(即候选接入基站)发送第一请求信息，此时，第一请求信息可以请求候选接入基站寻找候选UE，以使该候选UE，在感知方式切换完成后按照第二感知方式对感知目标进行感知操作。具体的，候选接入基站在接收到第一请求信息后，可以向至少一个候选UE发送切换测量请求，该切换测量请求用于请求接收方在感知方式切换完成后按照第二感知方式对感知目标进行感知操作，候选UE则可以向候选接入基站反馈第一应答信息或第一拒绝信息，然后，候选接入基站可以从反馈第一应答信息的候选UE中选择目标UE，并向第一节点反馈目标UE的指示信息，该指示信息可以指示目标UE能够在感知方式切换完成后按照第二感知方式对感知目标进行感知操作，这样，第一节点便可以据此确定目标UE作为目标感知节点。
在一种实施方式中，第一节点可以每次向一个候选感知节点发送第一请求信息，并在接收到第一拒绝信息时，再向下一个候选感知节点发送第一请求信息，并依次迭代，直至接收到第一候选感知节点的第一应答信息，并据此确定该第一候选感知节点作为目标感知节点。
在一种实施方式中，第一节点可以同时向至少两个候选感知节点发送第一请求信息，并在接收到至少两个第一候选感知节点的第一应答信息时，采用其他方式从这至少两个第一候选感知节点中选择一个作为目标感知节点，例如：选择能力最强的一个作为目标感知节点。
可选地，在所述第一节点从候选感知节点中确定该第一候选感知节点作为目标感知节点之前，所述方法还包括：
所述第一节点根据预设感知节点集合中的每一个感知节点的第一信息，从所述预设感知节点集合中确定候选感知节点，所述候选感知节点包括所述目标感知节点，其中，所述第一信息包括以下至少一项：
位置信息；
天线面板朝向信息；
状态信息；
感知能力信息；
可用于感知业务的资源信息；
信道状态信息。
其中，预设感知节点集合可以是第一节点存储的设备信息列表中的全部节点。例如： 在第一节点为基站的情况下，预设感知节点集合可以包括接入该基站的全部UE，以及与该基站进行通信的其他基站等，此时，设备信息列表可以包括其中的每一个感知节点的设备信息，例如：位置信息、天线资源信息、能力信息、资源配置信息等。这样，第一节点可以根据这些设备信息来确定，哪些感知节点支持按照第二感知方式对感知目标进行感知操作，从而确定这些感知节点能够作为目标感知节点的候选感知节点。
例如：对于终端而言，可以基于以下至少一项确定候选终端：
终端的位置信息；
终端天线面板朝向信息；
终端的状态信息，例如可以包括移动速度、移动方向、保持静止/运动的时间段等信息；
终端的感知能力信息，例如可以包括终端感知覆盖范围、可用于感知的最大带宽、感知业务最大可持续时间、所能支持的感知信号类型及帧格式和终端天线阵列信息(如阵列类型、天线数、阵列孔径、天线极化特性、阵元增益和方向性特性等)；
终端当前可用于进行感知的资源信息，例如可以包括时间资源(符号数、时隙数、帧数等)、频率资源(如资源块(Resource Block，RB)数、资源单元(Resource Element，RE)数、总带宽、可用频段位置等)、天线资源(如天线阵列数/天线子阵列数)、相位调制资源(如硬件移相器数)和正交码资源(如正交码长度和数量)等；
终端的信道状态信息，例如可以包括至少一个通信链路的信道传输函数/信道冲激响应、信道质量指示(Channel Quality Indicator，CQI)、预编码矩阵指示(Precoding Matrix Indicator，PMI)、CSI-RS资源指示、SSB资源指示、层指示(Layer Indicator，LI)、秩指示(Rank indicator，RI)以及层1参考信号接收功率(L1-Reference Signal Received Power，L1-RSRP)等至少一项。
对于网络侧设备而言，可以基于以下至少一项确定候选网络侧设备：
网络侧设备的位置信息；
网络侧设备天线面板朝向信息；
网络侧设备的感知能力信息，例如可以包括网络侧设备感知覆盖范围、可用于感知的最大带宽、感知业务最大可持续时间、所能支持的感知信号类型及帧格式和网络侧设备天线阵列信息(如阵列类型、天线数、阵列孔径、天线极化特性、阵元增益和方向性特性等)；
网络侧设备当前可用于进行感知的资源信息，例如可以包括时间资源(符号数、时隙数、帧数等)、频率资源(如资源块(Resource Block，RB)数、资源单元(Resource Element，RE)数、总带宽、可用频段位置等)、天线资源(如天线阵列数/天线子阵列数)、相位调制资源(如硬件移相器数)和正交码资源(如正交码长度和数量)等；
网络侧设备的信道状态信息，例如可以包括至少一个通信链路的信道传输函数/信道冲激响应、信道质量指示(Channel Quality Indicator，CQI)、预编码矩阵指示(Precoding Matrix Indicator，PMI)、CSI-RS资源指示、SSB资源指示、层指示(Layer Indicator，LI)、 秩指示(Rank indicator，RI)以及层1参考信号接收功率(L1-Reference Signal Received Power，L1-RSRP)等至少一项。
本实施方式中，第一节点可以从大量的候选感知节点中选择目标感知节点，以使选择的目标感知节点能够按照第二感知方式对感知目标进行感知。
需要说明的是，在实施中，用于从大量的候选感知节点中选择目标感知节点的节点也可能是除了第一节点之外的其他节点，例如：在第一节点是第一设备的情况下，用于从大量的候选感知节点中选择目标感知节点的节点可以是源基站(即切换感知方式前参与第一感知方式的基站)、源接入基站(即切换感知方式前参与第一感知方式的UE所接入的基站)。
作为一种可选的实施方式，所述感知方式切换方法还包括：
所述第一节点向所述目标感知节点发送切换命令，其中，所述切换命令用于通知所述目标感知节点按照所述第二感知方式执行感知操作。
本实施方式中，第一节点在确定目标感知节点后，还向该目标感知节点发送切换命令，以使目标感知节点基于该切换命令来按照所述第二感知方式执行感知操作。
可选地，所述切换命令包括第三配置信息，所述第三配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；和/或，
所述第一应答信息包括第二配置信息，所述第二配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置。
在一种实施方式中，所述切换命令包括第三配置信息，所述第三配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置。这样，目标感知节点可以基于该第三参数配置信息来确定执行第二感知的参数配置信息。
在一种实施方式中，所述第一应答信息包括第二配置信息，所述第二配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置。这样，第一节点可以按照目标感知节点推荐的第二配置信息来进行第二感知相关的感知参数配置。
在一种实施方式中，所述第一应答信息包括第二配置信息，且所述切换命令包括第三配置信息。
本实施方式中，目标感知节点向第一节点反馈的第一应答信息中，可以携带第二参数配置信息，该第二参数配置信息可以表示目标感知节点建议的，用于执行第二感知的参数配置信息。上述第三参数配置信息可以与第二参数配置信息相同或者不同，且目标感知节点在切换感知方式后，执行第二感知的过程中实际采用的参数配置信息可以是第二参数配置信息或第三参数配置信息或根据第二参数配置信息和第三参数配置信息确定的第四参数配置信息，在此不作具体限定。这样，目标感知节点可以综合目标感知节点推荐的第二参数配置信息以及第一节点配置的第三参数配置信息来执行第二感知。
可选地，所述第二配置信息包括以下至少一项：
波形类型、子载波间隔、保护间隔、带宽、数据突发burst持续时间、时域间隔、发 送信号功率、信号格式、信号方向、时间资源、频率资源、准共址QCL关系、天线配置信息；
和/或，
所述第三配置信息包括以下至少一项：
波形类型、子载波间隔、保护间隔、带宽、数据突发burst持续时间、时域间隔、发送信号功率、信号格式、信号方向、时间资源、频率资源、准共址QCL关系、天线配置信息。
其中，波形类型：例如，正交频分复用(Orthogonal frequency division multiplex，OFDM)、单载波频分复用接入技术(Single Carrier Frequency Division Multiple Accessing，SC-FDMA)、正交时频空间(Orthogonal Time Frequency Space，OTFS)、调频连续波(Frequency Modulated Continuous Wave，FMCW)、脉冲信号等类型；
子载波间隔：例如，OFDM系统的子载波间隔30KHz；
保护间隔：表示从信号结束发送时刻到该信号的最迟回波信号被接收的时刻之间的时间间隔，该参数正比于最大感知距离。例如，可以通过2dmax/c计算得到，dmax是最大感知距离(属于感知需求)。例如，对于自发自收的感知信号，dmax代表感知信号收发点到信号发射点的最大距离；在某些情况下，OFDM信号循环前缀(Cyclic prefix，CP)可以起到最小保护间隔的作用；
带宽：该参数反比于距离分辨率，可以通过c/(2Δd)得到，其中Δd是距离分辨率(属于感知需求)；c是光速；
突发(burst)持续时间：该参数反比于速率分辨率(属于感知需求)，该参数是感知信号的时间跨度，主要为了计算多普勒频偏；该参数可通过c/(2fcΔv)计算得到；其中，Δv是速度分辨率；fc是感知信号的载频；
时域间隔：该参数可通过c/(2fcvrange)计算得到；其中，vrange是最大速率减去最小速度(属于感知需求)；该参数是相邻的两个感知信号之间的时间间隔；
发送信号功率：例如从-20dBm到23dBm每隔2dBm取一个值；
信号格式：例如是SRS，DMRS，PRS等，或者其他预定义的信号，以及相关的序列格式等信息；
信号方向：例如感知信号的方向或者波束信息；
时间资源：例如感知信号所在的时隙索引或者时隙的符号索引；其中，时间资源分为两种，一种是一次性的时间资源，例如一个符号发送一个全向的感知信号；一种是非一次性的时间资源，例如多组周期性的时间资源或者不连续的时间资源(可包含开始时间和结束时间)，每一组周期性的时间资源发送同一方向的感知信号，不同组的周期性时间资源上的波束方向不同；
频率资源：包括感知信号的中心频点，带宽，RB或者子载波，参考点A(Point A)，起始带宽位置等；
准共址(Quasi co-location，QCL)关系：例如感知信号包括多个资源，每个资源与一个同步信号块(Synchronization Signal and PBCH block，SSB)QCL，QCL包括类型A(Type A)、Type B、Type C或者Type D。
应理解，“/”在以上各公式中表示除号。
可选地，上述天线配置信息可以包括：
用于发送和/或接收感知信号的天线阵元ID或者天线端口ID；
用于发送和/或接收感知信号的panel ID以及阵元ID；
用于发送和/或接收感知信号的天线阵元相对天线阵列上某个局部参考点的位置信息(可以用笛卡尔坐标(x，y，z)或者球坐标表示)；
用于发送和/或接收感知信号的panel相对天线阵列上某个局部参考点的位置信息(可以用笛卡尔坐标(x，y，z)或者球坐标表示)，以及这些被选择panel内的用于发送感知信号的天线阵元相对panel某个统一参考点(例如panel中心点)的位置信息(可以用笛卡尔坐标(x，y，z)或者球坐标表示)；
天线阵元的位图(bitmap)信息。例如：该bitmap使用“1”指示阵元被选择用于发送和/或接收感知信号，使用“0”表示阵元未被选择(也可反过来)；
阵列panel的bitmap信息以及被选择panel内的阵元bitmap信息。例如：阵列panel的bitmap使用“1”指示阵元被选择用于发送和/或接收感知信号，使用“0”表示阵元未被选择(也可以反过来)。
在本申请实施例中，在第一候选感知节点通过第一应答信息向第一节点反馈推荐的感知参数配置信息的情况下，各第一候选感知节点在确定切换为第二感知方式后，可以按照推荐的感知参数配置信息执行感知操作，从而可以进一步提高感知的性能。此外，在第一节点通过切换命令向目标感知节点发送第三配置信息的情况下，目标感知节点可以在完成感知方式切换后，根据自身推荐的第二配置信息和第三配置信息中的至少一项来执行第二感知
可选地，第一应答信息还可以包括通信测量量及其测量值。这样，在至少两个第一候选感知节点都同意按照所述第二感知方式对所述感知目标进行感知操作的情况下，各个第一候选感知节点通过反馈通信测量量的测量值，可以使第一节点在通信测量量较好的第一候选节点中选择目标感知节点按照第二感知方式执行感知操作，从而可以提高感知性能。
可选地，所述第二配置信息和/或第三配置信息包括第一切换模式配置信息，其中，所述第一切换模式配置信息用于配置在所述第二感知方式建立成功的情况下，结束所述第一感知方式。
上述在所述第二感知方式建立成功的情况下，结束所述第一感知方式可以表示感知方式的切换采用软切换过程，这样，在感知方式的切换采用软切换过程的情况下，可以按照该第一切换模式配置信息配置软切换过程中的感知操作。
作为一种可选的实施方式，在所述第一节点确定将对所述感知目标的感知方式由所述 第一感知方式切换为所述第二感知方式的情况下，所述感知方式切换方法还包括：
所述第一节点发送第一指示信息，其中，所述第一指示信息用于通知所述第一指示信息的接收方，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作。
本实施方式中，第一节点在确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，可以向核心网设备、源基站等发送第一指示信息，以指示所述第一指示信息的接收方，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作。这样，所述第一指示信息的接收方可以根据第一指示信息进行后续操作，例如：第一设备可以在后续的感知过程中，据此确定是否切换感知方式和/或参与感知的节点等。
作为一种可选的实施方式，在所述第一节点确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，所述感知方式切换方法还包括：
所述第一节点发送第二指示信息，其中，所述第二指示信息用于指示所述第一感知方式下的信号发送节点和/或信号接收节点，在完成感知方式切换后退出对所述感知目标的感知操作。
本实施方式中，第一节点在确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，可以向切换感知方式前执行第一感知的感知节点、或执行第一感知的感知节点的接入基站发送上述第二指示信息，以指示其不再执行对所述感知目标的感知操作。例如：在第一设备确定将基站A与UE之间的第一感知切换为基站B的第二感知的情况下，第一设备可以向基站A和UE分别发送第二指示信息，以指示基站A和UE在感知方式切换完成后不再参与感知。
作为一种可选的实施方式，所述感知方式切换方法还包括：
所述第一节点向目标感知节点发送感知参考信息，其中，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
在实施中，切换感知方式之前的感知参考信息中的感知测量量可以与感知方式切换后所述目标感知节点的感知测量量相同或者不同，在此不作具体限定。
本实施方式中，第一节点向目标感知节点发送上述感知参考信息，使得目标感知节点可以基于这些感知参考信息执行第二感知，从而提升对感知目标的感知性能。
在本申请实施例中，第一节点根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式；其中，所述切换测量报告包括用于确定切换感知方式 的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。这样，在感知节点基于第一感知方式对感知目标进行感知测量的过程中，第一节点能够基于切换测量报告判断与第一感知方式相比，第二感知方式是否与感知目标的状态、所处环境等更加适配，从而据此判断是否将第一感知方式切换为第二感知方式，以使对感知目标的感知方式能够与感知目标的状态或感知环境等更加匹配，从而能够得到更加准确的感知结果，提升了感知测量过程的可靠性。
请参阅图5，本申请实施例提供的第二种感知方式切换方法，其执行主体可以是目标感知节点，即完成感知方式切换后，用于执行第二感知的节点。如图5所示，该第二种感知方式切换方法可以包括以下步骤：
步骤501、目标感知节点接收第一请求信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作。
步骤502、所述目标感知节点发送第一应答信息，其中，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
其中，上述第一请求信息、第二感知方式和第一应答信息分别与如图2所示方法实施例中的第一请求信息、第二感知方式和第一应答信息具有相同含义，在此不作赘述。
本申请实施例中，在第一节点确定将对感知目标的感知方式由第一感知方式切换为第二感知方式的情况下，目标感知节点能够在第一节点的请求下，确定参与第二感知，从而向第一节点反馈第一应答信息，以使第一节点可以基于第一应答信息确定在完成感知方式切换之后，可以由目标感知节点执行第二感知。
可选地，所述感知方式切换方法还包括：
所述目标感知节点接收切换命令，其中，所述切换命令用于通知所述目标感知节点按照所述第二感知方式执行感知操作；
所述目标感知节点按照所述第二感知方式发送第一信号，并接收经所述感知目标反射的所述第一信号，得到感知测量量的测量值和/或感知结果。
其中，上述切换命令与如图2所示方法实施例中的切换命令具有相同含义，在此不再赘述。
本实施方式中，目标感知节点在接收到切换命令时，基于该切换命令发送第一信号，并接收经感知目标反射的该第一信号的回波信号，以得到感知测量量的测量值，此时，该目标感知节点也可能根据该感知测量量的测量值来计算得到感知结果，或者将感知测量量的测量值发送给基站和/或核心网设备等，以通过基站和/或核心网设备来根据感知测量量的测量值计算感知结果。
可选地，在所述目标感知节点按照所述第二感知方式发送第一信号，并接收经所述感知目标反射的所述第一信号，得到感知测量量的测量值和/或感知结果之后，所述感知方 式切换方法还包括：
所述目标感知节点在获取至少一次感知测量量的测量值和/或感知结果的情况下，发送切换成功消息。
其中，上述切换成功消息与如图2所示方法实施例中的切换成功消息具有相同含义和作用，在此不再赘述。
本实施方式中，目标感知节点在获取至少一次感知测量量的测量值和/或感知结果的情况下，向第一节点发送切换成功消息，这样，第一节点可以基于该切换成功消息，而控制源感知节点结束第一感知，以实现感知方式的软切换过程。
当然，在实施中，第一节点也可能在接收到切换成功消息之前，便控制源感知节点结束第一感知，以实现感知方式的硬切换过程，此时，第一节点可以基于切换成功消息来确定目标感知节点已经顺利地执行第二感知。换而言之，第一节点可以在预设时间段内未接收到目标感知节点发送的切换成功消息的情况下，可以控制源感知节点继续执行第一感知、或选择其他的感知节点执行第二感知、或者终止感知业务等。
可选地，所述第一应答信息包括第二配置信息，所述第二配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；和/或，
所述切换命令包括第三配置信息，所述第三配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；
所述感知方式切换方法还包括：
所述目标感知节点根据所述第一请求信息、所述第二配置信息和所述第三配置信息中的至少一项，进行所述第二感知方式的感知参数配置。
其中，上述第二配置信息、第三配置信息分别与如图2所示方法实施例中的第二配置信息、第三配置信息具有相同含义，在此不再赘述。
本实施方式中，目标感知节点在执行第二感知的过程中，可以综合考虑感知需求、自身推荐的配置信息和第一节点推荐的配置信息来配置第二感知。
可选地，所述第二配置信息和/或第三配置信息包括第一切换模式配置信息，其中，所述第一切换模式配置信息用于配置在所述第二感知方式建立成功的情况下，结束第一感知方式，所述第一感知方式为切换前对所述感知目标的感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点。
其中，上述第一切换模式配置信息与如图2所示方法实施例中的第一切换模式配置信息，具有相同含义，且目标感知节点可以根据第一切换模式配置信息执行软切换过程中相关的配置，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述目标感知节点接收感知参考信息，其中，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
其中，本实施方式中，目标感知节点可以从第一节点、源感知节点中的至少一项获取上述感知参考信息，使得目标感知节点可以基于这些感知参考信息执行第二感知，从而提升对感知目标的感知性能。
本申请实施例提供的目标感知节点执行的感知方式切换方法，与如图2所示第一节点执行的感知方式切换方法基于相同的构思，使得第一节点与目标感知节点相互配合，以执行感知方式切换方法，能够取得与如图2所示方法实施例相同的有益效果，为避免重复，在此不再赘述。
请参阅图6，本申请实施例提供的第三种感知方式切换方法，其执行主体可以是第二感知节点，即切换感知方式之前，用于执行第一感知的信号接收节点。如图6所示，该第二感知节点执行的感知方式切换方法可以包括以下步骤：
步骤601、第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告。
其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式；所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点。
其中，上述第二感知节点、第一感知方式、切换测量报告和第二感知方式分别与如图2所示方法实施例中的第二感知节点、第一感知方式、切换测量报告和第二感知方式具有相同含义，在此不再赘述。
本申请实施例中，第二感知节点在对感知目标进行第一感知的情况下，可以进行切换感知方式相关的测量，得到切换测量报告，该切换测量报告可以作为判断是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式的依据。
在一种可选的实施方式中，所述第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，包括：
所述第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，接收切换测量请求；
所述第二感知节点根据所述切换测量请求，进行切换感知方式相关的测量，得到所述切换测量报告。
其中，上述切换测量请求与如图2所示方法实施例中的切换测量请求具有相同含义和作用，在此不再赘述。
本实施方式中，第二感知节点是按照第一节点(如：源基站、源接入基站或第一设备)发送的切换测量请求，来执行切换感知方式相关的测量，此时，执行切换感知方式相关的测量的时机是由第一节点确定的。
在另一种可选的实施方式中，所述第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，包括：
所述第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，若确定发生了预设事件，则进行切换感知方式相关的测量，得到切换测量报告，其中，所述预设事件包括以下至少一项：
所述感知目标的状态发生变化；
所述第一感知节点的位置发生变化，所述第一感知节点为所述第一感知方式下的信号发送节点；
所述第二感知节点的位置发生变化；
所述感知目标所在的感知区域的环境发生变化；
所述第一感知节点可用的感知资源发生变化；
所述第二感知节点可用的感知资源发生变化；
所述第二感知节点获取的感知测量量的测量值达到第一预设门限；
所述第二感知节点获取的通信测量量的测量值或者所述第二感知节点与所述第二感知节点的接入网络侧设备之间的通信测量量的测量值达到第二预设门限；
所述第一感知节点与所述第一感知节点的接入网络侧设备之间的通信测量量的测量值达到第三预设门限。
可选地，所述通信测量量的测量值达到第二预设门限，包括以下至少一项：
参考信号接收功率RSRP小于或等于第一预设值；
信噪比SNR小于或等于第二预设值；
信干噪比SINR小于或等于第三预设值；
参考信号接收质量RSRQ小于或等于第四预设值；
接收信号强度指示器RSSI小于或等于第五预设值；
误码率大于或等于第六预设值；
误块率大于或等于第七预设值；
吞吐量大于或等于第八预设值；
频谱效率大于或等于第九预设值。
其中，上述预设事件，以及通信测量量的测量值达到第二预设门限的含义，与如图2所示方法实施例中的预设事件，以及通信测量量的测量值达到第二预设门限的含义相同，在此不再赘述。
本实施方式中，第二感知节点也可以基于某些条件的触发来执行切换感知方式相关的测量，例如：在检测到感知性能或通信性能较差的情况下，执行切换感知方式相关的测量，此时，由第二感知节点来确定执行切换感知方式相关的测量的时机。
可选地，所述感知方式切换方法还包括：
所述第二感知节点根据所述切换测量报告，发送第三指示信息，其中，所述第三指示 信息用于指示所述第二感知节点能够按照所述第二感知方式对所述感知目标进行感知操作。
本实施方式中，第二感知节点作为目标感知节点，此时，第二感知节点在根据切换测量报告确定自身能够对感知目标执行第二感知的情况下，可以向第一节点发送上述第三指示信息，此时，第一节点可以命令该第二感知节点执行第二感知，以实现感知方式由第一感知方式切换为第二感知方式。
当然，第一节点也可能选择除了上述第二感知节点之外的其他节点作为目标感知节点，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第二感知节点接收第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换感知方式相关的测量，得到所述切换测量报告。
可选地，所述第一配置信息，包括以下至少一项：
测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信息和测量标识；
其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
其中，上述第一配置信息中的各项内容与如图2所示方法实施例中的第一配置信息的各项内容具有相同含义在，在此不再赘述。
本实施方式中，所述第二感知节点可以根据第一节点发送的第一配置信息来执行切换感知方式相关的测量，以得到所述切换测量报告。
可选地，所述感知方式切换方法还包括：
所述第二感知节点接收感知结束命令，其中，所述感知结束命令用于通知所述第二感知节点结束对所述感知目标的感知操作。
其中，上述感知结束命令与如图2所示方法实施例中的感知结束命令具有相同含义，在此不再赘述。
本实施方式中，在第二感知节点与目标感知节点不是同一节点的情况下，第二感知节点基于接收到的感知结束命令，结束对感知目标的第一感知，从而节约了第二感知节点的资源浪费，以及减少第二感知节点的能耗。
可选地，所述切换测量报告包括以下至少一项：
至少一项感知测量量的测量值；
至少一项感知性能评价指标的测量结果；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指 标的测量结果；
用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
其中，上述切换测量报告的各项内容的含义和作用，与如图2所示方法实施例中的切换测量报告的各项内容的含义和作用相同，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第二感知节点接收第一指示信息，其中，所述第一指示信息用于通知所述第一指示信息的接收方，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
其中，上述第一指示信息的含义和作用，与如图2所示方法实施例中的第一指示信息的含义和作用相同，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第二感知节点接收第二指示信息，其中，所述第二指示信息用于指示所述第二感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
其中，上述第二指示信息的含义和作用，与如图2所示方法实施例中的第二指示信息的含义和作用相同，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第二感知节点向所述目标感知节点发送感知参考信息，其中，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
其中，上述感知参考信息的各项内容的含义和作用，与如图2所示方法实施例中的感知参考信息的各项内容的含义和作用相同，在此不再赘述。
本申请实施例提供的第二感知节点执行的感知方式切换方法，与如图2所示第一节点执行的感知方式切换方法以及图5所示目标感知节点执行的感知方式切换方法，基于相同的构思，使得第一节点、目标感知节点和第二感知节点相互配合，以执行感知方式切换方法(在一特殊情况下，目标感知节点和第二感知节点可以是同一节点)，能够取得与如图2所示方法实施例相同的有益效果，为避免重复，在此不再赘述。
请参阅图7，本申请实施例提供的第四种感知方式切换方法，其执行主体可以是第一感知节点，即切换感知方式之前，用于执行第一感知的信号发送节点。如图7所示，该第 一感知节点执行的感知方式切换方法可以包括以下步骤：
步骤701、第一感知节点在按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求。
其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式；所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
其中，上述第一感知节点、第二感知节点、第一感知方式、第二感知方式、切换测量请求和切换测量报告，分别与如图2所示方法实施例中的第一感知节点、第二感知节点、第一感知方式、第二感知方式、切换测量请求和切换测量报告具有相同含义，在此不再赘述。
本申请实施例中，第一感知节点可以执行如图2所示方法实施例中第一节点是同一设备，且第一感知节点向第二感知节点发送切换测量请求的具体含义和作用与如图2所示方法实施例中第一节点向第二感知节点发送切换测量请求的含义和作用相同，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第一感知节点获取所述切换测量报告；
所述第一感知节点根据所述切换测量报告，发送第四指示信息，其中，所述第四指示信息用于指示所述第一感知节点能够按照所述第二感知方式对所述感知目标进行感知操作。
本实施方式中，第一感知节点作为目标感知节点，此时，第一感知节点在根据切换测量报告确定自身能够对感知目标执行第二感知的情况下，可以向第一节点发送上述第四指示信息，此时，第一节点可以命令该第一感知节点执行第二感知，以实现感知方式由第一感知方式切换为第二感知方式。
当然，第一节点也可能选择除了上述第一感知节点之外的其他节点作为目标感知节点，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第一感知节点向第二感知节点发送第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换测量，所述第二感知节点为所述第一感知方式下的信号接收节点。
可选地，所述第一配置信息，包括以下至少一项：
测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信息和测量标识；
其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触 发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
其中，上述第一配置信息中的各项内容与如图2所示方法实施例中的第一配置信息的各项内容具有相同含义在，在此不再赘述。
本实施方式中，所述第一感知节点能够在向第二感知节点发送切换测量请求的情况下，还向第二感知节点发送第一配置信息(如：第一配置信息携带在切换测量请求中)，以使第二感知节点可以根据第一配置信息来执行切换感知方式相关的测量，以得到所述切换测量报告。
可选地，所述感知方式切换方法还包括：
所述第一感知节点接收感知结束命令，其中，所述感知结束命令用于通知所述第一感知节点结束对所述感知目标的感知操作。
其中，上述感知结束命令与如图2所示方法实施例中的感知结束命令具有相同含义，在此不再赘述。
本实施方式中，在第一感知节点与目标感知节点不是同一节点的情况下，第一感知节点基于接收到的感知结束命令，结束对感知目标的第一感知，从而节约了第一感知节点的资源浪费，以及减少第一感知节点的能耗。
可选地，所述切换测量报告包括以下至少一项：
至少一项感知测量量的测量值；
至少一项感知性能评价指标的测量结果；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
其中，上述切换测量报告的各项内容的含义和作用，与如图2所示方法实施例中的切换测量报告的各项内容的含义和作用相同，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第一感知节点接收第一指示信息，其中，所述第一指示信息用于通知所述第一感知节点，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
其中，上述第一指示信息的含义和作用，与如图2所示方法实施例中的第一指示信息的含义和作用相同，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第一感知节点接收第二指示信息，其中，所述第二指示信息用于指示所述第一感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
所述第二感知节点接收第二指示信息，其中，所述第二指示信息用于指示所述第二感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
其中，上述第二指示信息的含义和作用，与如图2所示方法实施例中的第二指示信息的含义和作用相同，在此不再赘述。
可选地，所述感知方式切换方法还包括：
所述第一感知节点向目标感知节点发送感知参考信息，其中，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
其中，上述感知参考信息的各项内容的含义和作用，与如图2所示方法实施例中的感知参考信息的各项内容的含义和作用相同，在此不再赘述。
本申请实施例提供的第一感知节点执行的感知方式切换方法，与如图2所示第一节点执行的感知方式切换方法、图5所示目标感知节点执行的感知方式切换方法以及图6所示第二感知节点执行的感知方式切换方法，基于相同的构思，使得第一节点、目标感知节点、第一感知节点和第二感知节点相互配合，以执行感知方式切换方法，能够取得与如图2所示方法实施例相同的有益效果，为避免重复，在此不再赘述。
值得提出的是，在一特殊情况下，目标感知节点和第一感知节点可以是同一节点。例如：第一感知节点作为候选感知节点之一，接收第一请求信息，并反馈第一应答信息。再例如：目标感知节点在获取切换测量报告的情况下，根据该切换测量报告判断自身能够支持对感知目标执行第二感知。
在一特殊情况下，第一节点和第一感知节点可以是同一节点，此时，第一感知节点可以在确定将对感知目标的感知方式由第一感知方式切换为第二感知方式的情况下，向候选感知节点发送第一请求信息，以及接收第一应答信息，以通过第一请求信息请求所述候选感知节点按照所述第二感知方式对所述感知目标进行感知操作，并根据接收的第一应答信息确定目标感知节点。
为了便于说明本申请实施例提供的各个节点在感知方式切换方法中的执行功能，以如图4所示6种组合为例，对本申请实施例提供的感知方式切换方法进行举例说明：
举例一：基站-UE执行的第一感知，切换为基站执行第二感知。
假设前期基站、UE已经在执行第一感知。将切换前的执行第一感知的基站称为源基 站，将切换后执行第二感知的基站称为目标基站；所述UE为执行第一感知的UE，则本申请实施例提供的感知方式切换方法可以包括以下步骤：
步骤11：网络执行切换测量。
本步骤具体可以分为以下几种情况：
(11-1)基站-UE执行下行感知：
源基站向UE发送切换测量请求，UE收到切换测量请求后进行切换测量，并向源基站反馈切换测量报告；
或者，
第一设备(例如感知功能网元)向UE发送切换测量请求，UE收到切换测量请求后进行切换测量，并向第一设备反馈切换测量报告；可选地，UE或第一设备向源基站发送切换测量报告。
其中，在UE进行切换测量之前，第一设备或源基站向UE发送第一配置信息，或者在切换测量请求中携带第一配置信息。
(11-2)基站-UE执行上行感知：
源基站进行切换测量。
可选地，在源基站进行切换测量之前，第一设备或UE向源基站发送切换测量请求。
其中，在源基站进行切换测量之前，第一设备或UE向源基站发送第一配置信息。或者，所述第一配置信息包含在切换测量请求中。
上述第一配置信息与如图2所示方法实施例中的第一配置信息具有相同内容和含义，在此不再赘述。
步骤12：源基站基于切换测量报告，决定是否发起切换。
可选地，源基站向第一设备上报切换测量报告，由第一设备决定是否发起切换请求。或者，第一设备根据从UE接收到的切换测量报告，决定是否发起切换请求。
其中，若不发起切换，后续处理可以是维持或者结束当前第一感知。
若发起切换，第一设备或源基站决定是哪个节点切换为第二感知方式，具体分为以下几种情况：
情况12-1：由源基站决定切换为基站执行第二感知。
源基站向至少一个候选目标基站发送第一请求信息，所述第一请求信息为请求第一请求信息接收方，在感知方式切换完成后进行第二感知。
可选地，源基站向第一设备发送第一指示信息，所述第一指示信息为通知第一指示信息接收方，在感知方式切换后，由基站执行第二感知。
可选地，源基站向UE发送第二指示信息，所述第二指示信息为指示第二指示信息接收方，在感知方式切换完成后不再参与感知。
情况12-2：由第一设备决定切换为基站执行第二感知方式。
第一设备向至少一个候选目标基站发送第一请求信息。
可选地，第一设备向源基站发送第一指示信息。
可选地，第一设备向UE发送第二指示信息。
本情况12-2中，所述候选目标基站可以包括源基站。
情况12-3：源基站决定主动切换为执行第二感知。这种情况下，源基站为候选目标基站。
源基站向第一设备发送第三指示信息(基站-UE执行下行感知)或第四指示信息(基站-UE执行上行感知)，所述第三指示信息或第四指示信息为指示第三指示信息接收方，在感知方式切换完成后第三指示信息或第四指示信息的发送方可以执行第二感知。
可选地，本情况12-3可以包括情况12-1。例如：源基站在根据切换测量包括确定需要切换为第二感知方式的情况下，可以在自身能力信息支持对感知目标进行第二感知的情况下，确定由自身执行第二感知。
可选地，所述第一请求信息可以包括软切换请求。例如：第一配置信息包括第一切换模式配置信息。
步骤13：候选目标基站决定是否接受在切换感知方式后执行第二感知。
13-1)若同意，则候选目标基站向第一请求信息发送方(源基站或第一设备)发送第一应答信息，所述第一应答信息为指示第一请求信息发送方，在感知方式切换完成后，第一应答信息发送方同意执行第二感知。
可选地，候选目标基站在第一应答信息中反馈建议的第二配置信息。所述第二配置信息，用于候选目标感知节点执行第二感知的感知参数配置。
可选地，若第一请求信息中包括软切换请求，且候选目标基站同意并支持软切换，则第二配置信息包括第一切换模式配置信息。第一切换模式配置信息会相对第二配置信息会有一些针对软切换的配置信息。
13-2)若不同意，则候选目标基站可以向第一请求信息发送方(源基站或第一设备)发送第一拒绝信息，所述第一拒绝信息为指示第一请求信息发送方，第一拒绝信息发送方不进行第二感知。
后续处理可以是以下其中一项：
i.源基站或第一设备重新确定候选目标基站；
ii.维持当前第一感知；
iii.结束当前第一感知。
步骤14：源基站或第一设备基于收到的第一应答信息，在候选目标基站中确定至少一个目标基站，作为切换后执行第二感知的感知节点。
源基站或第一设备向目标基站发送切换命令。所述切换命令用于通知目标感知节点执行第二感知操作。
可选地，源基站或第一设备在切换命令中反馈建议的第三配置信息。所述第三配置信息，用于目标感知节点执行第二感知的感知参数配置。
可选地，第三配置信息包括第一切换模式配置信息。
步骤15：目标基站执行第二感知。
具体地，后续处理分为以下2种情况：
情况一：若采用软切换方法。目标基站基于第一请求信息、第二配置信息、第三配置信息中的至少一项，进行感知参数配置，执行第二感知。
在获得至少一次感知测量量测量结果和/或感知结果后，目标基站向源基站或第一设备发送切换成功消息。
进一步地，包括以下几种情况之一：
15-1a)第一请求信息发送方为源基站，源基站和目标基站不是同一设备：
源基站收到切换成功消息后，向UE发送感知结束命令。源基站和UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
15-2a)第一请求信息发送方为第一设备，源基站和目标基站不是同一设备：
第一设备收到切换成功消息后，向源基站和UE发送感知结束命令。源基站和UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
15-3a)第一请求信息发送方为第一设备，源基站和目标基站是同一设备：
第一设备收到切换成功消息后，向UE发送感知结束命令。UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
15-4a)源基站主动作为目标基站：
第一设备收到切换成功消息后，第一设备或源基站向UE发送感知结束命令。UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
情况二：若采用硬切换方法。则在执行步骤14的同时，源基站或第一设备无需等待切换成功消息。其具体包括以下几种情形之一：
15-1b)第一请求信息发送方为源基站，源基站和目标基站不是同一设备：
源基站向UE发送感知结束命令。源基站和UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
15-2b)第一请求信息发送方为第一设备，源基站和目标基站不是同一设备：
第一设备向源基站和UE发送感知结束命令。源基站和UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
15-3b)第一请求信息发送方为第一设备，源基站和目标基站是同一设备：
第一设备向UE发送感知结束命令。UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
15-4b)源基站主动作为目标基站：
第一设备或源基站向UE发送感知结束命令。UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
步骤16：源基站和/或第一设备可以将部分或全部历史感知测量量的测量值和/或历史 感知结果、感知目标/区域先验信息发送给目标基站。
举例二：基站-基站执行的第一感知，切换为基站执行第二感知。
假设发送第一信号的基站为基站A，接收第一信号的基站为基站B，前期基站A、基站B已经在执行第一感知。将切换前的执行第一感知的基站A、B称为源基站，将切换后执行第二感知的基站称为目标基站。
步骤21：网络执行切换测量。
基站A向基站B发送切换测量请求，基站B收到切换测量请求后进行切换测量，并向基站A反馈切换测量报告；可选地，基站A或基站B向第一设备发送切换测量报告。
或者，
第一设备(例如感知功能网元)向基站B发送切换测量请求，基站B收到切换测量请求后进行切换测量，并向第一设备反馈切换测量报告；可选地，基站B或第一设备向基站A发送切换测量报告。
或者，
基站B主动进行切换测量，获取切换测量报告。可选地，基站B向第一设备或基站A发送切换测量报告。
其中，在基站B进行切换测量之前，基站A或第一设备向基站B发送第一配置信息。或者，所述第一配置信息包含在切换测量请求中。
步骤22：基站A基于切换测量报告，决定是否发起切换。
可选地，基站A或基站B向第一设备上报切换测量报告，由第一设备决定是否发起切换请求。
若不发起切换，后续处理可以是维持或者结束当前第一感知。
若发起切换，第一设备或源基站(包括基站A和基站B)决定是哪个节点切换为第二感知方式，具体分为以下几种情况之一：
情况22-1：基站A决定切换为基站执行第二感知。基站A向至少一个候选目标基站发送第一请求信息。
可选地，基站A向第一设备发送第一指示信息，所述第一指示信息为通知第一指示信息接收方，在感知方式切换后，由基站执行第二感知。
其中，所述候选目标基站可以包括基站B。
情况22-2：基站B决定切换为基站执行第二感知。基站B向至少一个候选目标基站发送第一请求信息。
可选地，基站B向第一设备发送第一指示信息。
所述候选目标基站包括基站A。
情况22-3：第一设备决定切换为基站执行第二感知方式。第一设备向至少一个候选目标基站发送第一请求信息。
可选地，第一设备向基站A和/或基站B发送第一指示信息。
所述候选目标基站包括基站A和基站B。
情况22-4：基站A决定主动切换为执行第二感知。基站A向基站B和/或第一设备发送第三指示信息(基站A为源接收基站)或第四指示信息(基站A为源发送基站)。这种情况下，基站A为候选目标基站，所述第三指示信息或第四指示信息为指示其接收方，在感知方式切换完成后第三指示信息或第四指示信息的发送方可以执行第二感知。
可选地，情况22-4还包括情况22-1。
情况22-5：基站B决定主动切换为执行第二感知。基站B向基站A和/或第一设备发送第三指示信息。这种情况下，基站B为候选目标基站。
可选地，情况5还包括情况2。
可选地，所述第一请求信息可以包括软切换请求。
步骤23：候选目标基站决定是否接受在切换感知方式后执行第二感知。
23-1)若同意，则候选目标基站向第一请求信息发送方(源基站或第一设备)发送第一应答信息。
可选地，候选目标基站在第一应答信息中反馈建议的第二配置信息。
所述第二配置信息包括以下至少一项：同举例一。
若第一请求信息中包括软切换请求，且候选目标基站同意并支持软切换，则第二配置信息包括第一切换模式配置信息。
23-2)若不同意，则候选目标基站可以向第一请求信息发送方(源基站或第一设备)发送第一拒绝信息。
后续处理可以是以下其中一项：
i.源基站或第一设备重新确定候选目标基站；
ii.取消切换，维持当前第一感知；
iii.结束当前第一感知。
步骤24：同举例一中的步骤14。
步骤25：目标基站执行第二感知。
具体地，后续处理分为以下2种情况：
情况一：若采用软切换方法。目标基站基于第一请求信息、第二配置信息、第三配置信息中的至少一项，进行感知参数配置，执行第二感知。
在获得至少一次感知测量量测量结果和/或感知结果后，目标基站向源基站或第一设备发送切换成功消息。
进一步地，包括以下几种情况之一：
25-1a)第一请求信息发送方为基站A，源基站和目标基站不是同一设备：
基站A收到切换成功消息后，向基站B发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-2a)第一请求信息发送方为基站B，源基站和目标基站不是同一设备：
基站B收到切换成功消息后，向基站A发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-3a)第一请求信息发送方为第一设备，源基站和目标基站不是同一设备：
第一设备收到切换成功消息后，向基站A和基站B发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-4a)第一请求信息发送方为第一设备，基站A和目标基站是同一设备：
第一设备收到切换成功消息后，向基站B发送感知结束命令。基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-5a)第一请求信息发送方为第一设备，基站B和目标基站是同一设备：
第一设备收到切换成功消息后，向基站A发送感知结束命令。基站A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-6a)基站A主动作为目标基站：
第一设备收到切换成功消息后，向基站B发送感知结束命令。基站B收到第一设备发送的感知结束命令或者基站A发送的切换成功信息后，结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-7a)基站B主动作为目标基站：
第一设备收到切换成功消息后，向基站A发送感知结束命令。基站A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
情况一：若采用硬切换方法。则在执行步骤24的同时，源基站或第一设备无需等待切换成功消息。其具体包括以下几种情形之一：
25-1b)第一请求信息发送方为基站A，源基站和目标基站不是同一设备：
基站A向基站B发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-2b)第一请求信息发送方为基站B，源基站和目标基站不是同一设备：
基站B向基站A发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-3b)第一请求信息发送方为第一设备，源基站和目标基站不是同一设备：
第一设备向基站A和基站B发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-4b)第一请求信息发送方为第一设备，基站A和目标基站是同一设备：
第一设备向基站B发送感知结束命令。基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-5b)第一请求信息发送方为第一设备，基站B和目标基站是同一设备：
第一设备向基站A发送感知结束命令。基站A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-6b)基站A主动作为目标基站：
第一设备向基站B发送感知结束命令。基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
25-7b)基站B主动作为目标基站：
第一设备向基站A发送感知结束命令。基站A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
步骤26：源基站和/或第一设备可以将部分或全部历史感知测量量的测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
举例三：基站-UE执行的第一感知，切换为UE执行第二感知。
假设前期基站、UE已经在执行第一感知。将切换前的执行第一感知的UE称为源UE，将切换后执行第二感知的UE称为目标UE；将切换前的执行第一感知的基站称为源基站，将目标UE的接入基站称为目标接入基站。
步骤31：同举例一中的步骤11。
步骤32：源基站基于切换测量报告，决定是否发起切换。
或者，源基站向第一设备上报切换测量报告，由第一设备决定是否发起第一请求信息。
或者，第一设备根据从源UE接收到的切换测量报告，决定是否发起第一请求信息。
若不发起切换，后续处理可以是维持或者结束当前第一感知。
若发起切换，第一设备或源基站决定是哪个节点切换为第二感知方式，具体分为以下几种情况之一：
情况32-1：源基站决定切换为UE执行第二感知。
源基站向至少一个候选目标UE发送第一请求信息。其中还可以通过：源基站向至少一个候选目标接入基站发送第二请求信息，所述第二请求信息为请求第二请求信息接收方(即候选目标接入基站)寻找候选目标UE，在感知方式切换完成后进行第二感知。进一步地，所述候选目标接入基站向至少一个候选目标UE发送第一请求信息。
可选地，源基站向第一设备发送第一指示信息，所述第四指示信息为通知第四指示信息接收方，在感知方式切换后UE执行第二感知。
所述候选目标UE包括源UE。
情况32-2：第一设备决定切换为UE执行第二感知方式。
第一设备向至少一个候选目标UE发送第一请求信息。其中可以通过：第一设备向至少一个候选目标接入基站发送第二请求信息，所述候选目标接入基站向至少一个候选目标UE发送第一请求信息。
可选地，第一设备向源基站和/或源UE发送第二指示信息。
所述候选目标接入基站包括源基站。
情况32-3：源UE决定主动切换为执行第二感知。这种情况下，源UE为候选目标UE。
源UE向源基站和/或第一设备发送第三指示信息或第四指示信息。
可选地，上述情况32-3还包括情况32-1。
可选地，所述第一请求信息、第二请求信息可以包括软切换请求。
步骤33：候选目标UE决定是否接受在切换感知方式后执行第二感知。
33-1)若同意，则候选目标UE向第一请求信息发送方(源基站，或候选目标接入基站，或第一设备)发送第一应答信息。
可选地，所述候选目标接入基站向第二请求信息发送方(源基站或第一设备)发送第二应答信息，所述第二应答信息为指示第二请求信息发送方，在感知方式切换完成后，存在本小区接入UE同意执行第二感知。
可选地，所述第二应答信息包括第一应答信息部分或全部内容。
可选地，候选目标UE在第一应答信息中反馈建议的第二配置信息。
可选地，若第一请求信息中包括软切换请求，且候选目标UE同意并支持软切换，则第二配置信息包括第一切换模式配置信息。
33-2)若不同意，则候选目标UE向第一请求信息发送方(源基站，或候选目标接入基站，或第一设备)发送第一拒绝信息。
可选地，所述候选目标接入基站向第二请求信息发送方(源基站或第一设备)发送第二拒绝信息，所述第二拒绝信息为指示第二请求信息发送方，本小区接入UE不进行第二感知。
后续处理可以是以下其中一项：
i.源基站或第一设备重新确定候选目标UE；
ii.候选目标接入基站重新确定候选目标UE；
iii.源基站或第一设备重新确定候选目标接入基站，候选目标接入基站确定候选目标UE；
iv.取消切换，维持当前第一感知；
v.结束当前第一感知。
步骤34：源基站或第一设备基于收到的第一应答信息和/或第二应答信息，在候选目标UE中确定至少一个目标UE，作为切换后执行第二感知的感知节点。
源基站或第一设备向目标UE发送切换命令。
可选地，源基站或第一设备在切换命令中反馈建议的第三配置信息。
可选地，第三配置信息包括第一切换模式配置信息。
步骤35：目标UE执行第二感知。具体地，后续处理分为以下2种情况：
情况一：若采用软切换方法。目标UE基于第一请求信息或第二请求信息、第二配置信息、第三配置信息中的至少一项，进行感知参数配置，执行第二感知。
在获得至少一次感知测量量的测量值和/或感知结果后，目标UE向源基站或第一设备发送切换成功消息。
进一步地，包括以下几种情况之一：
35-1a)若第一请求信息或第二请求信息的发送方为源基站，源UE和目标UE不是同一设备：
源基站收到切换成功消息后，向源UE发送感知结束命令。源基站和源UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
35-2a)请求信息发送方为源基站，源UE和目标UE是同一设备：
源基站收到切换成功消息后，结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
35-3a)请求信息发送方为第一设备，源UE和目标UE不是同一设备：
第一设备收到切换成功消息后，向源基站和源UE发送感知结束命令。源基站和源UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
35-4a)请求信息发送方为第一设备，源UE和目标UE是同一设备：
第一设备收到切换成功消息后，向源基站发送感知结束命令。源基站结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
35-5a)源UE主动作为目标UE：
第一设备收到切换成功消息后，向源基站发送感知结束命令。源基站结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
情况二：若采用硬切换方法。则在执行步骤34的同时，源基站或第一设备无需等待切换成功消息。包括以下几种情况之一：
35-1b)请求信息发送方为源基站，源UE和目标UE不是同一设备：
源基站向源UE发送感知结束命令。源基站和源UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
35-2b)请求信息发送方为源基站，源UE和目标UE是同一设备：
源基站结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
35-3b)请求信息发送方为第一设备，源UE和目标UE不是同一设备：
第一设备向源基站和源UE发送感知结束命令。源基站和源UE结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
35-4b)请求信息发送方为第一设备，源UE和目标UE是同一设备：
第一设备向源基站发送感知结束命令。源基站结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
35-5b)源UE主动作为目标UE：
源基站结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
步骤36：源基站和/或第一设备可以将部分或全部历史感知测量量的测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
举例四：UE-UE执行的第一感知，切换为UE执行第二感知。
假设发送第一信号的UE为UE A，接收第一信号的UE为UE B，前期UE A、UE B 已经在执行第一感知。将切换前的执行第一感知的UE A、B称为源UE，将源UE的接入基站称为源接入基站(在实施中，UE A和UE B可以位于同一小区(cell A))；将切换后执行第二感知的UE称为目标UE，将目标UE的接入基站称为目标接入基站(其中，目标UE接入的cell可能是cell A或者除了cell A之外的其他cell)。
步骤41：网络执行切换测量。
UE A向UE B发送切换测量请求，UE B收到切换测量请求后进行切换测量，并向UE A反馈切换测量报告；可选地，UE A或UE B向源接入基站和/或第一设备(例如感知功能网元)发送切换测量报告。
或者，
源接入基站向UE B发送切换测量请求，UE B收到切换测量请求后进行切换测量，并向源接入基站反馈切换测量报告；可选地，UE B或源接入基站向第一设备和/或UE A发送切换测量报告。
或者，
第一设备(例如感知功能网元)向UE B发送切换测量请求，UE B收到切换测量请求后进行切换测量，并向第一设备反馈切换测量报告；可选地，第一设备向源接入基站和/或UE A发送切换测量报告。
在UE B进行切换测量之前，UE A、源接入基站、第一设备任意一者向UE B发送第一配置信息。或者，所述第一配置信息包含在切换测量请求中。
步骤42：源接入基站或第一设备基于切换测量报告，决定是否发起切换。
若不发起切换，后续处理可以是维持或者结束当前第一感知。
若发起切换，第一设备、源接入基站、源UE(包括UE A、UE B)中任意一者，决定是哪个节点切换为第二感知方式，具体分为以下几种情况之一：
情况42-1：源接入基站决定切换为UE执行第二感知。
源接入基站向至少一个候选目标UE发送第一请求信息。其中还可以通过：源接入基站向至少一个候选目标接入基站发送第二请求信息，所述候选目标接入基站向至少一个候选目标UE发送第一请求信息。
可选地，源接入基站向第一设备发送第一指示信息。
所述候选目标UE可以包括源UE。
情况42-2：第一设备决定切换为UE执行第二感知方式。
第一设备向至少一个候选目标UE发送第一请求信息。其中可以通过：第一设备向至少一个候选目标接入基站发送第二请求信息，所述候选目标接入基站向至少一个候选目标UE发送第一请求信息。
可选地，第一设备向源接入基站发送第一指示信息。
所述候选目标UE可以包括源UE，所述候选目标接入基站包括源接入基站。
情况42-3：UE A决定主动切换为执行第二感知。UE A向源接入基站和/或第一设备 发送第三指示信息。这种情况下，UE A为候选目标UE。
可选地，UE A、源接入基站、第一设备中至少一者向UE B发送第二指示信息。
可选地，情况42-3还包括情况42-1或情况42-2。
情况42-4：UE B决定主动切换为执行第二感知。UE B向源接入基站和/或第一设备发送第三指示信息或第四指示信息。这种情况下，UE B为候选目标UE。
可选地，UE B、源接入基站、第一设备中至少一者向UE A发送第二指示信息。
可选地，情况42-4还包括情况42-1或情况42-2。
可选地，所述第一请求信息、第二请求信息可以包括软切换请求。
步骤43：候选目标UE决定是否接受在切换感知方式后执行第二感知。
43-1)若同意，则候选目标UE向第一请求信息发送方(源接入基站，或候选目标接入基站，或第一设备)发送第一应答信息。
可选地，所述候选目标接入基站向第二请求信息发送方(源接入基站或第一设备)发送第二应答信息。
可选地，所述第二应答信息包括第一应答信息部分或全部内容。
可选地，候选目标UE在第一应答信息中反馈建议的第二配置信息。
可选地，若第一应答信息中包括软切换请求，且候选目标UE同意并支持软切换，则第二配置信息包括第一切换模式配置信息。
43-2)若不同意，则候选目标UE可以向第一请求信息发送方(源接入基站，或候选目标接入基站，或第一设备)发送第一拒绝信息。
可选地，所述候选目标接入基站向第二请求信息发送方(源接入基站或第一设备)发送第二拒绝信息。
后续处理可以是以下其中一项：
i.源接入基站或第一设备重新确定候选目标UE；
ii.候选目标接入基站重新确定候选目标UE；
iii.源接入基站或第一设备重新确定候选目标接入基站，候选目标接入基站确定候选目标UE；
iv.取消切换，维持当前第一感知；
v.结束当前第一感知。
步骤44：源接入基站或第一设备基于收到的第一应答信息和/或第二应答信息，在候选目标UE中确定至少一个目标UE，作为切换后执行第二感知的感知节点。
源接入基站或第一设备向目标UE发送切换命令。
可选地，源接入基站或第一设备在切换命令中反馈建议的第三配置信息。
步骤45：目标UE执行第二感知。
具体地，后续处理分为以下2种情况：
情况一：若采用软切换方法。则目标UE基于第一请求信息或第二请求信息、第二配 置信息、第三配置信息中的至少一项，进行感知参数配置，执行第二感知。
在获得至少一次感知测量量测量结果和/或感知结果后，目标UE向源接入基站或第一设备发送切换成功消息。
进一步地，包括以下几种情况之一：
45-1a)请求信息发送方为源接入基站，源UE和目标UE不是同一设备：
源接入基站收到切换成功消息后，向UE A、UE B发送感知结束命令。UE A和UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-2a)请求信息发送方为第一设备，源UE和目标UE不是同一设备：
第一设备收到切换成功消息后，向UE A和UE B发送感知结束命令。UE A和UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-3a)请求信息发送方为源接入基站，UE A和目标UE是同一设备：
源接入基站收到切换成功消息后，向UE B发送感知结束命令。UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-4a)请求信息发送方为源接入基站，UE B和目标UE是同一设备：
源接入基站收到切换成功消息后，向UE A发送感知结束命令。UE A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-5a)请求信息发送方为第一设备，UE A和目标UE是同一设备：
第一设备收到切换成功消息后，向UE B发送感知结束命令。UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-6a)请求信息发送方为第一设备，UE B和目标基站是同一设备：
第一设备收到切换成功消息后，向UE A发送感知结束命令。UE A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-7a)UE A主动作为目标UE：
第一设备收到切换成功消息后，向UE B发送感知结束命令。UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-8a)UE B主动作为目标UE：
第一设备收到切换成功消息后，向UE A发送感知结束命令。UE A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
情况二：若采用硬切换方法。执行步骤44的同时，源接入基站或第一设备无需等待切换成功消息。包括以下几种情况之一：
45-1b)请求信息发送方为源接入基站，源接入基站和目标接入基站不是同一设备：
源接入基站向UE A、UE B发送感知结束命令。UE A和UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-2b)请求信息发送方为第一设备，源接入基站和目标接入基站不是同一设备：
设备向UE A和UE B发送感知结束命令。UE A和UE B结束原有感知操作，释放感 知所占用的资源(包括时频资源、天线端口资源等)；
45-3b)请求信息发送方为源接入基站，UE A和目标UE是同一设备：
源接入基站向UE B发送感知结束命令。UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-4b)请求信息发送方为源接入基站，UE B和目标UE是同一设备：
源接入基站向UE A发送感知结束命令。UE A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-5b)请求信息发送方为第一设备，UE A和目标UE是同一设备：
第一设备向UE B发送感知结束命令。UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-6b)请求信息发送方为第一设备，UE B和目标基站是同一设备：
第一设备向UE A发送感知结束命令。UE A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-7b)UE A主动作为目标UE：
第一设备向UE B发送感知结束命令。UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
45-8b)UE B主动作为目标UE：
第一设备向UE A发送感知结束命令。UE A结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
步骤46：源接入基站和/或第一设备可以将部分或全部历史感知测量量的测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
举例五：UE-UE执行的第一感知，切换为基站执行第二感知。
假设发送第一信号的UE为UE A，接收第一信号的UE为UE B，前期UE A、UE B已经在执行第一感知。将切换前的执行第一感知的UE A、B称为源UE，将源UE的接入基站称为源接入基站；将切换后执行第二感知的基站称为目标基站。
步骤51：同举例四中的步骤41。
步骤52：源接入基站或第一设备基于切换测量报告，决定是否发起切换。
52-1)若不发起切换，后续处理可以是维持或者结束当前第一感知。
52-2)若发起切换，第一设备或源接入基站决定是哪个节点切换为第二感知方式，具体分为以下几种情况之一：
情况52-1：源接入基站决定切换为基站执行第二感知。
源接入基站向至少一个候选目标基站发送第一请求信息。
可选地，源接入基站向第一设备发送第一指示信息。
可选地，源接入基站向UE A和UE B发送第二指示信息。
情况52-2：第一设备决定切换为基站执行第二感知方式。
第一设备向至少一个候选目标基站发送第一请求信息。
可选地，第一设备向源接入基站发送第一指示信息。
可选地，第一设备向UE A和/或UE B发送第二指示信息。
所述候选目标基站包括源接入基站。
情况52-3：源接入基站决定主动切换为执行第二感知。源接入基站向第一设备发送第三指示信息。这种情况下，源接入基站为候选目标基站。
可选地，源接入基站和/或第一设备向UE A、UE B发送第二指示信息。
可选地，情况52-3还包括情况52-1。
可选地，所述第一请求信息可以包括软切换请求。
步骤53：在源接入基站和候选目标基站不是同一设备的情况下，候选目标基站决定是否接受在切换感知方式后执行第二感知。
53-1)若同意，则候选目标基站向第一请求信息发送方(源接入基站或第一设备)发送第一应答信息。
可选地，候选目标基站在第一应答信息中反馈建议的第二配置信息。
可选地，若第一请求信息中包括软切换请求，且候选目标基站同意并支持软切换，则第二配置信息包括第一切换模式配置信息。
53-2)若不同意，则候选目标基站可以向第一请求信息发送方(源接入基站或第一设备)发送第一拒绝信息。
后续处理可以是以下其中一项：
i.源接入基站或第一设备重新确定候选目标基站；
ii.取消切换，维持当前第一感知；
iii.结束当前第一感知。
步骤54：源接入基站或第一设备基于收到的第一应答信息，在候选目标基站中确定至少一个目标基站，作为切换后执行第二感知的感知节点。
源接入基站或第一设备向目标基站发送切换命令。
可选地，源接入基站或第一设备在切换命令中反馈建议的第三配置信息。
可选地，第三配置信息包括第一切换模式配置信息。
步骤55：目标基站执行第二感知。
具体地，后续处理分为以下2种情况：
情况一：若采用软切换方法。目标基站基于第一请求信息、第二配置信息、第三配置信息中的至少一项，进行感知参数配置，执行第二感知。
在获得至少一次感知测量量测量结果和/或感知结果后，目标基站向源接入基站或第一设备发送切换成功消息。
源接入基站或第一设备收到切换成功消息后，向UE A和UE B发送感知结束命令。UE A和UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资 源等)；
情况二：若采用硬切换方法。则在执行步骤54的同时，源接入基站或第一设备无需等待切换成功消息。
源接入基站或第一设备向UE A、UE B发送感知结束命令。UE A和UE B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
步骤56：源接入基站和/或第一设备可以将部分或全部历史感知测量量的测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
举例六：基站-基站执行的第一感知，切换为UE执行第二感知。
假设发送第一信号的基站为基站A，接收第一信号的基站为基站B，前期基站A、基站B已经在执行第一感知。将切换前的执行第一感知的基站A、B称为源基站，将切换后执行第二感知的UE称为目标UE，将目标UE的接入基站称为目标接入基站。
步骤61：同举例二中的步骤21。
步骤62：基站A基于切换测量报告，决定是否发起切换。
可选地，基站A或基站B向第一设备上报切换测量报告，由第一设备决定是否发起切换测量请求。
62-1)若不发起切换，后续处理可以是维持或者结束当前第一感知。
62-2)若发起切换，第一设备或源基站(包括基站A和基站B)决定是哪个节点切换为第二感知方式，具体分为以下几种情况之一：
情况62-1：基站A决定切换为UE执行第二感知。基站A向至少一个候选目标UE发送第一请求信息。其中还可以通过：基站A向至少一个候选目标接入基站发送第二请求信息，所述候选目标接入基站向至少一个候选目标UE发送第一请求信息。
可选地，基站A向第一设备发送第一指示信息。
所述候选目标接入基站包括基站B。
情况62-2：基站B决定切换为UE执行第二感知。基站B向至少一个候选目标UE发送第一请求信息。其中还可以通过：基站B向至少一个候选目标接入基站发送第二请求信息，所述候选目标接入基站向至少一个候选目标UE发送第一请求信息。
可选地，基站B向第一设备发送第一指示信息。
所述候选目标接入基站包括基站A。
情况62-3：第一设备决定切换为UE执行第二感知方式。第一设备向至少一个候选目标UE发送第一请求信息。其中可以通过：第一设备向至少一个候选目标接入基站发送第二请求信息，所述候选目标接入基站向至少一个候选目标UE发送第一请求信息。
可选地，第一设备向基站A和/或基站B发送第一指示信息。
所述候选目标接入基站包括基站A和基站B。
可选地，所述第一请求信息或第二请求信息可以包括软切换请求。
步骤63：候选目标UE决定是否接受在切换感知方式后执行第二感知。
63-1)若同意，则候选目标UE向第一请求信息发送方(源基站(基站A或基站B)，或候选目标接入基站，或第一设备)发送第一应答信息。
可选地，所述候选目标接入基站向第二请求信息发送方(源基站(基站A或基站B)或第一设备)发送第二应答信息。
可选地，所述第二应答信息包括第一应答信息部分或全部内容。
可选地，候选目标UE在第一应答信息中反馈建议的第二配置信息。
可选地，若第一请求信息中包括软切换请求，且候选目标UE同意并支持软切换，则第二配置信息包括第一切换模式配置信息。
63-2)若不同意，则候选目标UE可以向第一请求信息发送方(源接入基站或第一设备)发送第一拒绝信息。
后续处理可以是以下其中一项：
i.源基站或第一设备重新确定候选目标UE；
ii.候选目标接入基站重新确定候选目标UE；
iii.源基站或第一设备重新确定候选目标接入基站，候选目标接入基站确定候选目标UE；
iv.取消切换，维持当前第一感知；
v.结束当前第一感知。
步骤64：源基站或第一设备基于收到的第一应答信息和/或第二应答信息，在候选目标UE中确定至少一个目标UE，作为切换后执行第二感知的感知节点。
源基站或第一设备向目标UE发送切换命令。
可选地，源接入基站或第一设备在切换命令中反馈建议的第三配置信息。
可选地，第三配置信息包括第一切换模式配置信息。
步骤65：目标UE执行第二感知。
具体地，后续处理分为以下2种情况：
情况一：若采用软切换方法。目标UE基于第一请求信息、第二配置信息、第三配置信息中的至少一项，进行感知参数配置，执行第二感知。
在获得至少一次感知测量量测量结果和/或感知结果后，目标UE向源接入基站或第一设备发送切换成功消息。
进一步地，包括以下几种情况之一：
65-1a)请求信息发送方为基站A：
基站A收到切换成功消息后，向基站B发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
65-2a)请求信息发送方为基站B：
基站B收到切换成功消息后，向基站A发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
65-3a)请求信息发送方为第一设备：
第一设备收到切换成功消息后，向基站A和基站B发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)。
情况二：若采用硬切换方法。则在执行步骤64的同时，源接入基站或第一设备无需等待切换成功消息。
65-1b)请求信息发送方为基站A：
基站A向基站B发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
65-2b)请求信息发送方为基站B：
基站B向基站A发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)；
65-3b)请求信息发送方为第一设备：
第一设备向基站A和基站B发送感知结束命令。基站A和基站B结束原有感知操作，释放感知所占用的资源(包括时频资源、天线端口资源等)。
步骤66：源基站和/或第一设备可以将部分或全部历史感知测量量的测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
本申请实施例提供的感知方式切换方法，执行主体可以为感知方式切换装置。本申请实施例中以感知方式切换装置执行感知方式切换处理方法为例，说明本申请实施例提供的感知方式切换装置。
参照图8，本申请实施例还提供了一种感知方式切换装置，应用于第一节点，如图8所示，该感知方式切换装置800包括：
第一确定模块801，用于根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式；
其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
可选的，感知方式切换装置800还包括：
第一发送模块，用于向第二感知节点发送切换测量请求，所述第二感知节点为所述第一感知方式下的信号接收节点；
第一接收模块，用于接收来自所述第二感知节点的所述切换测量报告。
可选的，感知方式切换装置800还包括：
第四发送模块，用于向所述第二感知节点发送第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换测量，得到所述切换测量报告。
可选的，所述第一配置信息，包括以下至少一项：
测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信 息和测量标识；
其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
可选的，所述切换测量报告包括以下至少一项：
至少一项感知测量量的测量值；
至少一项感知性能评价指标的测量结果；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
可选的，所述第一发送模块具体用于：
在确定发生了预设事件的情况下，向所述第二感知节点发送切换测量请求，其中，所述预设事件包括以下至少一项：
所述感知目标的状态发生变化；
第一感知节点的位置发生变化，所述第一感知节点为所述第一感知方式下的信号发送节点；
所述第二感知节点的位置发生变化；
所述感知目标所在的感知区域的环境发生变化；
所述第一感知节点可用的感知资源发生变化；
所述第二感知节点可用的感知资源发生变化；
所述第二感知节点获取的感知测量量的测量值达到第一预设门限；
所述第二感知节点获取的通信测量量的测量值或者所述第二感知节点与所述第二感知节点的接入网络侧设备之间的通信测量量的测量值达到第二预设门限；
所述第一感知节点与所述第一感知节点的接入网络侧设备之间的通信测量量的测量值达到第三预设门限。
可选的，所述通信测量量的测量值达到第二预设门限，包括以下至少一项：
参考信号接收功率RSRP小于或等于第一预设值；
信噪比SNR小于或等于第二预设值；
信干噪比SINR小于或等于第三预设值；
参考信号接收质量RSRQ小于或等于第四预设值；
接收信号强度指示器RSSI小于或等于第五预设值；
误码率大于或等于第六预设值；
误块率大于或等于第七预设值；
吞吐量大于或等于第八预设值；
频谱效率大于或等于第九预设值。
可选的，在所述第一节点根据所述切换测量报告确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，感知方式切换装置800还包括：
第五发送模块，用于向第三感知节点发送感知结束命令，其中，所述第三感知节点包括所述第一感知方式下的信号接收节点和信号发送节点中的至少一个，且所述第三感知节点不包括所述目标感知节点，所述感知结束命令用于通知所述第三感知节点结束对所述感知目标的感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
可选的，感知方式切换装置800还包括：
第四接收模块，用于接收来自所述目标感知节点的切换成功消息，其中，所述目标感知节点在获取至少一次感知测量量的测量值和/或感知结果的情况下，发送所述切换成功消息。
可选的，在所述第一节点确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，感知方式切换装置800还包括：
第二确定模块，用于从候选感知节点中确定目标感知节点，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
可选的，感知方式切换装置800还包括：
第三确定模块，用于根据预设感知节点集合中的每一个感知节点的第一信息，从所述预设感知节点集合中确定候选感知节点，所述候选感知节点包括所述目标感知节点，其中，所述第一信息包括以下至少一项：
位置信息；
天线面板朝向信息；
状态信息；
感知能力信息；
可用于感知业务的资源信息；
信道状态信息。
可选的，所述第二确定模块包括：
第一发送单元，用于向所述候选感知节点或所述候选感知节点的接入网络侧设备发送第一请求信息，其中，所述第一请求信息用于请求所述候选感知节点按照所述第二感知方式对所述感知目标进行感知操作；
第一接收单元，用于接收第一应答信息的情况下，其中，所述第一应答信息表示第一 候选感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述候选感知节点包括所述第一候选感知节点；
第一确定单元，用于将所述第一候选感知节点确定为所述目标感知节点。
可选的，感知方式切换装置800还包括：
第六发送模块，用于向所述目标感知节点发送切换命令，其中，所述切换命令用于通知所述目标感知节点按照所述第二感知方式执行感知操作。
可选的，所述第一应答信息包括第二配置信息，所述第二配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；和/或，
所述切换命令包括第三配置信息，所述第三配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置。
可选的，所述第二配置信息包括以下至少一项：
波形类型、子载波间隔、保护间隔、带宽、数据突发burst持续时间、时域间隔、发送信号功率、信号格式、信号方向、时间资源、频率资源、准共址QCL关系、天线配置信息；
和/或，
所述第三配置信息包括以下至少一项：
波形类型、子载波间隔、保护间隔、带宽、数据突发burst持续时间、时域间隔、发送信号功率、信号格式、信号方向、时间资源、频率资源、准共址QCL关系、天线配置信息。
可选的，所述第二配置信息和/或第三配置信息包括第一切换模式配置信息，其中，所述第一切换模式配置信息用于配置在所述第二感知方式建立成功的情况下，结束所述第一感知方式。
可选的，在所述第一节点确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，感知方式切换装置800还包括：
第七发送模块，用于发送第一指示信息，其中，所述第一指示信息用于通知所述第一指示信息的接收方，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作。
可选的，在所述第一节点确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，感知方式切换装置800还包括：
第八发送模块，用于发送第二指示信息，其中，所述第二指示信息用于指示所述第一感知方式下的信号发送节点和/或信号接收节点，在完成感知方式切换后退出对所述感知目标的感知操作。
可选的，感知方式切换装置800还包括：
第九发送模块，用于向目标感知节点发送感知参考信息，其中，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点，所述感知参 考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
参照图9，本申请实施例还提供了一种感知方式切换装置，应用于目标感知节点，如图9所示，该感知方式切换装置900包括：
第二接收模块901，用于接收第一请求信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作；
第二发送模块902，用于发送第一应答信息，其中，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
可选的，感知方式切换装置900还包括：
第三接收模块，用于接收切换命令，其中，所述切换命令用于通知所述目标感知节点按照所述第二感知方式执行感知操作；
感知模块，用于按照所述第二感知方式发送第一信号，并接收经所述感知目标反射的所述第一信号，得到感知测量量的测量值和/或感知结果。
可选的，感知方式切换装置900还包括：
第十发送模块，用于在获取至少一次感知测量量的测量值和/或感知结果的情况下，发送切换成功消息。
可选的，所述第一应答信息包括第二配置信息，所述第二配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；和/或，
所述切换命令包括第三配置信息，所述第三配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；
感知方式切换装置900还包括：
配置模块，用于根据所述第一请求信息、所述第二配置信息和所述第三配置信息中的至少一项，进行所述第二感知方式的感知参数配置。
可选的，所述第二配置信息和/或第三配置信息包括第一切换模式配置信息，其中，所述第一切换模式配置信息用于配置在所述第二感知方式建立成功的情况下，结束第一感知方式，所述第一感知方式为切换前对所述感知目标的感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点。
可选的，感知方式切换装置900还包括：
第五接收模块，用于接收感知参考信息，其中，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
参照图10，本申请实施例还提供了一种感知方式切换装置，应用于第二感知节点，如图10所示，该感知方式切换装置1000包括：
测量模块1001，用于在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告；
其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式；
所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点。
可选的，测量模块1001，包括：
第二接收单元，用于在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，接收切换测量请求；
测量单元，用于根据所述切换测量请求，进行切换感知方式相关的测量，得到所述切换测量报告。
可选的，测量模块1001，具体用于：
在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，若确定发生了预设事件，则进行切换感知方式相关的测量，得到切换测量报告，其中，所述预设事件包括以下至少一项：
所述感知目标的状态发生变化；
所述第一感知节点的位置发生变化，所述第一感知节点为所述第一感知方式下的信号发送节点；
所述第二感知节点的位置发生变化；
所述感知目标所在的感知区域的环境发生变化；
所述第一感知节点可用的感知资源发生变化；
所述第二感知节点可用的感知资源发生变化；
所述第二感知节点获取的感知测量量的测量值达到第一预设门限；
所述第二感知节点获取的通信测量量的测量值或者所述第二感知节点与所述第二感知节点的接入网络侧设备之间的通信测量量的测量值达到第二预设门限；
所述第一感知节点与所述第一感知节点的接入网络侧设备之间的通信测量量的测量值达到第三预设门限。
可选的，所述通信测量量的测量值达到第二预设门限，包括以下至少一项：
参考信号接收功率RSRP小于或等于第一预设值；
信噪比SNR小于或等于第二预设值；
信干噪比SINR小于或等于第三预设值；
参考信号接收质量RSRQ小于或等于第四预设值；
接收信号强度指示器RSSI小于或等于第五预设值；
误码率大于或等于第六预设值；
误块率大于或等于第七预设值；
吞吐量大于或等于第八预设值；
频谱效率大于或等于第九预设值。
可选的，感知方式切换装置1000还包括：
第十一发送模块，用于根据所述切换测量报告，发送第三指示信息，其中，所述第三指示信息用于指示所述第二感知节点能够按照所述第二感知方式对所述感知目标进行感知操作。
可选的，感知方式切换装置1000还包括：
第六接收模块，用于接收第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换感知方式相关的测量，得到所述切换测量报告。
可选的，所述第一配置信息，包括以下至少一项：
测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信息和测量标识；
其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
可选的，感知方式切换装置1000还包括：
第七接收模块，用于接收感知结束命令，其中，所述感知结束命令用于通知所述第二感知节点结束对所述感知目标的感知操作。
可选的，所述切换测量报告包括以下至少一项：
至少一项感知测量量的测量值；
至少一项感知性能评价指标的测量结果；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
可选的，感知方式切换装置1000还包括：
第八接收模块，用于接收第一指示信息，其中，所述第一指示信息用于通知所述第一指示信息的接收方，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
可选的，感知方式切换装置1000还包括：
第九接收模块，用于接收第二指示信息，其中，所述第二指示信息用于指示所述第二感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
可选的，感知方式切换装置1000还包括：
第十二发送模块，用于向所述目标感知节点发送感知参考信息，其中，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
参照图11，本申请实施例还提供了一种感知方式切换装置，应用于第一感知节点，如图11所示，该感知方式切换装置1100包括：
第三发送模块1101，用于在所述第一感知节点按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求；
其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式；
所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
可选的，感知方式切换装置1100还包括：
获取模块，用于获取所述切换测量报告；
第十三发送模块，用于根据所述切换测量报告，发送第四指示信息，其中，所述第四指示信息用于指示所述第一感知节点能够按照所述第二感知方式对所述感知目标进行感知操作。
可选的，感知方式切换装置1100还包括：
第十四发送模块，用于向第二感知节点发送第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换测量，所述第二感知节点为所述第一感知方式下的信号接收节点。
可选的，所述第一配置信息，包括以下至少一项：
测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信 息和测量标识；
其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
可选的，感知方式切换装置1100还包括：
第十接收模块，用于接收感知结束命令，其中，所述感知结束命令用于通知所述第一感知节点结束对所述感知目标的感知操作。
可选的，所述切换测量报告包括以下至少一项：
至少一项感知测量量的测量值；
至少一项感知性能评价指标的测量结果；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
可选的，感知方式切换装置1100还包括：
第十一接收模块，用于接收第一指示信息，其中，所述第一指示信息用于通知所述第一感知节点，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
可选的，感知方式切换装置1100还包括：
第十二接收模块，用于接收第二指示信息，其中，所述第二指示信息用于指示所述第一感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
可选的，感知方式切换装置1100还包括：
第十五发送模块，用于向目标感知节点发送感知参考信息，其中，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
本申请实施例中的感知方式切换处理装置可以是电子设备，例如具有操作系统的电子 设备，也可以是电子设备中的部件，例如集成电路或芯片。该电子设备可以是终端或者网络侧设备。示例性的，终端可以包括但不限于上述所列举的终端11的类型，网络侧设备可以为接入网络侧设备(如：基站)或核心网设备(如：感知功能网元)，本申请实施例不作具体限定。
本申请实施例提供的感知方式切换装置能够实现图2至图7的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
可选的，如图12所示，本申请实施例还提供一种通信设备1200，包括处理器1201和存储器1202，存储器1202上存储有可在所述处理器1201上运行的程序或指令，例如，该通信设备1200为终端时，该程序或指令被处理器1201执行时实现如图5或图6或图7所示感知方式切换方法实施例的各个步骤，且能达到相同的技术效果。该通信设备1200为网络侧设备时，该程序或指令被处理器1201执行时实现如图2或图5或图6或图7所示感知方式切换处理方法实施例的各个步骤，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供一种终端，包括处理器和通信接口，在所述终端为目标感知节点的情况下，所述通信接口用于接收第一请求信息，以及用于发送第一应答信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点；或者，
在所述终端为第二感知节点的情况下，所述通信接口用于在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点；或者，
在所述终端为第一感知节点的情况下，所述通信接口用于在所述第一感知节点按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求，其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
该终端实施例与上述终端侧方法实施例对应，上述方法实施例的各个实施过程和实现方式均可适用于该终端实施例中，且能达到相同的技术效果。具体地，图13为实现本申请实施例的一种终端的硬件结构示意图。
该终端1300包括但不限于：射频单元1301、网络模块1302、音频输出单元1303、输入单元1304、传感器1305、显示单元1306、用户输入单元1307、接口单元1308、存储器1309以及处理器1310等中的至少部分部件。
本领域技术人员可以理解，终端1300还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器1310逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图13中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元1304可以包括图形处理单元(Graphics Processing Unit，GPU)13041和麦克风13042，GPU 13041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元1306可包括显示面板13061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板13061。用户输入单元1307包括触控面板13071以及其他输入设备13072中的至少一种。触控面板13071，也称为触摸屏。触控面板13071可包括触摸检测装置和触摸控制器两个部分。其他输入设备13072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元1301接收来自网络侧设备的下行数据后，可以传输给处理器1310进行处理；另外，射频单元1301可以向网络侧设备发送上行数据。通常，射频单元1301包括但不限于天线、放大器、收发信机、耦合器、低噪声放大器、双工器等。
存储器1309可用于存储软件程序或指令以及各种数据。存储器1309可主要包括存储程序或指令的第一存储区和存储数据的第二存储区，其中，第一存储区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器1309可以包括易失性存储器或非易失性存储器，或者，存储器1309可以包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本申请实施例中的存储器1309包括但不限于这些和任意其它适合类型的存储器。
处理器1310可包括一个或多个处理单元；可选的，处理器1310集成应用处理器和调制解调处理器，其中，应用处理器主要处理涉及操作系统、用户界面和应用程序等的操作， 调制解调处理器主要处理无线通信信号，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器1310中。
在一种实施方式中，所述终端为目标感知节点时，射频单元1301，用于接收第一请求信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作；
所述目标感知节点发送第一应答信息，其中，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
可选地，射频单元1301，还用于接收切换命令，以及按照所述第二感知方式发送第一信号，并接收经所述感知目标反射的所述第一信号，得到感知测量量的测量值和/或感知结果；其中，所述切换命令用于通知所述目标感知节点按照所述第二感知方式执行感知操作。
可选地，射频单元1301在执行所述按照所述第二感知方式发送第一信号，并接收经所述感知目标反射的所述第一信号，得到感知测量量的测量值和/或感知结果之后，还用于：
在获取至少一次感知测量量的测量值和/或感知结果的情况下，发送切换成功消息。
可选地，所述第一应答信息包括第二配置信息，所述第二配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；和/或，
所述切换命令包括第三配置信息，所述第三配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；
处理器1310，用于根据所述第一请求信息、所述第二配置信息和所述第三配置信息中的至少一项，进行所述第二感知方式的感知参数配置。
可选地，所述第二配置信息和/或第三配置信息包括第一切换模式配置信息，其中，所述第一切换模式配置信息用于配置在所述第二感知方式建立成功的情况下，结束第一感知方式，所述第一感知方式为切换前对所述感知目标的感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点。
可选地，射频单元1301，还用于接收感知参考信息，其中，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
在一种实施方式中，所述终端为第二感知节点时，射频单元1301，用于在按照第一
感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到
切换测量报告；
其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式；
所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点。
可选地，射频单元1301执行的所述在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，包括：
在按照第一感知方式对感知目标进行感知操作的情况下，接收切换测量请求；
根据所述切换测量请求，进行切换感知方式相关的测量，得到所述切换测量报告。
可选地，射频单元1301执行的所述在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，包括：
在按照第一感知方式对感知目标进行感知操作的情况下，若确定发生了预设事件，则进行切换感知方式相关的测量，得到切换测量报告，其中，所述预设事件包括以下至少一项：
所述感知目标的状态发生变化；
所述第一感知节点的位置发生变化，所述第一感知节点为所述第一感知方式下的信号发送节点；
所述第二感知节点的位置发生变化；
所述感知目标所在的感知区域的环境发生变化；
所述第一感知节点可用的感知资源发生变化；
所述第二感知节点可用的感知资源发生变化；
所述第二感知节点获取的感知测量量的测量值达到第一预设门限；
所述第二感知节点获取的通信测量量的测量值或者所述第二感知节点与所述第二感知节点的接入网络侧设备之间的通信测量量的测量值达到第二预设门限；
所述第一感知节点与所述第一感知节点的接入网络侧设备之间的通信测量量的测量值达到第三预设门限。
可选地，所述通信测量量的测量值达到第二预设门限，包括以下至少一项：
参考信号接收功率RSRP小于或等于第一预设值；
信噪比SNR小于或等于第二预设值；
信干噪比SINR小于或等于第三预设值；
参考信号接收质量RSRQ小于或等于第四预设值；
接收信号强度指示器RSSI小于或等于第五预设值；
误码率大于或等于第六预设值；
误块率大于或等于第七预设值；
吞吐量大于或等于第八预设值；
频谱效率大于或等于第九预设值。
可选地，射频单元1301，还用于根据所述切换测量报告，发送第三指示信息，其中，所述第三指示信息用于指示所述第二感知节点能够按照所述第二感知方式对所述感知目标进行感知操作。
可选地，射频单元1301，还用于接收第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换感知方式相关的测量，得到所述切换测量报告。
可选地，所述第一配置信息，包括以下至少一项：
测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信息和测量标识；
其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
可选地，射频单元1301，还用于接收感知结束命令，其中，所述感知结束命令用于通知所述第二感知节点结束对所述感知目标的感知操作。
可选地，所述切换测量报告包括以下至少一项：
至少一项感知测量量的测量值；
至少一项感知性能评价指标的测量结果；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
可选地，射频单元1301，还用于接收第一指示信息，其中，所述第一指示信息用于通知所述第一指示信息的接收方，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
可选地，射频单元1301，还用于接收第二指示信息，其中，所述第二指示信息用于指示所述第二感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
可选地，射频单元1301，还用于向所述目标感知节点发送感知参考信息，其中，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
在一种实施方式中，所述终端为第一感知节点时，射频单元1301，用于在按照第一
感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求；
其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式；
所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
可选地，射频单元1301，还用于：
获取所述切换测量报告；
根据所述切换测量报告，发送第四指示信息，其中，所述第四指示信息用于指示所述第一感知节点能够按照所述第二感知方式对所述感知目标进行感知操作。
可选地，射频单元1301，还用于向第二感知节点发送第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换测量，所述第二感知节点为所述第一感知方式下的信号接收节点。
可选地，所述第一配置信息，包括以下至少一项：
测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信息和测量标识；
其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
可选地，射频单元1301，还用于接收感知结束命令，其中，所述感知结束命令用于通知所述第一感知节点结束对所述感知目标的感知操作。
可选地，所述切换测量报告包括以下至少一项：
至少一项感知测量量的测量值；
至少一项感知性能评价指标的测量结果；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述 感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
可选地，射频单元1301，还用于接收第一指示信息，其中，所述第一指示信息用于通知所述第一感知节点，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
可选地，射频单元1301，还用于接收第二指示信息，其中，所述第二指示信息用于指示所述第一感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
可选地，射频单元1301，还用于向目标感知节点发送感知参考信息，其中，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点，所述感知参考信息包括以下至少一项：
对所述感知目标的感知测量量的历史测量值；
对所述感知目标的历史感知结果；
所述感知目标的指示信息；
所述感知目标所在的感知区域的先验信息。
本申请实施例提供的终端1300，能够实现如图9或图10或图11所示感知方式切换装置执行的各个过程，且能够取得相同的有益效果，为避免重复，在此不再赘述。
本申请实施例还提供一种网络侧设备，包括处理器和通信接口。
在所述网络侧设备为第一节点的情况下，所述处理器用于根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式，其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点；或者，
在所述网络侧设备为目标感知节点的情况下，所述通信接口用于接收第一请求信息，以及用于发送第一应答信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点；或者，
在所述网络侧设备为第二感知节点的情况下，所述通信接口用于在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点；或者，
在所述网络侧设备为第一感知节点的情况下，所述通信接口用于在所述第一感知节点 按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求，其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
该网络侧设备实施例与上述感知方式切换方法实施例对应，上述方法实施例的各个实施过程和实现方式均可适用于该网络侧设备实施例中，且能达到相同的技术效果。
具体地，本申请实施例还提供了一种网络侧设备。如图14所示，该网络侧设备1400包括：天线1401、射频装置1402、基带装置1403、处理器1404和存储器1405。天线1401与射频装置1402连接。在上行方向上，射频装置1402通过天线1401接收信息，将接收的信息发送给基带装置1403进行处理。在下行方向上，基带装置1403对要发送的信息进行处理，并发送给射频装置1402，射频装置1402对收到的信息进行处理后经过天线1401发送出去。
以上实施例中网络侧设备执行的方法可以在基带装置1403中实现，该基带装置1403包括基带处理器。
基带装置1403例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图14所示，其中一个芯片例如为基带处理器，通过总线接口与存储器1405连接，以调用存储器1405中的程序，执行以上方法实施例中所示的网络设备操作。
该网络侧设备还可以包括网络接口1406，该接口例如为通用公共无线接口(Common Public Radio Interface，CPRI)。
具体地，本申请实施例的网络侧设备1400还包括：存储在存储器1405上并可在处理器1404上运行的指令或程序，处理器1404调用存储器1405中的指令或程序执行图8或图9或图10或图11所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
在另一种实施例中，本申请实施例还提供了一种网络侧设备，该网络侧设备可以是核心网设备。如图15所示，该网络侧设备1500包括：处理器1501、网络接口1502和存储器1503。其中，网络接口1502例如为通用公共无线接口(Common Public Radio Interface，CPRI)。
具体地，本申请实施例的网络侧设备1500还包括：存储在存储器1503上并可在处理器1501上运行的指令或程序，处理器1501调用存储器1503中的指令或程序执行图8所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述感知方式切换方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述感知方式切换方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。
本申请实施例另提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述感知方式切换方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供了一种无线感知系统，包括：终端及网络侧设备，所述网络侧设备可用于执行如图2或图5或图6或图7所示感知方式切换方法实施例的步骤，所述终端可用于执行如如图5或图6或图7所示感知方式切换方法实施例的步骤。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对相关技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (55)

  1. 一种感知方式切换方法，包括：
    第一节点根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式；
    其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
  2. 根据权利要求1所述的方法，其中，在所述第一节点根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式之前，所述方法还包括：
    所述第一节点向第二感知节点发送切换测量请求，所述第二感知节点为所述第一感知方式下的信号接收节点；
    所述第一节点接收来自所述第二感知节点的所述切换测量报告。
  3. 根据权利要求2所述的方法，其中，在所述第一节点接收来自第二感知节点的所述切换测量报告之前，所述方法还包括：
    所述第一节点向所述第二感知节点发送第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换测量，得到所述切换测量报告。
  4. 根据权利要求3所述的方法，其中，所述第一配置信息，包括以下至少一项：
    测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信息和测量标识；
    其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
  5. 根据权利要求1至4中任一项所述的方法，其中，所述切换测量报告包括以下至少一项：
    至少一项感知测量量的测量值；
    至少一项感知性能评价指标的测量结果；
    所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
    所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
    用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
    用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
  6. 根据权利要求2所述的方法，其中，所述第一节点向所述第二感知节点发送切换测量请求，包括：
    第一节点在确定发生了预设事件的情况下，向所述第二感知节点发送切换测量请求，其中，所述预设事件包括以下至少一项：
    所述感知目标的状态发生变化；
    第一感知节点的位置发生变化，所述第一感知节点为所述第一感知方式下的信号发送节点；
    所述第二感知节点的位置发生变化；
    所述感知目标所在的感知区域的环境发生变化；
    所述第一感知节点可用的感知资源发生变化；
    所述第二感知节点可用的感知资源发生变化；
    所述第二感知节点获取的感知测量量的测量值达到第一预设门限；
    所述第二感知节点获取的通信测量量的测量值或者所述第二感知节点与所述第二感知节点的接入网络侧设备之间的通信测量量的测量值达到第二预设门限；
    所述第一感知节点与所述第一感知节点的接入网络侧设备之间的通信测量量的测量值达到第三预设门限。
  7. 根据权利要求6所述的方法，其中，所述通信测量量的测量值达到第二预设门限，包括以下至少一项：
    参考信号接收功率RSRP小于或等于第一预设值；
    信噪比SNR小于或等于第二预设值；
    信干噪比SINR小于或等于第三预设值；
    参考信号接收质量RSRQ小于或等于第四预设值；
    接收信号强度指示器RSSI小于或等于第五预设值；
    误码率大于或等于第六预设值；
    误块率大于或等于第七预设值；
    吞吐量大于或等于第八预设值；
    频谱效率大于或等于第九预设值。
  8. 根据权利要求1所述的方法，其中，在所述第一节点根据所述切换测量报告确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，所述方法还包括：
    所述第一节点向第三感知节点发送感知结束命令，其中，所述第三感知节点包括所述第一感知方式下的信号接收节点和信号发送节点中的至少一个，且所述第三感知节点不包括所述目标感知节点，所述感知结束命令用于通知所述第三感知节点结束对所述感知目标的感知操作，所述目标感知节点为完成感知方式切换后按照所述第二感知方式执行感知操作的感知节点。
  9. 根据权利要求8所述的方法，其中，在所述第一节点向第三感知节点发送感知结束命令之前，所述方法还包括：
    所述第一节点接收来自所述目标感知节点的切换成功消息，其中，所述目标感知节点在获取至少一次感知测量量的测量值和/或感知结果的情况下，发送所述切换成功消息。
  10. 根据权利要求1所述的方法，其中，在所述第一节点确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，所述方法还包括：
    所述第一节点从候选感知节点中确定目标感知节点，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
  11. 根据权利要求10所述的方法，其中，在所述第一节点从候选感知节点中确定目标感知节点之前，所述方法还包括：
    所述第一节点根据预设感知节点集合中的每一个感知节点的第一信息，从所述预设感知节点集合中确定候选感知节点，所述候选感知节点包括所述目标感知节点，其中，所述第一信息包括以下至少一项：
    位置信息；
    天线面板朝向信息；
    状态信息；
    感知能力信息；
    可用于感知业务的资源信息；
    信道状态信息。
  12. 根据权利要求10所述的方法，其中，所述第一节点从候选感知节点中确定目标感知节点，还包括：
    所述第一节点向所述候选感知节点或所述候选感知节点的接入网络侧设备发送第一请求信息，其中，所述第一请求信息用于请求所述候选感知节点按照所述第二感知方式对所述感知目标进行感知操作；
    所述第一节点接收第一应答信息的情况下，其中，所述第一应答信息表示第一候选感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述候选感知节点包括所述第一候选感知节点；
    所述第一节点将所述第一候选感知节点确定为所述目标感知节点。
  13. 根据权利要求12所述的方法，所述方法还包括：
    所述第一节点向所述目标感知节点发送切换命令，其中，所述切换命令用于通知所述目标感知节点按照所述第二感知方式执行感知操作。
  14. 根据权利要求13所述的方法，其中，所述第一应答信息包括第二配置信息，所述第二配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；和/或，
    所述切换命令包括第三配置信息，所述第三配置信息用于所述目标感知节点按照所述 第二感知方式执行感知操作的感知参数配置。
  15. 根据权利要求14所述的方法，其中，所述第二配置信息包括以下至少一项：
    波形类型、子载波间隔、保护间隔、带宽、数据突发burst持续时间、时域间隔、发送信号功率、信号格式、信号方向、时间资源、频率资源、准共址QCL关系、天线配置信息；
    和/或，
    所述第三配置信息包括以下至少一项：
    波形类型、子载波间隔、保护间隔、带宽、数据突发burst持续时间、时域间隔、发送信号功率、信号格式、信号方向、时间资源、频率资源、准共址QCL关系、天线配置信息。
  16. 根据权利要求14所述的方法，其中，所述第二配置信息和/或第三配置信息包括第一切换模式配置信息，其中，所述第一切换模式配置信息用于配置在所述第二感知方式建立成功的情况下，结束所述第一感知方式。
  17. 根据权利要求1至16中任一项所述的方法，其中，在所述第一节点确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，所述方法还包括：
    所述第一节点发送第一指示信息，其中，所述第一指示信息用于通知所述第一指示信息的接收方，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作。
  18. 根据权利要求1至16中任一项所述的方法，其中，在所述第一节点确定将对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式的情况下，所述方法还包括：
    所述第一节点发送第二指示信息，其中，所述第二指示信息用于指示所述第一感知方式下的信号发送节点和/或信号接收节点，在完成感知方式切换后退出对所述感知目标的感知操作。
  19. 根据权利要求1至16中任一项所述的方法，所述方法还包括：
    所述第一节点向目标感知节点发送感知参考信息，其中，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点，所述感知参考信息包括以下至少一项：
    对所述感知目标的感知测量量的历史测量值；
    对所述感知目标的历史感知结果；
    所述感知目标的指示信息；
    所述感知目标所在的感知区域的先验信息。
  20. 一种感知方式切换方法，包括：
    目标感知节点接收第一请求信息，其中，所述第一请求信息用于请求所述目标感知节 点按照第二感知方式对感知目标进行感知操作；
    所述目标感知节点发送第一应答信息，其中，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
  21. 根据权利要求20所述的方法，所述方法还包括：
    所述目标感知节点接收切换命令，其中，所述切换命令用于通知所述目标感知节点按照所述第二感知方式执行感知操作；
    所述目标感知节点按照所述第二感知方式发送第一信号，并接收经所述感知目标反射的所述第一信号，得到感知测量量的测量值和/或感知结果。
  22. 根据权利要求21所述的方法，其中，在所述目标感知节点按照所述第二感知方式发送第一信号，并接收经所述感知目标反射的所述第一信号，得到感知测量量的测量值和/或感知结果之后，所述方法还包括：
    所述目标感知节点在获取至少一次感知测量量的测量值和/或感知结果的情况下，发送切换成功消息。
  23. 根据权利要求21所述的方法，其中，所述第一应答信息包括第二配置信息，所述第二配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；和/或，
    所述切换命令包括第三配置信息，所述第三配置信息用于所述目标感知节点按照所述第二感知方式执行感知操作的感知参数配置；
    所述方法还包括：
    所述目标感知节点根据所述第一请求信息、所述第二配置信息和所述第三配置信息中的至少一项，进行所述第二感知方式的感知参数配置。
  24. 根据权利要求23所述的方法，其中，所述第二配置信息和/或第三配置信息包括第一切换模式配置信息，其中，所述第一切换模式配置信息用于配置在所述第二感知方式建立成功的情况下，结束第一感知方式，所述第一感知方式为切换前对所述感知目标的感知方式，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点。
  25. 根据权利要求20至24中任一项所述的方法，所述方法还包括：
    所述目标感知节点接收感知参考信息，其中，所述感知参考信息包括以下至少一项：
    对所述感知目标的感知测量量的历史测量值；
    对所述感知目标的历史感知结果；
    所述感知目标的指示信息；
    所述感知目标所在的感知区域的先验信息。
  26. 一种感知方式切换方法，包括：
    第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知 方式相关的测量，得到切换测量报告；
    其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式；
    所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点。
  27. 根据权利要求26所述的方法，其中，所述第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，包括：
    所述第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，接收切换测量请求；
    所述第二感知节点根据所述切换测量请求，进行切换感知方式相关的测量，得到所述切换测量报告。
  28. 根据权利要求26所述的方法，其中，所述第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告，包括：
    所述第二感知节点在按照第一感知方式对感知目标进行感知操作的情况下，若确定发生了预设事件，则进行切换感知方式相关的测量，得到切换测量报告，其中，所述预设事件包括以下至少一项：
    所述感知目标的状态发生变化；
    所述第一感知节点的位置发生变化，所述第一感知节点为所述第一感知方式下的信号发送节点；
    所述第二感知节点的位置发生变化；
    所述感知目标所在的感知区域的环境发生变化；
    所述第一感知节点可用的感知资源发生变化；
    所述第二感知节点可用的感知资源发生变化；
    所述第二感知节点获取的感知测量量的测量值达到第一预设门限；
    所述第二感知节点获取的通信测量量的测量值或者所述第二感知节点与所述第二感知节点的接入网络侧设备之间的通信测量量的测量值达到第二预设门限；
    所述第一感知节点与所述第一感知节点的接入网络侧设备之间的通信测量量的测量值达到第三预设门限。
  29. 根据权利要求28所述的方法，其中，所述通信测量量的测量值达到第二预设门限，包括以下至少一项：
    参考信号接收功率RSRP小于或等于第一预设值；
    信噪比SNR小于或等于第二预设值；
    信干噪比SINR小于或等于第三预设值；
    参考信号接收质量RSRQ小于或等于第四预设值；
    接收信号强度指示器RSSI小于或等于第五预设值；
    误码率大于或等于第六预设值；
    误块率大于或等于第七预设值；
    吞吐量大于或等于第八预设值；
    频谱效率大于或等于第九预设值。
  30. 根据权利要求26所述的方法，所述方法还包括：
    所述第二感知节点根据所述切换测量报告，发送第三指示信息，其中，所述第三指示信息用于指示所述第二感知节点能够按照所述第二感知方式对所述感知目标进行感知操作。
  31. 根据权利要求27所述的方法，所述方法还包括：
    所述第二感知节点接收第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换感知方式相关的测量，得到所述切换测量报告。
  32. 根据权利要求31所述的方法，其中，所述第一配置信息，包括以下至少一项：
    测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信息和测量标识；
    其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
  33. 根据权利要求26所述的方法，所述方法还包括：
    所述第二感知节点接收感知结束命令，其中，所述感知结束命令用于通知所述第二感知节点结束对所述感知目标的感知操作。
  34. 根据权利要求26至33中任一项所述的方法，其中，所述切换测量报告包括以下至少一项：
    至少一项感知测量量的测量值；
    至少一项感知性能评价指标的测量结果；
    所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
    所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
    用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
    用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
  35. 根据权利要求26至33中任一项所述的方法，所述方法还包括：
    所述第二感知节点接收第一指示信息，其中，所述第一指示信息用于通知所述第一指示信息的接收方，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
  36. 根据权利要求26至33中任一项所述的方法，所述方法还包括：
    所述第二感知节点接收第二指示信息，其中，所述第二指示信息用于指示所述第二感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
  37. 根据权利要求26至33中任一项所述的方法，所述方法还包括：
    所述第二感知节点向所述目标感知节点发送感知参考信息，其中，所述感知参考信息包括以下至少一项：
    对所述感知目标的感知测量量的历史测量值；
    对所述感知目标的历史感知结果；
    所述感知目标的指示信息；
    所述感知目标所在的感知区域的先验信息。
  38. 一种感知方式切换方法，包括：
    第一感知节点在按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求；
    其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式；
    所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
  39. 根据权利要求38所述的方法，所述方法还包括：
    所述第一感知节点获取所述切换测量报告；
    所述第一感知节点根据所述切换测量报告，发送第四指示信息，其中，所述第四指示信息用于指示所述第一感知节点能够按照所述第二感知方式对所述感知目标进行感知操作。
  40. 根据权利要求38所述的方法，所述方法还包括：
    所述第一感知节点向第二感知节点发送第一配置信息，其中，所述第一配置信息用于配置所述第二感知节点执行切换测量，所述第二感知节点为所述第一感知方式下的信号接收节点。
  41. 根据权利要求40所述的方法，其中，所述第一配置信息，包括以下至少一项：
    测量对象指示信息、所述切换测量报告对应的测量报告配置信息、目标事件的配置信 息和测量标识；
    其中，所述测量对象指示信息包括用于执行所述切换测量的第二信号的标识信息、所述第二信号关联的感知测量量和所述第二信号的感知参数配置信息，所述目标事件用于触发执行所述切换测量，一个所述测量标识对应一个所述测量对象和一个测量报告配置信息。
  42. 根据权利要求38所述的方法，所述方法还包括：
    所述第一感知节点接收感知结束命令，其中，所述感知结束命令用于通知所述第一感知节点结束对所述感知目标的感知操作。
  43. 根据权利要求38至42中任一项所述的方法，其中，所述切换测量报告包括以下至少一项：
    至少一项感知测量量的测量值；
    至少一项感知性能评价指标的测量结果；
    所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信测量量的测量值；
    所述第一感知方式下的信号发送节点和/或信号接收节点的至少一项通信性能评价指标的测量结果；
    用于指示预设事件是否发生的指示信息，所述预设事件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式；
    用于指示预设切换条件是否满足的指示信息，所述预设切换条件用于触发发起对所述感知目标的感知方式由所述第一感知方式切换为所述第二感知方式。
  44. 根据权利要求38至42中任一项所述的方法，所述方法还包括：
    所述第一感知节点接收第一指示信息，其中，所述第一指示信息用于通知所述第一感知节点，在完成感知方式切换后，由目标感知节点按照所述第二感知方式对所述感知目标进行感知操作，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点。
  45. 根据权利要求38至42中任一项所述的方法，所述方法还包括：
    所述第一感知节点接收第二指示信息，其中，所述第二指示信息用于指示所述第一感知节点，在完成感知方式切换后退出对所述感知目标的感知操作。
  46. 根据权利要求38至42中任一项所述的方法，所述方法还包括：
    所述第一感知节点向目标感知节点发送感知参考信息，其中，所述目标感知节点为完成感知方式切换后，用于按照所述第二感知方式执行感知操作的感知节点，所述感知参考信息包括以下至少一项：
    对所述感知目标的感知测量量的历史测量值；
    对所述感知目标的历史感知结果；
    所述感知目标的指示信息；
    所述感知目标所在的感知区域的先验信息。
  47. 一种感知方式切换装置，应用于第一节点，所述装置包括：
    第一确定模块，用于根据切换测量报告确定是否将对感知目标的感知方式由第一感知方式切换为第二感知方式；
    其中，所述切换测量报告包括用于确定切换感知方式的测量结果，所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
  48. 根据权利要求47所述的装置，还包括：
    第一发送模块，用于向第二感知节点发送切换测量请求，所述第二感知节点为所述第一感知方式下的信号接收节点；
    第一接收模块，用于接收来自所述第二感知节点的所述切换测量报告。
  49. 一种感知方式切换装置，应用于目标感知节点，所述装置包括：
    第二接收模块，用于接收第一请求信息，其中，所述第一请求信息用于请求所述目标感知节点按照第二感知方式对感知目标进行感知操作；
    第二发送模块，用于发送第一应答信息，其中，所述第一应答信息表示所述目标感知节点同意按照所述第二感知方式对所述感知目标进行感知操作，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点。
  50. 根据权利要求49所述的装置，还包括：
    第三接收模块，用于接收切换命令，其中，所述切换命令用于通知所述目标感知节点按照所述第二感知方式执行感知操作；
    感知模块，用于按照所述第二感知方式发送第一信号，并接收经所述感知目标反射的所述第一信号，得到感知测量量的测量值和/或感知结果。
  51. 一种感知方式切换装置，应用于第二感知节点，所述装置包括：
    测量模块，用于在所述第二感知节点按照第一感知方式对感知目标进行感知操作的情况下，进行切换感知方式相关的测量，得到切换测量报告；
    其中，所述切换测量报告用于确定是否将对感知目标的感知方式由所述第一感知方式切换为第二感知方式；
    所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第二感知节点为所述第一感知方式下的信号接收节点。
  52. 一种感知方式切换装置，应用于第一感知节点，所述装置包括：
    第三发送模块，用于在所述第一感知节点按照第一感知方式对感知目标进行感知操作的情况下，向第二感知节点发送切换测量请求；
    其中，所述切换测量请求用于请求所述第二感知节点进行切换感知方式相关的测量，得到切换测量报告，所述切换测量报告用于确定是否将对所述感知目标的感知方式由所述第一感知方式切换为第二感知方式；
    所述第一感知方式的信号发送节点和所述第一感知方式的信号接收节点为不同节点，所述第二感知方式的信号发送节点和所述第二感知方式的信号接收节点为同一节点，所述第一感知节点为所述第一感知方式下的信号发送节点。
  53. 一种终端，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求20至46中任一项所述的感知方式切换方法的步骤。
  54. 一种网络侧设备，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至46中任一项所述的感知方式切换方法的步骤。
  55. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至46中任一项所述的感知方式切换方法的步骤。
PCT/CN2023/095795 2022-05-30 2023-05-23 感知方式切换方法、装置、终端及网络侧设备 WO2023231842A1 (zh)

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