WO2023231867A1 - 感知方式切换方法、装置及通信设备 - Google Patents

感知方式切换方法、装置及通信设备 Download PDF

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Publication number
WO2023231867A1
WO2023231867A1 PCT/CN2023/096090 CN2023096090W WO2023231867A1 WO 2023231867 A1 WO2023231867 A1 WO 2023231867A1 CN 2023096090 W CN2023096090 W CN 2023096090W WO 2023231867 A1 WO2023231867 A1 WO 2023231867A1
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Prior art keywords
sensing
node
information
target
measurement
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PCT/CN2023/096090
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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 WO2023231867A1 publication Critical patent/WO2023231867A1/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

  • the present application belongs to the field of communication technology, and specifically relates to a sensing mode switching method, device and communication equipment.
  • sensing nodes in a mobile communication network can achieve sensing measurement of the status of a sensing target or the sensing environment by sending and receiving sensing signals.
  • the sensing environment, the location of the sensing node, the available resources of the sensing node, etc. change, it is often difficult to make accurate sensing measurements of the status of the sensing target or the sensing environment with the current sensing method. This in turn results in poorer perceived performance.
  • Embodiments of the present application provide a sensing mode switching method, device and communication equipment, which can switch the sensing mode of a sensing target to improve the accuracy of the results of sensing measurement of the sensing target.
  • the first aspect provides a sensing mode switching method, which is applied to the first node.
  • the method includes:
  • the first node obtains the first sensing measurement result corresponding to each candidate node among the N candidate nodes, wherein the first sensing measurement result includes the candidate node performing at least one sensing measurement on the sensing target using the first sensing method.
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and N is a positive integer;
  • the first node switches the sensing mode of the sensing target from the second sensing mode to the first sensing mode according to the first sensing measurement result corresponding to each candidate node among the N candidate nodes, wherein, The signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes.
  • a sensing mode switching device applied to the first node, and the device includes:
  • the first acquisition module is used to obtain the first perception measurement result corresponding to each candidate node among the N candidate nodes, wherein the first perception measurement result includes the candidate node using the first perception method to perform at least
  • the result of a sensing measurement is that the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and N is a positive integer;
  • a first switching module configured to switch the sensing mode of the sensing target from the second sensing mode to the first sensing mode according to the first sensing measurement result corresponding to each candidate node among the N candidate nodes, Among them, the The signal sending node in the second sensing mode and the signal receiving node in the second sensing mode are different nodes.
  • a sensing mode switching method is provided, which is applied to candidate nodes.
  • the method includes:
  • the candidate node receives first request information from the first node, wherein the first request information is used to request the candidate node to perform a sensing operation on the sensing target in a first sensing mode, and the signal sending node in the first sensing mode and The signal receiving node of the first sensing mode is the same node;
  • the candidate node sends first response information to the first node, wherein the first response information includes first response information or first rejection information, the first response information includes a first perception measurement result, and the The first sensing measurement result includes the result of the candidate node performing at least one sensing measurement on the sensing target using the first sensing method, and the first rejection information is used to indicate that the candidate node refuses to accept the sensing target.
  • the first sensing mode is used to perform the sensing operation.
  • a sensing mode switching device applied to candidate nodes, and the device includes:
  • the first receiving module is configured to receive first request information from the first node, where the first request information is used to request the candidate node to perform a sensing operation on the sensing target in a first sensing manner, and the first sensing manner
  • the signal sending node and the signal receiving node of the first sensing mode are the same node;
  • a first sending module configured to send first response information to the first node, where the first response information includes first response information or first rejection information, and the first response information includes a first perception measurement result , the first sensing measurement result includes the result of the candidate node performing at least one sensing measurement on the sensing target using the first sensing method, and the first rejection information is used to indicate that the candidate node refuses to accept the sensing target.
  • the sensing target uses the first sensing mode to perform sensing operations.
  • a sensing mode switching method is provided, which is applied to the eighth node.
  • the method includes:
  • the eighth node performs a second operation, and the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the third sensing mode after the sensing mode switching is completed.
  • a sensing method performs a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end the sensing operation on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node.
  • a sensing mode switching device is provided, applied to the eighth node, and the device includes:
  • the first execution module is used to perform the second operation
  • the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode after the sensing mode switching is completed. Perform a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end performing sensing operations on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node.
  • the seventh aspect provides a sensing mode switching method applied to the second node.
  • the method includes:
  • the second node receives the second request information sent by the first node, wherein the second request information is used to request the second node to find candidate nodes that use the first sensing method to perform sensing operations on the sensing target, and the first The signal sending node in the sensing mode and the signal receiving node in the first sensing mode are the same node;
  • the second node sends second response information respectively corresponding to each of the N candidate nodes to the first node, wherein the second response information includes second response information or second rejection information, and the The second response information includes the first perception measurement result corresponding to the candidate node, and N is a positive integer.
  • a sensing mode switching device applied to the second node, and the device includes:
  • the first receiving module is configured to receive the second request information sent by the first node, wherein the second request information is used to request the second node to find candidate nodes that use the first sensing method to perform sensing operations on the sensing target,
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node;
  • a first sending module configured to send second response information corresponding to each of the N candidate nodes to the first node, where the second response information includes second response information or second rejection information,
  • the second response information includes the first perception measurement result corresponding to the candidate node, and N is a positive integer.
  • 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 one aspect, or the steps of implementing the method described in the third aspect, or the steps of the method described in the fifth aspect.
  • a terminal including a processor and a communication interface, wherein when the terminal is a first node, the processor is configured to obtain the first perception measurement result corresponding to each candidate node among the N candidate nodes, wherein, the first sensing measurement result includes the result of the candidate node performing at least one sensing measurement on the sensing target using the first sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode.
  • the nodes are the same node, and N is a positive integer; the communication interface is used to switch the sensing mode of the sensing target from the second sensing mode to The first sensing mode, wherein the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes;
  • the communication interface is used to receive first request information from the first node, wherein the first request information is used to request the candidate node to adopt a first sensing method for the sensing target.
  • Sensing operation the signal sending node in the first sensing mode and the signal receiving node in the first sensing mode are the same node; sending first response information to the first node, wherein the first response information includes the a response information or first rejection information, the first response information includes a first sensing measurement result, the first sensing measurement result includes the candidate node performing at least one sensing on the sensing target using the first sensing method
  • the first rejection information is used to indicate that the candidate node refuses to perform sensing operations on the sensing target using the first sensing method;
  • the communication interface is used to perform a second operation, and the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode after the sensing mode switching is completed.
  • the sensing mode performs a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end performing sensing operations on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node.
  • a network side device in an eleventh aspect, includes a processor and a memory.
  • the network side device includes a processor and a memory.
  • the steps of the method described in the first aspect are implemented, or the steps of the method are implemented as follows.
  • a network side device including a processor and a communication interface, wherein the network side device When serving as the first node, the processor is configured to obtain a first sensing measurement result corresponding to each candidate node among the N candidate nodes, wherein the first sensing measurement result includes the candidate node adopting the first sensing mode.
  • the result of performing at least one sensing measurement on the sensing target, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, N is a positive integer; the communication interface is used to perform the sensing measurement according to the The first sensing measurement result corresponding to each candidate node among the N candidate nodes switches the sensing mode of the sensing target from the second sensing mode to the first sensing mode, where the signal of the second sensing mode The sending node and the signal receiving node of the second sensing mode are different nodes;
  • the communication interface is used to receive first request information from the first node, wherein the first request information is used to request the candidate node to adopt the first perception for the sensing target.
  • the sensing operation is performed in the first sensing mode, and the signal sending node in the first sensing mode and the signal receiving node in the first sensing mode are the same node; sending first response information to the first node, wherein the first response information Including first response information or first rejection information, the first response information includes a first sensing measurement result, and the first sensing measurement result includes the candidate node using the first sensing mode to perform at least The result of a sensing measurement, the first rejection information is used to instruct the candidate node to refuse to perform the sensing operation on the sensing target using the first sensing method;
  • the communication interface is used to perform a second operation, and the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode after the sensing mode switching is completed.
  • the sensing mode performs a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end performing sensing operations on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node;
  • the communication interface is used to receive second request information sent by the first node, wherein the second request information is used to request the second node to find a sensing target.
  • Candidate nodes that use the first sensing mode to perform sensing operations, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node; send each of the N candidate nodes to the first node
  • Candidate nodes correspond to the Two response information, wherein the second response information includes second response information or second rejection information, the second response information includes the first sensing measurement result corresponding to the candidate node, and N is a positive integer.
  • a sensing mode switching system including: a first node and a candidate node.
  • the first node can be used to perform the steps of the sensing mode switching method as described in the first aspect.
  • the candidate node can To perform the steps of the sensing mode switching method described in the third aspect.
  • a readable storage medium is provided.
  • Programs or instructions are stored on the readable storage medium.
  • the steps of the method described in the first aspect are implemented, or the steps of the method are implemented.
  • 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 method described in the first aspect. The steps of the method, or the steps of implementing the method as described in the third aspect, or the steps of implementing the method as described in the fifth aspect, or the steps of implementing the method as 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 as described in the first aspect
  • the first node obtains the first perception measurement result corresponding to each candidate node among the N candidate nodes, and based on the first perception measurement result corresponding to each candidate node among the N candidate nodes, , switching the sensing mode of the sensing target from the second sensing mode to the first sensing mode, so that the switched sensing mode can perform sensing measurement of the sensing target more accurately and improve the sensing performance of the sensing target.
  • Figure 1 is a block diagram of a wireless communication system applicable to the embodiment of the present application.
  • Figure 2a is a schematic diagram of switching the second sensing mode to the first sensing mode provided by the embodiment of the present application
  • Figure 2b is a schematic diagram of switching the first sensing mode to the second sensing mode provided by the embodiment of the present application;
  • Figure 3 is a schematic diagram of different combinations of switching the second sensing mode to the first sensing mode provided by the embodiment of the present application;
  • Figure 4 is one of the flow charts of a sensing mode switching method provided by an embodiment of the present application.
  • 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 diagrams of a sensing mode switching device provided by an embodiment of the present application.
  • Figure 9 is the second structural diagram of a sensing mode switching device provided by an embodiment of the present application.
  • Figure 10 is the third structural diagram of a sensing mode switching device provided by an embodiment of the present application.
  • Figure 11 is the fourth structural diagram of a sensing mode switching device provided by an embodiment of the present application.
  • Figure 12 is a structural diagram of a communication device provided by an embodiment of the present application.
  • Figure 13 is a structural diagram of a terminal provided by an embodiment of the present application.
  • Figure 14 is a structural diagram of a 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
  • eNB Evolved Node B
  • BTS Base Transceiver Station
  • BSS Base Transceiver Station
  • BSS Basic Service Set
  • BSS Extension Service set
  • HNB home Node B
  • HNB home evolved Node B
  • TRP Transmission Reception 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 as an example for introduction, and the specific name of the base station is not limited. type.
  • 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
  • Wireless communications and radar sensing have been developing in parallel, but the intersection is limited. They have many commonalities in signal processing algorithms, equipment, and to a certain extent system architecture. In recent years, the coexistence, cooperation, and joint design of these two systems have attracted increasing attention from researchers.
  • 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.
  • common signal processing methods can be used to analyze the target signal reflection delay, angle of arrival (Angle of Arrival, AOA), angle of departure (Angle of Departure, AOD) and Doppler dynamics. Parameters are estimated; for sensing the physical characteristics of the target, it can be achieved by measuring equipment, objects or inherent mode signals. 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.
  • a base station including one or more TRPs on the base station, and user equipment (UE) (including one or more sub-arrays/panels on the UE)
  • UE user equipment
  • Sensing node By sending and receiving sensing signals between nodes, it is possible to sense a certain area or an entity target.
  • the sensing signal can be a signal that does not contain transmission information, such as the existing LTE/NR synchronization and reference signals.
  • synchronization signal and physical broadcast channel Synchronization Signal and PBCH block, SSB
  • CSI-RS Channel State Information-Reference Signal
  • DMRS demodulation reference signal
  • SRS channel Sounding Reference Signal
  • PRS Positioning Reference Signal
  • PTRS Phase-tracking reference signal
  • it can be single-frequency continuous wave (CW), frequency modulated continuous wave (Frequency Modulated CW, FMCW) commonly used in radar, and ultra-wideband Gaussian pulse, etc.; it can also be a newly designed special sensing signal , has good correlation characteristics and low Peak to Average Power Ratio (PAPR), or a newly designed synaesthesia integrated signal, which not only carries certain information, but also has good perceptual performance.
  • PAPR Peak to Average Power Ratio
  • sensing nodes are the same device, it can be divided into two sensing methods: A sending and B receiving, and A spontaneously receiving.
  • a sending and B receiving means that sensing node A and sensing node B are not the same device and are physically separated;
  • a spontaneous and self-receiving means that the sending and receiving of sensing signals are performed by the same device, and sensing node A performs sensing by receiving the signal echo sent by itself.
  • the above-mentioned spontaneous and self-receiving sensing of A is collectively referred to as the first sensing, and the corresponding sensing method is the first sensing method; the sensing of A sending and receiving B is the second sensing, and the corresponding sensing method is the second sensing method.
  • Switching of sensing modes in a mobile communication network can be divided into two situations: switching from the second sensing mode to the first sensing mode, and switching from the first sensing mode to the second sensing mode.
  • FIG. 2a shows the situation when the second sensing mode is switched to the first sensing mode
  • FIG. 2b shows the situation when the first sensing mode is switched to the second sensing mode.
  • the sensing node in the network may change before and after the handover, and the sensing node may be a network-side device or a UE after the handover
  • each of the above two handover situations has 6 combinations. Taking switching from the second sensing mode to the first sensing mode as an example, the details include:
  • Switching scenario 1 The network side device and the terminal perform the sensing operation according to the second sensing mode, and switch to the network side device to perform the sensing operation according to the first sensing mode;
  • Switching scenario 2 The network side device and the network side device perform the sensing operation according to the second sensing mode, and switch to the network side device to perform the sensing operation according to the first sensing mode;
  • Switching scenario 3 The network side device and terminal perform sensing operations according to the second sensing mode, and the switch is switched to the terminal performing sensing operations according to the first sensing mode;
  • Switching scenario 4 The terminal and the terminal perform the sensing operation according to the second sensing mode, and the switch is switched to the terminal performing the sensing operation according to the first sensing mode;
  • Switching scenario 5 The terminal and the terminal perform the sensing operation according to the second sensing mode, and switch to the network side device to perform the sensing operation according to the first sensing mode;
  • Switching scenario 6 The network side device and the network side device perform the sensing operation according to the second sensing mode, and the switch is switched to the terminal performing the sensing operation according to the first sensing mode.
  • FIG. 3 shows a schematic diagram of different combinations of switching the second sensing mode to the first sensing mode.
  • the network side device is the benchmark.
  • the sensing nodes may be different devices, base station A, base station B, base station C, UE A, UE B, and UE C are used to distinguish them.
  • Figure 4 is a flow chart of a sensing mode switching method provided by an embodiment of the present application. This method can It is executed by the first node, as shown in Figure 4, including the following steps:
  • Step 401 The first node obtains the first sensing measurement result corresponding to each candidate node among the N candidate nodes, wherein the first sensing measurement result includes the candidate node using the first sensing method to perform the sensing operation.
  • the result of the target performing at least one sensing measurement, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and N is a positive integer.
  • the signal sending node in the first sensing mode and the signal receiving node in the first sensing mode are the same node.
  • the sensing node C sends the first signal and receives the third signal reflected by the sensing target.
  • the above-mentioned sensing node may include a terminal or a network side device (for example, a base station).
  • the signal sending node in the second sensing mode and the signal receiving node in the second sensing mode are different nodes. For example, sensing node A sends the first signal, and sensing node B receives the first signal reflected by the sensing target. to achieve perceptual measurements.
  • the above-mentioned first node may include a first network side device, a second network side device, a first terminal or a core network device, etc.
  • the above-mentioned first network-side device may be a network-side device connected to a terminal that performs a sensing operation on the sensing target in the second sensing mode before switching the sensing mode
  • the above-mentioned second network-side device may be a network-side device connected to the terminal before switching the sensing mode.
  • the first terminal may be a terminal that performs sensing operations on the sensing target in the second sensing mode before switching the sensing mode.
  • the core Network equipment may include Sensing Function (SF), Access and Mobility Management Function (AMF), or sensing application servers in the core network.
  • the above candidate nodes may include terminals or network side devices. It should be noted that the above N candidate nodes may include the second network side device or the first terminal, or may not include the second network side device or the first terminal, which is not limited in this embodiment.
  • the above-mentioned first perception measurement result may include at least one of a measurement value of a perception measurement quantity and a perception result.
  • the above-mentioned sensory measurement quantity may include but is not limited to at least one of the following:
  • the first-level measurement quantity can include the complex result of the received signal/channel response, amplitude/phase, I path/Q path and its operation results (operations include addition, subtraction, multiplication and division, matrix addition, subtraction and multiplication, matrix transpose, Trigonometric relationship operations, square root operations, power operations, etc., as well as threshold detection results, maximum/minimum value extraction results, etc.
  • operations also include Fast Fourier Transform (FFT)/Fast Fourier Inverse Transform (Inverse Fast Fourier Transform, IFFT), Discrete Fourier Transform (DFT)/Inverse Discrete Fourier Transform (IDFT), two-dimensional FFT (2D-FFT), three-dimensional FFT ( 3D-FFT), matched filtering, autocorrelation operation, wavelet transform and digital filtering, etc., as well as threshold detection results, maximum/minimum value extraction results of the above operation results, etc.);
  • FFT Fast Fourier Transform
  • IFFT Discrete Fourier Transform
  • IDFT Discrete Fourier Transform
  • 2D-FFT two-dimensional FFT
  • 3D-FFT three-dimensional FFT
  • matched filtering autocorrelation operation
  • wavelet transform and digital filtering etc.
  • threshold detection results maximum/minimum value extraction results of the above operation results, etc.
  • the second-level measurement quantity, the second-level measurement quantity (basic measurement quantity) includes delay, Doppler, angle, intensity and their multi-dimensional combination representation;
  • the third level measurement quantity (basic attribute/state), the third level measurement quantity includes: at least one of distance, speed, orientation, spatial position and acceleration;
  • the fourth level measurement quantity (advanced attribute/status), the fourth level measurement quantity includes: the presence of the perceived target, trajectory, movement, expression, vital signs, quantity, imaging results, weather, air quality, shape, material and composition at least one of.
  • the sensing measurement volume also includes corresponding label information, which may include at least one of the following: sensing signal identification information, sensing measurement configuration identification information, sensing service information (for example, sensing service ID), data subscription ID, measurement volume Purpose (for example, communication, perception, synaesthesia), time information, sensing node information (such as terminal ID, node location, device orientation), sensing link information (for example, sensing link serial number, sending and receiving node identification), measurement quantity description Information (form, such as amplitude value, phase value, complex value combining amplitude and phase; resource type, such as time domain measurement results, frequency domain resource measurement results), measurement quantity indicator information (such as signal-to-noise ratio (Signal Noise Ratio, SNR) ), perceived SNR).
  • label information may include at least one of the following: sensing signal identification information, sensing measurement configuration identification information, sensing service information (for example, sensing service ID), data subscription ID, measurement volume Purpose (for example, communication, perception, synaesthesia), time information, sensing node
  • the above-mentioned perception result may be a perception result determined based on the measurement value of the perception measurement quantity, may be a final perception result, or an intermediate perception result used to calculate the final perception result.
  • Step 402 The first node switches the sensing mode of the sensing target from the second sensing mode to the first sensing mode according to the first sensing measurement result corresponding to each candidate node among the N candidate nodes. , wherein the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes.
  • the first node may select at least one target node from the N candidate nodes based on the first sensing measurement results corresponding to the N candidate nodes, and send switching confirmation information to the at least one target node to transfer the sensing
  • the target's perception mode is switched from the second perception mode to the first perception mode.
  • the first node obtains the first sensing measurement result corresponding to each candidate node among the N candidate nodes, and based on the first sensing measurement result corresponding to each candidate node among the N candidate nodes, A sensing measurement result, switching the sensing mode of the sensing target from the second sensing mode to the first sensing mode, so that the status of the sensing target, the sensing environment, the location of the sensing node, the available resources of the sensing node, etc.
  • the sensing mode of the sensing target can be switched, so that the switched sensing mode can perform sensing measurement of the sensing target more accurately and improve the accuracy of the results of sensing measurement of the sensing target.
  • the first node obtains the first perception measurement result corresponding to each candidate node among the N candidate nodes.
  • Obtaining the first perception measurement result corresponding to each candidate node among the N candidate nodes includes:
  • the first node obtains a handover measurement report
  • the first node obtains the first sensing measurement result corresponding to each of the N candidate nodes according to the handover measurement report.
  • the above-mentioned handover measurement report may include, but is not limited to, a measurement value of at least one perception measurement quantity, a measurement value of at least one perception performance evaluation index, a measurement value of at least one communication measurement quantity, and at least one communication performance value.
  • a measurement value of at least one perception measurement quantity a measurement value of at least one perception performance evaluation index
  • a measurement value of at least one communication measurement quantity a measurement value of at least one communication measurement quantity
  • at least one communication performance value may include, but is not limited to, a measurement value of at least one communication measurement quantity, and at least one communication performance value.
  • One or more of the measurement values of evaluation indicators may include, but is not limited to, a measurement value of at least one perception measurement quantity, a measurement value of at least one perception performance evaluation index, a measurement value of at least one communication measurement quantity, and at least one communication performance value.
  • the above-mentioned first node obtains the first sensing measurement results corresponding to each of the N candidate nodes according to the handover measurement report.
  • the sensing mode for the sensing target can be initiated according to the handover measurement report.
  • the second sensing mode is switched to the first sensing mode, obtain the score of each candidate node among the N candidate nodes. Otherwise, the first perception measurement results corresponding to each of the N candidate nodes may not be obtained.
  • the first node may determine whether to initiate switching of the sensing mode of the sensing target from the second sensing mode to the first sensing mode based on the switching measurement report, for example, in at least one of the above When the measured value of the perceptual measurement quantity satisfies the first threshold condition or the measured value of at least one of the above-mentioned perceptual performance evaluation indicators satisfies the second threshold condition, it is determined to initiate switching of the sensing mode of the sensing target from the second sensing mode to the third sensing mode.
  • a sensing mode otherwise the sensing mode of the sensing target is not initiated to switch from the second sensing mode to the first sensing mode, and it can be determined to initiate the sensing mode of the sensing target to be switched from the second sensing mode to the first sensing mode.
  • the first perception measurement result corresponding to each candidate node among the N candidate nodes is obtained.
  • This embodiment obtains the first sensing measurement results corresponding to each of the N candidate nodes based on the handover measurement report, and can more accurately decide whether to obtain the first sensing measurement results corresponding to each of the N candidate nodes.
  • the measurement results can then ensure the accuracy of the sensing operation of the sensing target while reducing unnecessary switching.
  • the first node obtains a handover measurement report, including:
  • the first node performs handover measurement and obtains a handover measurement report, wherein the first node is a signal receiving node that performs sensing operation on the sensing target using the second sensing mode;
  • the first node receives a handover measurement report, wherein the first node includes a core network device or a source sending node or a first network side device, and the source sending node adopts the second sensing mode for the sensing target.
  • a signal sending node that performs a sensing operation, and the first network side device is a network side device accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target.
  • the first node when the first node is a signal receiving node that performs a sensing operation on the sensing target using the second sensing mode, the first node may perform handover measurement and obtain a handover measurement report. It should be noted that, in this case, the first node may spontaneously perform handover measurement, or may perform handover measurement after receiving a handover measurement request.
  • the first node when the first node is a core network device or a source sending node or a first network side device, the first node may receive the handover measurement report.
  • the first node when the first node is a core network device, the first node may receive signals from a source receiving node (that is, a signal receiving node that uses the second sensing mode to perform sensing operations on the sensing target), a source sending node, or a third A network-side device receives the above-mentioned handover measurement report; in the case where the above-mentioned first node is the source sending node, the first node may receive the above-mentioned handover measurement report from the source receiving node or the core network device or the first network-side device; in the first When the node is a first network side device, the first node may receive the above handover measurement report from a source receiving node or a core network device or a source sending node.
  • the triggering conditions for the first node to perform handover measurement include at least one of the following:
  • the state of the sensing target changes
  • the position of the terminal that performs the sensing operation on the sensing target using the second sensing mode changes
  • the sensing area environment of the sensing target changes
  • the perceptual measurement quantity obtained by the first node satisfies the first condition
  • the communication measurement volume obtained by the first node satisfies the second condition
  • the available sensing resources of at least one node that performs sensing operations on the sensing target using the second sensing mode are changed.
  • the state of the above-mentioned sensing target changes, for example, the position, speed, etc. of the above-mentioned sensing target changes.
  • the sensing area environment of the sensing target changes, for example, the sensing area of the sensing target is blocked.
  • the sensing measurement quantity obtained by the above-mentioned first node satisfies the first condition, for example, sensing signal received power, sensing signal-to-noise ratio (Signal Noise Ratio, SNR), sensing signal to interference plus noise ratio (Signal to Interference Plus Noise Ratio, SINR) , at least one of the distance measurement value, the speed measurement value, the angle measurement value, etc. is less than or equal to the corresponding first preset threshold value.
  • SNR Signal-to-noise ratio
  • SINR sensing signal to interference plus noise ratio
  • the communication measurement quantity obtained by the above-mentioned first node meets the second condition, for example, Reference Signal Received Power (RSRP), SNR, SINR, Reference Signal Received Quality (RSRQ) and Received Signal Strength Indication
  • RSRP Reference Signal Received Power
  • SNR SNR
  • SINR SINR
  • RSRQ Reference Signal Received Quality
  • RSSI Received Signal Strength Indicator
  • At least one of the Received Signal Strength Indicator (RSSI), etc. is less than or equal to the corresponding second preset threshold value, and/or, at least one of the bit error rate, block error rate, throughput, spectrum efficiency, etc. Greater than or equal to the corresponding third preset threshold.
  • the above-mentioned change of the available sensing resources of at least one node that performs the sensing operation on the sensing target in the second sensing mode needs to be based on
  • the remaining available sensing resources evaluate whether to initiate a sensing handover process.
  • the handover measurement report may include at least one of the following:
  • Instruction information used to indicate whether a preset event occurs is used to trigger the initiation of switching the sensing mode of the sensing target from the second sensing mode to the first sensing mode;
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the second sensing mode to the first sensing mode.
  • the perceptual performance evaluation index can be calculated based on the perceptual measurement quantity.
  • the perceptual performance evaluation index may include at least one of the following:
  • Perceptual SNR represents the ratio of the perceived signal energy reflected by the sensing target or sensing area to the noise signal energy in the environment and equipment;
  • 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;
  • Perceptual reproducibility 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 Warping (DTW), or other similarities that can reflect the two sequences indicators.
  • 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), Real Sequences Edit Distance with Real Penalty (ERP), Hausdorff Distance (Hausdorff Distance), Fréchet Distance (Fréchet Distance), One Way Distance (OWD) and Multi-line Location Distance (Locality In -between Polylines, LIP), etc.
  • the above communication measurement quantities may include at least one of the following: RSRP, SNR, SINR, Reference Signal Received Quality (RSRQ), Received Signal Strength Indicator (RSSI), bit error rate, error block rate, throughput and spectrum efficiency, etc.
  • the above communication performance evaluation index may be calculated based on the above communication measurement quantity.
  • the handover measurement report at least includes measurement values of sensing measurement quantities required for handover measurement.
  • the sensing measurement quantity required for handover measurement may include the sensing measurement quantity of the current sensing service.
  • the method before the first node performs handover measurement and obtains the handover measurement report, the method further includes:
  • the first node receives at least one of a handover measurement request and handover measurement configuration information
  • the method further includes:
  • the first node sends a handover measurement request.
  • the first node when the first node is a source receiving node, the first node may receive at least one of the handover measurement request and the handover measurement configuration information, and perform the calculation based on at least one of the handover measurement request and the handover measurement configuration information.
  • the first node may receive at least one of the above handover measurement request and handover measurement configuration information from the core network device, the source sending node, or the source access network device.
  • the above handover measurement request and handover measurement configuration information may be sent through the same message, or may be sent through different messages.
  • the above handover measurement request and handover measurement configuration information may come from the same device or may come from different devices, which is not limited in this embodiment.
  • the first node may receive a handover measurement request before performing handover measurement and obtaining the handover measurement report, wherein the handover measurement request includes handover measurement configuration information.
  • the handover measurement configuration information may include at least one of the following: measurement object indication information, handover measurement report configuration, measurement event configuration information, and measurement identification, where a measurement identification is associated with a measurement object and a handover measurement report.
  • the configurations correspond respectively.
  • the above-mentioned measurement object indication information can be used to indicate one or more first signals of source nodes and/or candidate nodes that need to be measured, as well as information such as perceptual measurement quantities and perceptual parameter configuration information related to the first signals. .
  • the above handover measurement report configuration may include at least one of the following: reporting principle, for example, it may be periodic reporting or event triggering principle; measurement report format, such as the maximum number of reported cells and number of beams, etc.
  • the above-mentioned measurement event configuration information may include at least one of measurement event definitions, event-related parameters, handover decision conditions, etc.
  • the first node obtains the first perception measurement results corresponding to each of the N candidate nodes, including:
  • the first node sends first request information to each of the M candidate nodes respectively; wherein the first request information is used to request the candidate node to use the first sensing method to perform the sensing target Perception operation, M is a positive integer;
  • the first node receives the first response information corresponding to each candidate node among the N candidate nodes; wherein the N candidate nodes are N candidate nodes among the M candidate nodes, and N is less than or equal to M , the first response information includes the first sensing measurement result corresponding to the candidate node.
  • the M candidate nodes when the first node is a core network device, may include the second network side device or the first terminal, or may not include the second network side device or the first terminal; in the When a node is a second network side device or a first terminal, the M candidate nodes do not include the second network side device or the first terminal.
  • the candidate node may send the first response information or the first rejection information in response to the first request information, where the first response information is used to indicate to the first node
  • the sender of the first response message agrees to use the first sensing mode to perform the sensing operation on the sensing target.
  • the first rejection message is used to indicate to the first node that after the sensing mode switching is completed, the first rejection message
  • the sender refuses to use the first sensing method to perform sensing operations on the sensing target.
  • the N candidate nodes may be the N candidate nodes that feed back the first response information among the M candidate nodes.
  • the first request information includes at least one of the following:
  • the first configuration information is used to configure sensing parameters for the candidate node to perform sensing operations in accordance with the first sensing mode
  • QoS Quality of Service
  • the above-mentioned first configuration information may be configuration information recommended by the first node.
  • the first configuration information may include at least one of the following: sensing parameter configuration information and soft handover parameter configuration information.
  • sensing parameter configuration information is used for the candidate node to perform the sensing operation on the sensing target using the first sensing mode.
  • Parameter configuration is used for the candidate node to perform the sensing operation on the sensing target using the first sensing mode.
  • the above soft handover parameter configuration information is used to configure soft switching of the sensing mode of the sensing target from the second sensing mode to the first sensing mode.
  • the sensing parameter configuration information may include at least one of the following: waveform type, subcarrier interval, guard interval, bandwidth, data burst (burst) duration, time domain interval, transmit signal power, signal format, signal Direction, time resources, frequency resources, Quasi-Co-Location (QCL) relationship, antenna configuration information.
  • the above waveform types are, for example, orthogonal frequency division multiplexing (Orthogonal Frequency Division Multiplexing, OFDM), single carrier frequency division multiple access (Single Carrier Frequency Division Multiple Access, SC-FDMA), orthogonal time-frequency space (Orthogonal Time Frequency Space, OTFS), Frequency-Modulated Continuous Wave (FMCW), pulse signal, etc.
  • OFDM Orthogonal Frequency Division Multiplexing
  • SC-FDMA Single carrier frequency division multiple access
  • OFDM Single Carrier Frequency Division Multiple Access
  • orthogonal time-frequency space Orthogonal Time Frequency Space
  • FMCW Frequency-Modulated Continuous Wave
  • the above-mentioned subcarrier spacing for example, the subcarrier spacing of the OFDM system is 30KHz.
  • the above-mentioned guard interval is 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, d max is the maximum sensing distance (belonging to sensing requirements).
  • d max represents the maximum distance from the sensing signal transceiver point to the signal transmitting point; in some cases, OFDM signal cyclic prefix (CP ) can play the role of the minimum guard interval.
  • the above bandwidth can be inversely proportional to the distance resolution, which can be obtained by c/(2 ⁇ d), where ⁇ d is the distance resolution (belonging to the perception requirements); c is the speed of light.
  • the duration of the above data burst can be inversely proportional to the rate resolution (belonging to the sensing requirements).
  • This parameter is the time span of the sensing signal, mainly for calculating 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.
  • the above time domain interval 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 interval between two adjacent sensing signals.
  • the above-mentioned transmit signal power takes a value every 2dBm from -20dBm to 23dBm, for example.
  • the above signal formats for example, SRS, DMRS, PRS, etc., or other predefined signals, as well as related sequence format and other information.
  • the above-mentioned signal direction is, for example, the direction of the sensing signal or beam information.
  • the above time resources for example, the time slot index where the sensing signal is located or the symbol index of the time slot; among them, the time resources are divided into two types, one is a one-time time resource, for example, one symbol sends an omnidirectional sensing signal; the other is a one-time time resource.
  • the beam directions on periodic time resources are different.
  • the above frequency resources for example, 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, QCL includes Type A (Type A), Type B, Type C or Type D.
  • a synchronization signal block Synchronization Signal and PBCH block, SSB
  • QCL includes Type A (Type A), Type B, Type C or Type D.
  • the above antenna configuration information may include at least one of the following:
  • 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 transmitting and/or receiving sensing signals, and uses "0" to indicate that the array element is not selected (the reverse can also be done) ;
  • 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. Select (can also work the other way around).
  • the above-mentioned sensing requirements may include at least one of sensing target area, sensing target type, required sensing function, sensing purpose, sensing result, etc.
  • the above-mentioned perceived QoS may include at least one of the following:
  • Perceptual resolution such as ranging resolution, angle measurement resolution, speed measurement resolution, imaging resolution, etc.
  • Perception accuracy such as ranging accuracy, angle measurement accuracy, speed measurement accuracy, positioning accuracy, etc.
  • Sensing range such as distance measurement range, speed measurement range, angle measurement range, imaging range, etc.
  • Sensing delay for example, the time interval from the sending of the sensing signal to the obtaining of the sensing result, or the time interval from the initiation of sensing demand to the obtaining of the sensing result;
  • Perception update rate for example, the time interval between two consecutive sensing operations and obtaining sensing results
  • Detection probability for example, the probability of being correctly detected given the perceived presence of the target
  • False alarm probability for example, the probability of falsely detecting a sensed target when the sensed target is not present
  • the above-mentioned perceptual measurement results may include perceptual results obtained directly or indirectly based on at least one perceptual measurement quantity.
  • the above sensing conditions may include at least one of sensing start time, sensing end time, sensing duration, etc.
  • the above-mentioned prior information of the sensing target may include at least one of sensing target type, sensing target historical state (for example, speed, angle, distance, acceleration, spatial orientation, etc.), etc.
  • the a priori information of the sensing area of the sensing target may include information about the approximate location or area where the sensing target is located. interest.
  • the above-mentioned judgment condition for successful sensing mode switching indicates that the measurement value of at least one sensing measurement quantity and/or communication measurement quantity reaches a corresponding preset threshold within a preset time or a preset number of times.
  • the first response information also includes second configuration information, where the second configuration information is used for sensing parameter configuration for the candidate node to perform a sensing operation according to the first sensing mode.
  • the above-mentioned second configuration information may be configuration information suggested by the candidate node.
  • the second configuration information may include at least one of the following: sensing parameter configuration information, soft handover parameter configuration information.
  • the configuration may be based on at least one of the above-mentioned first configuration information and the above-mentioned second configuration information, or may be configured based on The above first configuration information and the above second configuration information are configured using different configuration information, which is not limited in this embodiment.
  • the M candidate nodes are determined based on first information of the M candidate nodes, wherein the first information includes at least one of the following:
  • the sensing capability information of the above candidate nodes includes, for example, sensing coverage, maximum bandwidth available for sensing, maximum duration of sensing services, supported sensing signal types and frame formats, antenna array information (array type, number of antennas, At least one of the array aperture, antenna polarization characteristics, array element gain and directivity characteristics, etc.);
  • the resource information currently available for sensing of the above-mentioned candidate nodes includes, for example, time resources (number of symbols, number of time slots, number of frames, etc.), frequency resources (number of resource blocks (RB), resource units (Resource Element), RE) number, total bandwidth, available frequency band location, etc.), antenna resources (number of antennas/antenna sub-arrays), phase modulation resources (number of hardware phase shifters), orthogonal code resources (orthogonal code length and number), etc. At least one item.
  • the channel state information of the above-mentioned candidate nodes may 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), At least one of CSI-RS 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
  • At least one of CSI-RS 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).
  • the above candidate nodes may include candidate network side devices or candidate terminals.
  • the first node may determine M candidate network side devices based on the first information of each network side device, or the first node may determine M candidate terminals based on the first information of each terminal.
  • the first node obtains the first perception measurement results corresponding to each of the N candidate nodes, including:
  • the first node sends second request information to the second node, where the second request information is used to request the second node to find candidate nodes that use the first sensing method to perform sensing operations on the sensing target. ;
  • the first node receives second response information corresponding to each candidate node among the N candidate nodes from the second node, where the second response information includes a first perception measurement result corresponding to the candidate node.
  • the candidate node in this embodiment may be a terminal.
  • the second node when the first node is a core network device, may include a first network side device, a second network side device, or a third network side device; In the case of a network side device, the second node may include a second network side device or a third network side device; in the case of a first node being a second network side device, the second node may include a first network side device. equipment or third network side equipment.
  • the above-mentioned first network-side device may be a network-side device connected to a terminal that performs a sensing operation on the sensing target in the second sensing mode before switching the sensing mode
  • the above-mentioned second network-side device may be a network-side device connected to the terminal before switching the sensing mode.
  • the above-mentioned third network-side device is a network-side device that the candidate node accesses.
  • the second node can obtain the third response information corresponding to each of the K candidate nodes, and based on each of the K candidate nodes, The corresponding third response information determines the second response information corresponding to the N candidate nodes and sends it to the first node, where K may be greater than or equal to N.
  • the first node is a sensing node that uses the second sensing mode to perform sensing operations on the sensing target, and the N candidate nodes include the first node;
  • the first node obtains the first perception measurement results corresponding to each of the N candidate nodes, including:
  • the first node uses the first sensing method to perform at least one sensing measurement on the sensing target to obtain a first sensing measurement result corresponding to the first node.
  • the first node when the first node is a candidate node, the first node can use the first sensing method to perform at least one sensing measurement on the sensing target to obtain the first sensing measurement corresponding to the first node. result.
  • the first node may configure sensing parameters related to the first sensing mode based on the first configuration information, and use the first sensing mode to perform at least one sensing measurement on the sensing target to obtain the sensing parameters corresponding to the first node. First perceptual measurement results.
  • the first perceptual measurement results corresponding to the N candidate nodes are the first perceptual measurement results corresponding to the first node.
  • the first node obtains the first perception measurement result corresponding to each candidate node among the N candidate nodes, which may also include:
  • the first node sends first request information to each of the P candidate nodes respectively; wherein the first request information is used to request the candidate node to use the first sensing method to perform the sensing target on the sensing target.
  • Perceptual operation P is a positive integer
  • the first node receives first response information corresponding to each candidate node among the N-1 candidate nodes; wherein the N-1 candidate nodes are N-1 candidate nodes among the P candidate nodes. , N-1 is less than or equal to P, so The first response information includes a first sensing measurement result corresponding to the candidate node.
  • the method also includes:
  • the first node sends first indication information to the third node
  • the first instruction information is used to instruct the network side device to use the first sensing mode to perform a sensing operation on the sensing target after the sensing mode switching is completed.
  • the first node and the third node One is a first network side device or a second network side device, and the other is a core network device.
  • the first network side device is a network accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target.
  • Side device the second network side device is a network side device that uses the second sensing mode to perform sensing operations on the sensing target.
  • the method also includes:
  • the first node sends second indication information to the fourth node
  • the second instruction information is used to instruct the fourth node to end sensing the sensing target after the sensing mode switching is completed
  • the first node includes a core network device or a first network side device or a second network Side device
  • the first network side device is a network side device accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target
  • the second network side device is a network side device that uses the sensing operation on the sensing target.
  • the network side device performs sensing operations in the second sensing manner
  • the fourth node is a sensing node that performs sensing operations on the sensing target in the second sensing manner.
  • the fourth node is a sensing node that is different from the second network-side device among the sensing nodes that use the second sensing mode to perform sensing operations on the sensing target. sensing node.
  • the method also includes:
  • the first node sends third indication information to the fifth node; wherein the third indication information is used to indicate that the sender of the third indication information adopts the method for the sensing target after the sensing mode switching is completed.
  • the first sensing mode performs sensing operations.
  • the first node is the first sensing node that uses the second sensing mode to perform sensing operations on the sensing target.
  • the fifth node includes a core network device and a sensing device that performs sensing operations on the sensing target. At least one of the second sensing nodes that uses the second sensing mode to perform sensing operations;
  • the first node receives third indication information from the fifth node; wherein the third indication information is used to indicate that the sender of the third indication information adopts the method for the sensing target after the sensing mode switching is completed.
  • the first sensing mode performs the sensing operation.
  • the first node includes at least one of a first sensing node and a core network device that performs the sensing operation on the sensing target in the second sensing mode.
  • the fifth node is A second sensing node that performs sensing operations on the sensing target using the second sensing mode.
  • the above-mentioned first sensing node and the second sensing node are two different sensing nodes that perform sensing operations on the sensing target in the second sensing mode before switching the sensing mode.
  • the method also includes:
  • the first node sends fourth indication information to the sixth node
  • the fourth indication information is used to instruct the terminal to adopt the first sensing mode after the sensing mode switching is completed.
  • the method performs a sensing operation on the sensing target, one of the first node and the sixth node is a first network side device or a second network side device, and the other is a core network device, and the first network side
  • the device is a network side device accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target, and the second network side device is a network side device that uses the second sensing mode to perform sensing operations on the sensing target.
  • Network side equipment is a network side device accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target.
  • the first node switches the sensing mode of the sensing target from the second sensing mode to the first sensing mode according to the first sensing measurement result corresponding to each of the N candidate nodes.
  • the first node sends handover confirmation information to at least one target node, wherein the target node is a candidate node among the N candidate nodes whose corresponding first sensing measurement result satisfies the first handover condition, and the handover confirmation information Used to notify the target node to use the first sensing mode to perform sensing operations on the sensing target.
  • the first node can determine at least one target node based on the first sensing measurement results corresponding to the N candidate nodes, and then can send handover confirmation information to at least one target node to notify the target node that the sensing After the mode is switched, the first sensing mode is used to perform a sensing operation on the sensing target.
  • the target node is a candidate node among the N candidate nodes whose corresponding first perception measurement result satisfies the first switching condition.
  • the first switching condition includes at least one of the following:
  • the measurement value of at least one sensory measurement quantity in the first perceptual measurement results is greater than or equal to the first preset threshold, or, in the first time period, at least one of the first perceptual measurement results is The number of times the measured value of a sensory measurement quantity is greater than or equal to the first preset threshold reaches the first preset number of times;
  • the measured value of at least one perceptual measurement quantity in the first perceptual measurement result is greater than the measured value of the perceptual measurement quantity corresponding to the second perceptual measurement result, or, in the second time period, the first perceptual measurement quantity is greater than the perceptual measurement quantity corresponding to the second perceptual measurement result.
  • the number of times that the measurement value of at least one perceptual measurement quantity in the perceptual measurement results is greater than the measurement value of the perceptual measurement quantity corresponding to the second perceptual measurement result reaches the second preset number of times, and the second perceptual measurement result is at the first preset time
  • the first perception measurement result obtained by performing a sensing operation according to the second sensing mode in the segment;
  • At least one of the perceptual performance evaluation indicators in the first perceptual measurement results is greater than or equal to the second preset threshold, or, in the third time period, at least one of the first perceptual measurement results is The number of times the perceptual performance evaluation index is greater than or equal to the second preset threshold reaches the third preset number of times;
  • At least one perceptual performance evaluation index in the first perceptual measurement result in the fourth time period is greater than the perceptual performance evaluation index corresponding to the second perceptual measurement result, or, in the first perceptual measurement result in the fourth time period, The number of times at least one perceptual performance evaluation index is greater than the perceptual performance evaluation index corresponding to the second perceptual measurement result reaches the fourth preset number of times;
  • the first target value in the first time period is greater than or equal to the first preset threshold, or the number of times the first target value in the first time period is greater than the first preset threshold reaches the first preset number of times, so
  • the first target value includes a measurement value of at least one perception measurement quantity in the first perception measurement result and a measurement value of at least one communication measurement quantity corresponding to the candidate node;
  • the second target values in the third time period are all greater than or equal to the second preset threshold, or the number of times the second target value in the third time period is greater than or equal to the second preset threshold exceeds the third preset number of times.
  • the second target value includes the A measurement value of at least one perception performance evaluation index in the first perception measurement result and at least one communication measurement quantity corresponding to the candidate node;
  • the first perceptual measurement is better than the second perceptual measurement during a fourth time period.
  • the perceptual performance evaluation index in this embodiment can be calculated based on the perceptual measurement quantity.
  • perceptual measurement quantity and perceptual performance evaluation index in this embodiment please refer to the foregoing relevant descriptions and will not be described again here.
  • triggering the switch can also be confirmed when at least one of the following is satisfied: the position of the terminal that uses the second sensing mode to perform the sensing operation on the sensing target changes before the switching; traditional The switching event is met.
  • Event A1 The quality of the serving cell is higher than the threshold
  • Event A2 The quality of the serving cell is lower than the threshold
  • Event A3 The quality of the neighboring cell is higher than the serving cell by an offset value
  • Event A4 Neighbor cell quality is higher than the threshold
  • Event A5 The quality of the serving cell is lower than threshold 1, and the quality of neighboring cells is higher than threshold 2;
  • Event A6 The quality of neighboring cells is higher than that of secondary cells
  • Event B1 Inter-Radio Access Technology (Inter-RAT) neighbor cell quality is higher than the threshold
  • Event B2 The quality of the primary cell is lower than threshold 1, and the quality of Inter-RAT neighboring cells is higher than threshold 2;
  • Event I1 The interference quality is higher than the threshold.
  • the first node sends switching confirmation information to at least one target node whose corresponding first sensing measurement result satisfies the first switching condition, which can ensure that the sensing performance of the sensing node after the sensing mode is switched is better, thereby further improving the switching perceived performance.
  • the at least one target node includes a target terminal
  • the first node sends switching confirmation information to at least one target node, including:
  • the first node sends handover confirmation information to the target terminal through a third network side device, where the third network side device is an access network device of the target terminal.
  • the first node may send handover confirmation information to the third network side device, and the third network side device forwards the received handover confirmation information to the target terminal.
  • the method also includes at least one of the following:
  • the first node sends a sensing end command to the seventh node, where the sensing end command is used to instruct the recipient of the sensing end command to end the sensing operation on the sensing target in the second sensing mode, so
  • the seventh node is a sensing node that uses the second sensing mode to perform sensing operations on the sensing target, and the seventh node is different from the at least one target node;
  • the first node sends switching cancellation information to the first candidate node, wherein the switching cancellation information is used to notify the first candidate node to cancel the sensing operation using the first sensing mode for the sensing target and release the predetermined switching information.
  • the first candidate node includes candidate nodes among the N candidate nodes except the at least one target node.
  • the first node when the seventh node is a terminal, may directly send the sensing end command to the seventh node, or may send the sensing end command to the seventh node through the first network side device. command, wherein the first network side device is a network side device connected to the seventh node.
  • the first node may directly send the handover cancellation information to the first candidate node, or may send the handover cancellation information to the first candidate node through the third network side device.
  • the method also includes:
  • the first node ends the sensing operation using the second sensing method for the sensing target, and releases the resources occupied by sensing the sensing target, wherein the first node adopts the sensing operation for the sensing target.
  • the sensing node performs sensing operation in the second sensing mode.
  • the above-mentioned first node is a sensing node that uses the second sensing mode to perform sensing operations on the sensing target before the sensing mode is switched, and the first node is not a target node.
  • the method also includes:
  • the first node sends sensing reference information to the at least one target node, where the sensing reference information includes at least one of the following:
  • the perception measurement quantity in the perception reference information before the perception mode is switched may be the same as or different from the perception measurement quantity after the perception switching is completed. Since the first node sends the first information to the target node after determining the target node, it can assist the target node to perform sensing operations on the sensing target, which can further improve sensing performance.
  • the method also includes:
  • the first node When the first node does not obtain the first perception measurement result corresponding to the candidate node within the second preset time, or the first perception measurement results corresponding to the N candidate nodes do not satisfy the first switching condition , the first node performs the first operation;
  • the first operation includes the following: re-determining candidate nodes, canceling the switching of the sensing mode of the sensing target from the second sensing mode to the first sensing mode, and ending the use of the second sensing mode for the sensing target. way to perform sensory operations.
  • the rejection information received by the first node within the second preset time is the rejection information corresponding to the candidate node, or the obtained first sensing measurement results corresponding to the candidate node do not meet the first switching condition.
  • the second Perceptual operations are performed in a perceptual manner.
  • Figure 5 is a flow chart of a sensing mode switching method provided by an embodiment of the present application. This method can be executed by a candidate node. As shown in Figure 5, it includes the following steps:
  • Step 501 The candidate node receives first request information from the first node, where the first request information is used to request the candidate node to perform a sensing operation on the sensing target in a first sensing mode.
  • the signal of the first sensing mode The sending node and the signal receiving node of the first sensing mode are the same node.
  • the candidate node may include a candidate terminal or a candidate network side device.
  • Step 502 The candidate node sends first response information to the first node, where the first response information includes first response information or first rejection information, and the first response information includes a first perception measurement result.
  • the first sensing measurement result includes the result of the candidate node performing at least one sensing measurement on the sensing target using the first sensing method, and the first rejection information is used to indicate that the candidate node refuses to accept the sensing target.
  • the sensing target adopts the first sensing mode to perform sensing operations.
  • the candidate node may respond to the first request information and use the first sensing method to perform at least one sensing measurement on the sensing target to obtain the first sensing measurement.
  • the first response information carrying the first sensing measurement result is sent to the first node; or after the candidate node receives the first request information from the first node, the candidate node may respond to the first request information and send the first response information to the first node. Send first rejection message.
  • the method before the candidate node sends the first response information to the first node, the method further includes:
  • the candidate node configures sensing parameters related to the first sensing mode according to the first request information
  • the candidate node uses the first sensing method to perform at least one sensing measurement on the sensing target to obtain a first sensing measurement result.
  • the first request information includes at least one of the following:
  • the first configuration information is used to configure sensing parameters for the candidate node to perform sensing operations in accordance with the first sensing mode
  • the first configuration information includes at least one of the following: sensing parameter configuration information and soft handover parameter configuration information.
  • the sensing parameter 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 relationships, and antenna configuration information.
  • the first response information also includes second configuration information, where the second configuration information is used for sensing parameter configuration for the candidate node to perform a sensing operation according to the first sensing mode.
  • the method also includes:
  • the candidate node receives switching confirmation information from the first node; wherein the switching confirmation information is used to notify the candidate node to adopt the first sensing method for the sensing target after the sensing mode of the sensing target is switched. way to perform perceptual operations;
  • the candidate node receives switching cancellation information from the first node; wherein the switching cancellation information is used to notify the candidate node to cancel the sensing operation using the first sensing mode for the sensing target and release reserved sensing. resource.
  • the candidate node when the candidate node is the target node (for example, the first sensing measurement result corresponding to the candidate node satisfies the first handover condition), the candidate node may receive handover confirmation information from the first node.
  • the candidate node may receive switching cancellation information from the first node.
  • the method further includes:
  • the candidate node configures sensing parameters related to the first sensing mode according to at least one of the first request information and the second configuration information;
  • the candidate node uses the first sensing mode to perform a sensing operation on the sensing target.
  • the method further includes:
  • the candidate node receives sensing reference information from the first node, wherein the sensing reference information includes at least one of the following:
  • the candidate node is a sensing node that uses a second sensing mode to perform sensing operations on the sensing target before switching the sensing mode.
  • the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes; the method also includes:
  • the candidate node receives a sensing end command from the first node
  • the candidate node ends the sensing operation on the sensing target using the second sensing mode, and releases the resources occupied by sensing the sensing target.
  • Figure 6 is a flow chart of a sensing mode switching method provided by an embodiment of the present application. This method can It is executed by the eighth node, as shown in Figure 6, including the following steps:
  • Step 601 The eighth node performs a second operation, and the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode after the sensing mode switching is completed.
  • the sensing mode performs a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end performing sensing operations on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node.
  • the eighth node may include a first network side device or a second network side device or a first terminal.
  • the first network side device may adopt the second sensing mode for the sensing target before switching the sensing mode.
  • the above-mentioned second network-side device may be a network-side device that uses the second sensing mode to perform sensing operations on the sensing target before switching the sensing mode.
  • the above-mentioned first terminal may be A terminal that uses the second sensing mode to perform sensing operations on the sensing target before switching the sensing mode.
  • the eighth node is a signal receiving node that uses the second sensing mode to perform sensing operations on the sensing target;
  • the method further includes:
  • the eighth node receives second information, wherein the second information includes at least one of a handover measurement request and receiving handover measurement configuration information;
  • the eighth node performs handover measurement according to the second information and obtains a handover measurement report.
  • the handover measurement request includes handover measurement configuration information.
  • the handover measurement configuration information includes at least one of the following: measurement object indication information, handover measurement report configuration, measurement event configuration information, and measurement identification, wherein a measurement identification is associated with a measurement object and a handover measurement report configuration respectively. correspond.
  • the sensing nodes that use the second sensing mode to perform sensing operations on the sensing target before the sensing mode is switched include the eighth node and the ninth node;
  • the trigger conditions for the eighth node to perform handover measurement include at least one of the following:
  • the state of the sensing target changes
  • the sensing area environment of the sensing target changes
  • the perceptual measurement quantity obtained by the eighth node satisfies the first condition
  • the communication measurement volume obtained by the eighth node satisfies the second condition
  • the position of at least one of the eighth node and the ninth node changes, and at least one of the eighth node and the ninth node is a terminal;
  • the distance between the eighth node and the ninth node changes, and at least one of the eight nodes and the ninth node is a terminal;
  • the communication measurement volume between the eighth node and the network side device accessed by the eighth node satisfies the third condition, and the eighth node is a terminal;
  • the communication measurement amount between the ninth node and the network side device accessed by the ninth node satisfies the third condition, and the ninth node is a terminal;
  • the available sensing resources of at least one of the eighth node and the ninth node are changed.
  • the communication measurement volume between the eighth node and the network-side device connected to the eighth node satisfies the third condition or the eighth node and the network-side device connected to the eighth node
  • the communication measurement quantity between them satisfies the third condition, for example, at least one of RSRP, SNR, SINR, RSRQ and RSSI is less than or equal to the corresponding second preset threshold value, and/or the bit error rate, error rate, etc.
  • At least one of the block rate, throughput, spectrum efficiency, etc. is greater than or equal to the corresponding third preset threshold.
  • the method further includes:
  • the eighth node ends the sensing operation on the sensing target using the second sensing method, and releases the resources occupied by sensing the sensing target.
  • the eighth node in this embodiment is a sensing node that uses the second sensing mode to perform sensing operations on the sensing target before switching the sensing mode.
  • Figure 7 is a flow chart of a sensing mode switching method provided by an embodiment of the present application. This method can be executed by the second node. As shown in Figure 7, it includes the following steps:
  • Step 701 The second node receives the second request information sent by the first node, where the second request information is used to request the second node to find candidate nodes that perform sensing operations on the sensing target using the first sensing method, so The signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node.
  • Step 702 The second node sends second response information corresponding to each of the N candidate nodes to the first node, where the second response information includes second response information or second rejection information. , the second response information includes the first perception measurement result corresponding to the candidate node, and N is a positive integer.
  • the N candidate nodes may be N terminals managed by the second node.
  • the method before the second node sends the second response information corresponding to each of the N candidate nodes to the first node, the method further includes:
  • the second node sends third request information to at least one candidate node, wherein the third request information is used to request the candidate node to perform a sensing operation on the sensing target using the first sensing method;
  • the second node receives the third response information respectively corresponding to each of the K candidate nodes, wherein the third response information includes third response information or third rejection information, and the third response information includes the The first perception measurement result corresponding to the candidate node, the second response information corresponding to the N candidate nodes includes part or all of the third response information corresponding to the K candidate nodes, K is an integer greater than or equal to N .
  • the third request information in this embodiment may be the same as the first request information in the previous embodiment, or may be different.
  • the third response information in this embodiment may be the same as the first response information in the previous embodiment, or may be different.
  • the at least one candidate node may be at least one terminal managed by the second node.
  • the second response information corresponding to the N candidate nodes may be determined based on the third response information corresponding to the K candidate nodes. For example, the second node may select the third response corresponding to the N candidate nodes from the K candidate nodes. The information is sent to the first node, wherein the above-mentioned second response information and the above-mentioned third response information are the same; or the second node can select the third response information corresponding to the N candidate nodes from the above-mentioned K candidate nodes, and can select the third response information corresponding to the N candidate nodes according to each The third response information corresponding to each candidate node determines the second response information corresponding to each candidate node and sends it to the first node.
  • the at least one candidate node is determined based on first information of the at least one candidate node, wherein the first information includes at least one of the following:
  • first sensing the sensing operation using the first sensing mode
  • second sensing the sensing operation using the second sensing mode
  • Switching scenario 1 The network side device and the terminal perform the sensing operation according to the second sensing mode, and the network side device performs the sensing operation according to the first sensing mode, that is, the base station-UE second sensing, and switches to the base station first sensing, where
  • the base station that performs the second sensing before the handover is called the source base station, and the base station that performs the first sensing after the handover is called the target base station.
  • the UE in this handover scenario is the UE that performs the second sensing before the handover.
  • Step 11 Perform handover measurement, which is divided into two situations: downlink sensing (that is, the source base station sends signals and the source terminal receives signals) and uplink sensing (that is, the source terminal sends signals and the source base station receives signals):
  • Base station-UE is 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 core network device (such as the sensing function network element) sends a handover measurement request to the UE. After receiving the handover measurement request, the UE performs handover measurement and feeds back the handover measurement report to the core network device. In some optional embodiments, the UE or core network device sends a handover measurement report to the source base station.
  • the core network device or the source base station before the UE performs handover measurement, the core network device or the source base station sends the handover measurement configuration information necessary for handover measurement to the UE, or the handover measurement configuration information is included in the handover measurement request.
  • Base station-UE is uplink sensing:
  • the source base station performs handover measurements.
  • the core network device or UE sends a handover measurement request to the source base station.
  • the core network device or UE before the source base station performs handover measurement, the core network device or UE sends the handover measurement configuration information necessary for handover measurement to the source base station, or the handover measurement configuration information is included in the handover measurement request. .
  • the above-mentioned step 11 may be triggered based on a trigger event.
  • a trigger event of the above-mentioned step 11 reference may be made to the relevant descriptions of the foregoing embodiments, which 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 core network device, and the core network device decides whether to initiate a handover request, or the core network 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 second sensing.
  • the core network equipment or the source base station determines which node switches to the first sensing mode, which can be divided into one of the following situations:
  • Case 1 The source base station decides to switch to the base station to perform the first sensing.
  • the source base station sends first request information to at least one candidate 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 core network device, where the first indication information is to notify the recipient of the first indication information that the base station performs the first sensing after the sensing mode is switched.
  • 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.
  • Scenario 2 The core network equipment decides to switch to the base station to perform first sensing.
  • the core network device sends first request information to at least one candidate base station.
  • the core network device sends the first indication information to the source base station.
  • the core network device sends the second indication information to the UE.
  • the candidate base station includes a source base station.
  • Case 3 The source base station decides to actively switch to perform first sensing.
  • the source base station is the candidate base station.
  • the source base station sends third indication information to the core network device, where the third indication information indicates the third indication information receiver. After the sensing mode switching is completed, the third indication information sender can perform the first sensing.
  • case 3 also includes case 1.
  • the source base station or core network device includes the suggested first configuration information in the first request information.
  • the first configuration information includes sensing parameter configuration information, which is used for the candidate base station and the target base station to perform first sensing sensing parameter configuration.
  • the first request information may include a soft handover request.
  • the first configuration information may also include soft handover parameter configuration information.
  • the candidate base station may be determined based on the first information of the candidate base station.
  • first information please refer to the relevant descriptions of the foregoing embodiments and will not be described in detail here.
  • Step 13 The candidate base station decides whether to accept the first sensing after switching the sensing mode. Specifically, it is divided into the following situations:
  • the candidate base station can configure sensing parameters based on at least one of the first request information and the first configuration information, and perform the first sensing.
  • the candidate base station After performing at least one sensing measurement, the candidate base station sends the first response information to the source base station or core network equipment.
  • the first response information indicates the sender of the first request information.
  • the first response information is A response message in which the sender agrees to perform the first sensing.
  • the first response information content includes a first perception measurement result
  • the first perception measurement result may include at least one of the following:
  • the first response information may also include:
  • Second configuration information the second configuration information is used for the target base station to configure sensing parameters for performing first sensing.
  • the above-mentioned second configuration information may also include soft handover parameter configuration information.
  • the source base station or core network equipment waits for the first response information from the candidate base station within the second preset time. Once received, If the first response information sent to a certain candidate base station satisfies the first handover condition, the candidate base station is immediately selected as the sensing node that performs the first sensing after handover, that is, the target node.
  • Scenario 2 If the candidate base station does not agree, then optionally, the candidate base station sends the first rejection information to the first request information sender (source base station or core network equipment), where the first rejection information indicates the first request information sender , the sender of the first rejection information does not perform the first perception.
  • the candidate base station sends the first rejection information to the first request information sender (source base station or core network equipment), where the first rejection information indicates the first request information sender , the sender of the first rejection information does not perform the first perception.
  • the subsequent processing can be one of the following: i.
  • the source base station or the core network device re-identifies the candidate base station; ii. Cancel the handover and maintain the current second sensing; iii. End the current second perception.
  • Step 14 After the source base station or core network equipment determines the target base station, it sends handover confirmation information to the target base station.
  • the handover confirmation information is used to notify the recipient of the handover confirmation information that it will subsequently perform the first sensing operation.
  • the source base station or the core network device determines the target base station, it sends handover cancellation information to other candidate base stations except the target base station.
  • the handover cancellation information is used to notify other candidate sensing nodes to cancel the execution of the first sensing and release the predetermined sensing node. Leave sensory resources. Other candidate base stations release the reserved sensing resources after receiving the handover cancellation information.
  • Step 15 The target base station performs the sensing service, and the UE releases sensing resources. Specifically, do the following:
  • the target base station configures sensing parameters based on at least one of the first request information, the first configuration information, and the second configuration information, and performs the first sensing.
  • the UE or the UE and the source base station stop performing the second sensing and release the sensing resources. There may be differences in sensing nodes before and after switching, including 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 source base station sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target base station.
  • the sender of the first request information is the core network device, and the source base station and the target base station are not the same device:
  • the core network device sends a sensing end command to the source base station and 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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target base station.
  • the sender of the first request information is the core network device, and the source base station and the target base station are the same device:
  • the core network 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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target base station.
  • the target base station After obtaining at least one sensing measurement result and/or sensing result, the target base station reports to the source base station or core The cardiac network device sends the sensing measurement quantity measurement result and/or the sensing result.
  • the sensing measurement quantity before the sensing mode is switched can be the same as or different from the sensing measurement quantity after the sensing mode is switched.
  • Switching scenario 2 The network side device and the network side device perform sensing operations according to the second sensing mode, switching to the network side device performing sensing operations according to the first sensing mode, that is, base station-base station second sensing, switching to the base station first sensing.
  • base station A and base station B perform the second sensing before the sensing mode is switched.
  • the base station that sends the sensing signal is base station A
  • the base station that receives the sensing signal is base station B.
  • the base stations A and B that perform the second sensing before switching are called sources.
  • the base station that performs the first sensing after handover is called the target base station.
  • Step 21 Perform handover measurements.
  • Base station A 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 a handover measurement report to base station A.
  • base station A or base station B sends a handover measurement report to the core network device.
  • the core network equipment (such as the sensing function network element) 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 the core network equipment. Optionally, base station B or core network equipment sends 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 core network device or base station A.
  • base station A or core network equipment sends handover measurement configuration information necessary for handover measurement to base station B; or, the handover measurement configuration information is included in the handover measurement request.
  • the above step 21 may be triggered based on a trigger event.
  • a trigger event of the above step 21 reference may be made to the relevant descriptions of the foregoing embodiments, which will not be described again here.
  • Step 2 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 core network device, and the core network device decides whether to initiate a handover request.
  • subsequent processing may be to maintain or end the current second sensing.
  • the core network equipment or the source base station determines which node switches to the first sensing mode, which can be divided into one of the following situations:
  • Case 1 Base station A decides to switch to the base station to perform the first sensing. Base station A sends first request information to at least one candidate base station.
  • base station A sends the first indication information to the core network device.
  • the candidate base station includes base station B.
  • Case 2 Base station B decides to switch to the base station to perform the first sensing. Base station B sends first request information to at least one candidate base station.
  • base station B sends the first indication information to the core network device.
  • the candidate base stations include base station A.
  • Scenario 3 The core network equipment decides to switch to the base station to perform the first sensing mode.
  • the core network device sends first request information to at least one candidate base station.
  • the core network device sends the first indication information to base station A and/or base station B.
  • the candidate base station includes at least one of base station A and base station B.
  • Case 4 Base station A decides to actively switch to perform first sensing. Base station A sends third indication information to base station B and/or core network equipment. In this case, base station A is the candidate base station.
  • case 4 may also include case 1.
  • Case 5 Base station B decides to actively switch to perform first sensing. Base station B sends third indication information to base station A and/or core network equipment. In this case, base station B is the candidate base station.
  • case 5 may also include case 2.
  • the source base station or core network device includes the suggested first configuration information in the first request information.
  • the first request information may include a soft handover request.
  • the first configuration information may also include soft handover parameter configuration information.
  • Step 3 The candidate base station decides whether to accept the first sensing after switching the sensing mode.
  • the candidate base station Based on the first request information, the candidate base station configures sensing parameters and performs the first sensing.
  • the candidate base station After performing at least one sensing measurement, the candidate base station sends the first response information to the source base station or core network equipment.
  • the source base station or core network equipment waits for the first response information from the candidate base station within the second preset time. Once the first response information sent by a candidate base station is received and satisfies the first handover condition, the candidate is immediately selected.
  • the base station serves as the sensing node that performs the first sensing after handover.
  • the first response information may also include:
  • Second configuration information the second configuration information is used for the target base station to configure sensing parameters for performing first sensing.
  • the above-mentioned second configuration information may also include soft handover parameter configuration information.
  • Scenario 2 If the candidate base station does not agree, then optionally, the candidate base station sends the first rejection information to the first request information sender (source base station or core network equipment).
  • the candidate base station sends the first rejection information to the first request information sender (source base station or core network equipment).
  • the subsequent processing can be one of the following: i.
  • the source base station or the core network device re-identifies the candidate base station; ii. Cancel the handover and maintain the current second sensing; iii. End the current second perception;
  • Step 24 This step is the same as step 14 above and will not be described again.
  • Step 25 The target base station performs the sensing service, and at least one source base station (base station A and/or base station B) releases sensing resources. Specifically, do the following:
  • the target base station configures sensing parameters based on at least one of the first request information, the first configuration information, and the second configuration information, and performs the first sensing.
  • the source base station (base station A and/or base station B) stops performing the second sensing and releases sensing resources. There may be differences in sensing nodes before and after switching, including one of the following situations:
  • the sender of the first request information is base station A, and base station A 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.).
  • base station A sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target base station.
  • the sender of the first request information is the core network device, and the source base station and the target base station are not the same device:
  • the core network equipment sends sensing end commands 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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target base station.
  • the sender of the first request information is the core network device, and base station A and the target base station are the same device:
  • the core network 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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target base station.
  • the sender of the first request information is the core network device, and base station B and the target base station are the same device:
  • the core network 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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target base station.
  • the target base station After obtaining at least one perceptual measurement quantity measurement result and/or sensing result, the target base station sends the perceptual measurement quantity measurement result and/or sensing result to the source base station or core network device.
  • the sensing measurement quantity before the sensing mode is switched can be the same as or different from the sensing measurement quantity after the sensing mode is switched.
  • Handover scenario 3 The network side device and the terminal perform sensing operations according to the second sensing mode, and the switch is switched to the terminal performing sensing operations according to the first sensing mode, that is, the base station-UE second sensing, and the switching is switched to the UE first sensing.
  • the base station and the UE before the sensing mode is switched, the base station and the UE perform the second sensing.
  • the UE that performs the second sensing before the switching is called the source UE, and the UE that performs the first sensing after the switching is called the target UE; the UE that performs the first sensing before the switching is called the target UE.
  • the second sensing base station is called the source base station, and the access base station of the target UE is called the target access base station.
  • Step 31 This step is the same as step 11 above and will not be repeated here.
  • 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 core network device, and the core network device decides whether to initiate a handover request;
  • the core network device decides whether to initiate a handover request based on the handover measurement report received from the source UE.
  • subsequent processing may be to maintain or end the current second sensing.
  • the core network equipment or the source base station determines which node switches to the first sensing mode, which can be divided into one of the following two situations:
  • Case 1 The source base station decides to switch to perform first sensing for the UE.
  • the source base station sends first request information to at least one candidate UE.
  • the source base station may also send the second request information to at least one candidate access base station.
  • the second request information requests the recipient of the second request information (ie, the candidate access base station) to find the candidate UE. After the sensing mode switching is completed, Then carry out the second perception. Further, the candidate access base station sends the first request information to at least one candidate UE.
  • the source base station sends fourth indication information to the core network device, where the fourth indication information is to notify the recipient of the fourth indication information that the UE performs the first sensing after the sensing mode is switched.
  • the candidate UE includes a source UE.
  • Scenario 2 The core network device decides to switch to the first sensing mode for the UE.
  • the core network device sends first request information to at least one candidate UE.
  • the core network device may send the second request information to at least one candidate access base station, and the candidate access base station sends the first request information to at least one candidate UE.
  • the core network device sends the second indication information to the source base station and/or the source UE.
  • the candidate access base station includes a source base station.
  • Case 3 The source UE decides to actively switch to perform first sensing.
  • the source UE is the candidate UE.
  • the source UE sends third indication information to the source base station and/or core network equipment.
  • case 3 may also include case 1.
  • the source base station or the core network device includes the suggested first configuration information in the first request information and the second request information.
  • the first request information and the second request information may include a soft handover request.
  • the above candidate UEs may be determined based on the first information of the candidate UEs, and the first information may parameterize the relevant descriptions of the foregoing embodiments, which will not be described again here.
  • Step 33 The candidate UE decides whether to accept performing the first sensing after switching the sensing mode.
  • the candidate UE configures sensing parameters based on at least one of the first request information and the first configuration information, and performs Be the first to perceive.
  • the candidate UE After performing at least one sensing measurement, the candidate UE sends the first response information to the source base station or the candidate access base station.
  • the candidate access base station sends second response information to the second request information sender (source base station or core network equipment), where the second response information indicates that the second request information sender switches in sensing mode.
  • the UE accessing the cell agrees to perform the first sensing.
  • the second response information includes part or all of the first response information.
  • the candidate UE feeds back the suggested first configuration information in the first response information.
  • the first configuration information includes soft handover parameter configuration information.
  • the source base station or core network equipment waits for the first response information of the candidate UE within the second preset time.
  • the source base station or the core network device waits for the second response information from the candidate access base station within a preset time.
  • the candidate UE is immediately selected as the sensing node that performs the first sensing after handover.
  • the candidate UE corresponding to the candidate access base station that sends the first response information that satisfies the first handover condition is immediately selected as the post-handover execution The sensing node of the first sensing.
  • the first response information content includes second configuration information.
  • the second configuration information includes at least one of the following: the same as the first configuration information.
  • the second configuration information includes soft handover parameter configuration information.
  • Scenario 2 If the candidate UE does not agree, then optionally, the candidate UE sends the first rejection information to the first request information sender (source base station or core network equipment).
  • the candidate access base station sends second rejection information to the second request information sender (source base station or core network equipment), where the second rejection information indicates that the second request information sender, the current cell access The UE does not perform second sensing.
  • the subsequent processing may be one of the following: i.
  • the source base station or the core network device re-determines the candidate UE; ii.
  • the candidate access base station re-determines the candidate UE ; iii.
  • the source base station or the core network device re-determines the candidate access base station, and the candidate access base station determines the candidate UE; iii. Cancel the handover and maintain the current second sensing; iv. End the current second sensing.
  • Step 34 After determining the target UE, the source base station or core network equipment sends handover confirmation information to the target UE; or, The source base station or core network equipment sends handover confirmation information to the target access base station, and the target access base station forwards the handover confirmation information to the target UE.
  • the source base station or the core network device determines the target UE, it sends handover cancellation information to other candidate UEs except the target UE; or, it sends handover cancellation information to other candidate access base stations except the target access base station.
  • other candidate access base stations forward the handover cancellation information to other candidate UEs.
  • Other candidate UEs release the reserved sensing resources after receiving the handover cancellation information.
  • Step 35 The target UE performs the sensing service, and the source base station releases sensing resources. Specifically, do the following:
  • the target UE configures sensing parameters based on at least one of the first request information or the second request information, the first configuration information, and the second configuration information, and performs the first sensing.
  • the source base station or the source base station and the UE stop performing the second sensing and release sensing resources. There may be differences in sensing nodes before and after switching, including one of the following situations:
  • the sender of the request information (including 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 sends a sensing end command to the source UE.
  • the source base station and the source UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.).
  • the source base station sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE;
  • the source base station sends some or all of the historical measurement values and/or historical sensing results of the sensing measurement quantities, and the sensing target/area prior information to the target access base station, and the target access base station sends the historical measurement values and/or the sensing measurement quantities. Or historical sensing results and sensing target/area prior information are sent to the target UE.
  • the sender of the request information (including the first request information or the second request information) is the core network device, and the source UE and the target UE are not the same device:
  • the core network device sends a sensing end command to the source base station and the source UE.
  • the source base station and the source UE end the original sensing operation and release the resources occupied by sensing (including time-frequency resources, antenna port resources, etc.).
  • the core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • the sender of the request information (including the first request information or the second request information) is the core network device, and the source UE and the target UE are the same device:
  • the core network 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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • the target UE After obtaining at least one perceptual measurement quantity measurement result and/or sensing result, the target UE sends the perceptual measurement quantity measurement result and/or sensing result to the core network device or the source base station; or,
  • the target UE sends the perceptual measurement quantity measurement result and/or the sensing result to the target access base station, and the target access base station sends the perceptual measurement quantity measurement result and/or the sensing result to the core network device or the source base station.
  • the sensing measurement quantity before the sensing mode is switched can be the same as or different from the sensing measurement quantity after the sensing mode is switched.
  • Switching scenario 4 The terminal and the terminal perform sensing operations according to the second sensing mode, switching to the terminal performing sensing operations according to the first sensing mode, that is, UE-UE second sensing, switching to UE first sensing.
  • UE A and UE B are performing the second sensing before the sensing mode is switched.
  • the UE sending the sensing signal is UE A
  • the UE receiving the sensing signal is UE B.
  • the access base station of the source UE is called the source access base station.
  • the UE that performs the first sensing after handover is called the target UE, and the access base station of the target UE is called the target access base station.
  • Step 41 Perform handover measurements.
  • UE A sends a handover measurement request to UE B. After receiving the handover measurement request, UE B performs handover measurement and feeds back a handover measurement report to UE A. Optionally, UE A or UE B sends a handover measurement report to the source access base station and/or core network equipment (such as sensing function network element).
  • the source access base station and/or core network equipment such as sensing function network element.
  • the source access base station sends a handover measurement request to 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 report to the core network equipment and/or UE A.
  • the core network equipment (such as the sensing function network element) sends a handover measurement request to UE B. After receiving the handover measurement request, UE B performs handover measurement and feeds back the handover measurement report to the core network equipment. Optionally, the core network device sends a handover measurement report to the source access base station and/or UE A.
  • any one of UE A, the source access base station, and the core network equipment sends handover measurement configuration information necessary for handover measurement to UE B; or, the handover Measurement configuration information is included in the handover measurement request.
  • the above step 41 may be triggered based on a triggering event.
  • the triggering event of step 41 may include at least one of the following:
  • the sensing measurement quantity obtained by UE B reaches the preset threshold; for example, at least one of sensing signal received power, sensing SNR, sensing SINR, distance/speed/angle measurement value, etc. meets the preset switching threshold value;
  • UE A and/or UE B have available sensing resources to send changes; for example, if other high-priority sensing/communication/synaesthesia integrated services burst out, it is necessary to evaluate whether to initiate a sensing handover process based on the remaining available sensing resources.
  • Step 42 The source access base station or core network device decides whether to initiate a handover based on the handover measurement report.
  • subsequent processing may be to maintain or end the current second sensing.
  • any one of the core network equipment, source access base station, and source UE determines which node switches to the first sensing mode, which is specifically divided into one of the following situations:
  • Case 1 The source access base station decides to switch to perform first sensing for the UE.
  • the source access base station sends first request information to at least one candidate UE.
  • the source access base station may also send the second request information to at least one candidate access base station.
  • the candidate access base station sends first request information to at least one candidate UE.
  • the source access base station sends fourth indication information to the core network device.
  • the candidate UE includes a source UE.
  • Scenario 2 The core network device decides to switch to the first sensing mode for the UE.
  • the core network device sends first request information to at least one candidate UE.
  • the core network device may send the second request information to at least one candidate access base station, and the candidate access base station sends the first request information to at least one candidate UE.
  • the core network device sends fourth indication information to the source access base station.
  • the candidate UE includes a source UE, and the candidate access base station includes a source access base station.
  • Scenario 3 UE A decides to actively switch to perform first sensing. UE A sends the third indication information to the source access base station and/or core network equipment. In this case, UE A is the candidate UE.
  • At least one of UE A, the source access base station, and the core network device sends the second indication information to UE B.
  • case 3 may also include case 1 or case 2.
  • Scenario 4 UE B decides to actively switch to perform first sensing. UE B sends the third indication information to the source access base station and/or core network equipment. In this case, UE B is the candidate UE.
  • At least one of UE B, the source access base station, and the core network device sends the second indication information to UE A.
  • case 4 also includes case 1 or case 2.
  • the source base station or the core network device includes the suggested first configuration information in the first request information and the second request information.
  • the first request information and the second request information may include a soft handover request.
  • Step 43 The candidate UE decides whether to accept performing the first sensing after switching the sensing mode.
  • the candidate UE configures sensing parameters based on at least one item of the first request information and the first configuration information, and performs the first sensing.
  • the candidate UE After performing at least one sensing measurement, the candidate UE sends the first response information to the source access base station or the candidate access base station.
  • the content of the first response information includes at least one of the following: the same as Embodiment 1.
  • the candidate access base station sends the second response information to the second request information sender (source access base station or core network device).
  • the second response information includes part or all of the first response information.
  • the candidate UE feeds back the suggested first configuration information in the first response information.
  • the first configuration information includes soft handover parameter configuration information.
  • the source access base station or core network device waits for the first response information of the candidate UE within the second preset time.
  • the source access base station or the core network device waits for the second response information from the candidate access base station within a preset time.
  • the candidate UE is immediately selected as the sensing node that performs the first sensing after handover;
  • the candidate UE corresponding to the candidate access base station that sends the first response information that satisfies the first handover condition is immediately selected as the post-handover execution The sensing node of the first sensing.
  • the first response information content includes second configuration information.
  • the second configuration information includes soft handover parameter configuration information.
  • Scenario 2 If the candidate UE does not agree, then optionally, the candidate UE sends the first rejection information to the first request information sender (source access base station or core network equipment).
  • the candidate access base station sends the second rejection information to the second request information sender (source access base station or core network device).
  • the subsequent processing may be one of the following: i.
  • the source access base station or the core network device re-determines the candidate UE; ii.
  • the candidate access base station re-determines the candidate UE; iii.
  • the source access base station or core network device re-determines the candidate access base station, and the candidate access base station determines the candidate UE; iii. Cancel the handover and maintain the current second sensing; iv. End the current second sensing.
  • Step 4 After the source access base station or core network device determines the target UE, it sends handover confirmation information to the target UE. Alternatively, the source access base station or core network device sends handover confirmation information to the target access base station, and the target access base station forwards the handover confirmation information to the target UE.
  • the source access base station or core network device determines the target UE, it sends cancellation handover information to other candidate UEs except the target UE; or, it sends cancellation information to other candidate access base stations except the target access base station.
  • Handover information other candidate access base stations forward handover cancellation information to other candidate UEs.
  • Other candidate UEs release the reserved sensing resources after receiving the handover cancellation information.
  • Step 45 The target UE performs the sensing service, and at least one source UE (UE A and/or UE B) releases sensing resources. Specifically, do the following:
  • the target UE configures sensing parameters based on at least one of the first request information or the second request information, the first configuration information, and the second configuration information, and performs the first sensing.
  • the source UE (UE A and/or UE B) stops performing the second sensing and releases sensing resources. There may be differences in sensing nodes before and after switching, including one of the following situations:
  • 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 sends sensing end commands 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 source access base station sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • the source access base station sends some or all of the historical measurement values and/or historical sensing results and sensing target/area prior information to the target access base station, and the target access base station sends some or all of the historical measurements of the sensing measurement quantities. Values and/or historical sensing results, sensing target/area prior information are sent to the target UE.
  • the sender of the request information is the core network device, and the source UE and the target UE are not the same device:
  • the core network device sends the 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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • 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 source access base station sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • the sender of the request information 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 source access base station sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • the sender of the request information is the core network device, and UE A and the target UE are the same device:
  • the core network 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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • the sender of the request information is the core network device, and UE B and the target UE are the same device:
  • the core network 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.).
  • the core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • the target UE After obtaining at least one perceptual measurement quantity measurement result and/or sensing result, the target UE sends the perceptual measurement quantity measurement result and/or sensing result to the core network device or the source base station; or,
  • the target UE sends the perceptual measurement quantity measurement result and/or the sensing result to the target access base station, and the target access base station sends the perceptual measurement quantity measurement result and/or the sensing result to the core network device or the source base station.
  • the sensing measurement quantity before the sensing mode is switched can be the same as or different from the sensing measurement quantity after the sensing mode is switched.
  • Handover scenario 5 The terminal and the terminal perform sensing operations according to the second sensing mode, switching to the network side device performing sensing operations according to the first sensing mode, that is, UE-UE second sensing, switching to the base station first sensing.
  • UE A and UE B are performing the second sensing before the sensing mode is switched.
  • the UE sending the sensing signal is UE A
  • the UE receiving the sensing signal is UE B.
  • the UE A and B performing the second sensing before switching are called sources.
  • UE the access base station of the source UE is called the source access base station
  • the base station that performs the first sensing after handover is called the target base station.
  • Step 51 This step is the same as step 41 above and will not be described again.
  • Step 52 The source access base station or core network device decides whether to initiate a handover based on the handover measurement report.
  • subsequent processing may be to maintain or end the current second sensing.
  • the core network equipment or the source access base station determines which node switches to the first sensing mode, which can be divided into one of the following situations:
  • Case 1 The source access base station decides to switch to the base station to perform the first sensing.
  • the source access base station sends first request information to at least one candidate base station.
  • the source access base station sends the first indication information to the core network device.
  • the source access base station sends the second indication information to UE A and UE B.
  • Scenario 2 The core network equipment decides to switch to the base station to perform the first sensing mode.
  • the core network device sends first request information to at least one candidate base station.
  • the core network device sends the first indication information to the source access base station.
  • the core network device sends the second indication information to UE A and/or UE B.
  • the candidate base station includes a source access base station.
  • Case 3 The source access base station decides to actively switch to perform first sensing.
  • the source access base station sends third indication information to the core network device.
  • the source access base station is the candidate base station.
  • the source access base station and/or core network equipment sends the second indication information to UE A and UE B.
  • case 3 may also include case 1.
  • the source base station or core network device includes the suggested first configuration information in the first request information.
  • the first request information may include a soft handover request.
  • Step 53 The candidate base station decides whether to accept performing the first sensing after switching the sensing mode.
  • the candidate base station configures sensing parameters based on at least one of the first request information and the first configuration information, and performs the first sensing.
  • the candidate base station After performing at least one sensing measurement, the candidate base station sends the first response information to the source access base station or core network equipment.
  • the source access base station or core network equipment waits for the first response information from the candidate base station within the second preset time. Once the first response information sent by a candidate base station is received and meets the first handover condition, select immediately The candidate base station serves as the sensing node that performs the first sensing after handover.
  • the second configuration information includes soft handover parameter configuration information.
  • Scenario 2 If the candidate base station does not agree, then optionally, the candidate base station sends the first rejection information to the first request information sender (source access base station or core network equipment).
  • the candidate base station sends the first rejection information to the first request information sender (source access base station or core network equipment).
  • the subsequent processing can be one of the following: i.
  • the source access base station or the core network device re-determines the candidate base station; ii. Cancel the handover and maintain the current second base station. Perception; iii. End the current second perception.
  • Step 54 After the source access base station or core network device determines the target base station, it sends handover confirmation information to the target base station.
  • the source access base station or core network device determines the target base station, it sends handover cancellation information to other candidate base stations except the target base station.
  • Other candidate base stations release the reserved sensing resources after receiving the handover cancellation information.
  • Step 55 The target base station performs the sensing service, and the source UE (UE A and UE B) releases sensing resources. Specifically, do the following:
  • the target base station configures sensing parameters based on at least one of the first request information, the first configuration information, and the second configuration information, and performs the first sensing.
  • the source UE (UE A and UE B) stops performing the second sensing and releases sensing resources.
  • the source access base station or core network device sends a sensing end command to the source UE (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 source access base station sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target base station.
  • the target base station After obtaining at least one perceptual measurement quantity measurement result and/or sensing result, the target base station sends the perceptual measurement quantity measurement result and/or sensing result to the source access base station or core network device.
  • the sensing measurement volume before switching the sensing mode can be the same as that after switching the sensing mode.
  • the perceptual measurements can be the same or different.
  • Handover scenario 6 The network-side device and the network-side device perform sensing operations according to the second sensing mode, switching to the terminal performing sensing operations according to the first sensing mode, that is, base station-base station second sensing, switching to UE first sensing.
  • base station A and base station B are performing the second sensing before the sensing mode is switched.
  • the base station that sends the sensing signal is base station A
  • the base station that receives the sensing signal is base station B.
  • the UE that performs the first sensing after the switching is called the target UE.
  • the access base station of the target UE is called the target access base station.
  • Step 61 This step is the same as step 21 above and will not be described again.
  • 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 core network device, and the core network device decides whether to initiate a handover request.
  • subsequent processing may be to maintain or end the current second sensing.
  • the core network equipment or the source base station determines which node switches to the first sensing mode, which can be divided into one of the following situations:
  • Base station A decides to switch to perform first sensing for the UE.
  • Base station A sends first request information to at least one candidate UE.
  • the method may also include base station A sending the second request information to at least one candidate access base station, and the candidate access base station sending the first request information to at least one candidate UE.
  • base station A sends the first indication information to the core network device.
  • the candidate access base station includes base station B.
  • Base station B decides to switch to perform the first sensing for the UE.
  • Base station B sends the first request information to at least one candidate UE.
  • the method may also include base station B sending the second request information to at least one candidate access base station, and the candidate access base station sending the first request information to at least one candidate UE.
  • base station B sends the first indication information to the core network device.
  • the candidate access base station includes base station A.
  • the core network device decides to switch to the first sensing mode for the UE.
  • the core network device sends first request information to at least one candidate UE.
  • the core network device may send the second request information to at least one candidate access base station, and the candidate access base station sends the first request information to at least one candidate UE.
  • the core network device sends the first indication information to base station A and/or base station B.
  • the candidate access base stations include base station A and base station B.
  • the source base station or the core network device includes the suggested first configuration information in the first request information and the second request information.
  • the first request information and the second request information may include a soft handover request.
  • Step 63 The candidate UE decides whether to accept performing the first sensing after switching the sensing mode.
  • the candidate UE configures sensing parameters based on at least one item of the first request information and the first configuration information, and performs the first sensing.
  • the candidate UE After performing at least one sensing measurement, the candidate UE sends the first response information to the source base station or the candidate access base station.
  • the candidate access base station sends the second response information to the second request information sender (source base station or core network device).
  • the second response information includes part or all of the first response information.
  • the candidate UE feeds back the suggested first configuration information in the first response information.
  • the first configuration information includes soft handover parameter configuration information.
  • the source base station or core network equipment waits for the first response information of the candidate UE within the second preset time.
  • the source base station or the core network device waits for the second response information from the candidate access base station within a preset time.
  • the candidate UE is immediately selected as the sensing node that performs the first sensing after handover;
  • the candidate UE corresponding to the candidate access base station that sends the first response information that satisfies the first handover condition is immediately selected as the post-handover execution The sensing node of the first sensing.
  • the first response information content includes second configuration information.
  • second configuration information please refer to the relevant descriptions of the foregoing embodiments.
  • the second configuration information includes soft handover parameter configuration information.
  • Scenario 2 If the candidate UE does not agree, then optionally, the candidate UE sends the first rejection information to the first request information sender (source base station or core network equipment).
  • the candidate access base station sends the second rejection information to the second request information sender (source base station or core network device).
  • the subsequent processing may be one of the following: i.
  • the source base station or core network equipment re-determines the candidate UE; ii.
  • the candidate access base station re-determines the candidate UE; iii .
  • the source base station or the core network equipment re-determines the candidate access base station, and the candidate access base station determines the candidate UE; iii. Cancel the handover and maintain the current second sensing; iv. End the current second sensing.
  • Step 64 This step is the same as step 34 above and will not be described again.
  • Step 65 The target UE performs the sensing service, and the source base station releases sensing resources. Specifically, do the following:
  • the target UE configures sensing parameters based on at least one of the first request information or the second request information, the first configuration information, and the second configuration information, and performs the first sensing.
  • the source base station (base station A and base station B) stops performing the second sensing and releases sensing resources. There may be differences in sensing nodes before and after switching, including one of the following situations:
  • the sender of the request information is base station A, and base station A and the target access 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.);
  • base station A sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE;
  • Base station A sends some or all of the historical measurement values and/or historical sensing results and sensing target/area prior information of some or all of the sensory measurement quantities to the target access base station, and the target access base station sends the historical measurement values and/or of the sensory measurement quantities. Or historical sensing results and sensing target/area prior information are sent to the target UE.
  • the sender of the request information is base station B, and base station B and the target access 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.).
  • base station B sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • Base station B sends some or all of the historical measurement values and/or historical sensing results and sensing target/area prior information of some or all of the sensory measurement quantities to the target access base station, and the target access base station sends the historical measurement values and/or of the sensory measurement quantities. Or historical sensing results and sensing target/area prior information are sent to the target UE.
  • the sender of the request information is the core network device:
  • the core network device sends a sensing end command to the source base station (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 core network device sends historical measurement values and/or historical sensing results and sensing target/area prior information of part or all of the sensing measurement quantities to the target UE.
  • the target UE After obtaining at least one perceptual measurement quantity measurement result and/or sensing result, the target UE sends the perceptual measurement quantity measurement result and/or sensing result to the core network device or the source base station; or,
  • the target UE sends the perceptual measurement quantity measurement result and/or the sensing result to the target access base station, and the target access base station sends the perceptual measurement quantity measurement result and/or the sensing result to the core network device or the source base station.
  • the sensing measurement quantity before the sensing mode is switched can be the same as or different from the sensing measurement quantity after the sensing mode is switched.
  • the execution subject may be a sensing mode switching device, or a control module in the sensing mode switching device for executing the sensing mode switching method.
  • the sensing mode switching device performing the sensing mode switching method is used as an example to illustrate the sensing mode switching device provided by the embodiment of the present application.
  • Figure 8 is a structural diagram of a sensing mode switching device provided by an embodiment of the present application.
  • the sensing mode switching device 8 is applied to the first node.
  • the sensing mode switching device 800 includes:
  • the first acquisition module 801 is used to obtain the first perception measurement result corresponding to each candidate node among the N candidate nodes, wherein the first perception measurement result includes the candidate node using the first perception method to perform the sensing target.
  • the result of at least one sensing measurement, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and N is a positive integer;
  • the first switching module 802 is configured to switch the sensing mode of the sensing target from the second sensing mode to the first sensing mode according to the first sensing measurement result corresponding to each candidate node among the N candidate nodes. , wherein the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes.
  • the first acquisition module 801 is specifically used to:
  • the first sensing measurement results respectively corresponding to each of the N candidate nodes are obtained according to the handover measurement report.
  • the first acquisition module 801 is specifically used to:
  • the first node is a signal receiving node that performs a sensing operation on the sensing target using the second sensing mode
  • the first node includes a core network device or a source sending node or a first network side device
  • the source sending node is a signal that uses the second sensing mode to perform a sensing operation on the sensing target.
  • the sending node, the first network side device is a network side device accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target.
  • the triggering conditions for the first node to perform handover measurement include at least one of the following:
  • the state of the sensing target changes
  • the position of the terminal that performs the sensing operation on the sensing target using the second sensing mode changes
  • the sensing area environment of the sensing target changes
  • the perceptual measurement quantity obtained by the first node satisfies the first condition
  • the communication measurement volume obtained by the first node satisfies the second condition
  • the available sensing resources of at least one sensing node that performs sensing operations on the sensing target using the second sensing mode are changed.
  • the handover measurement report includes at least one of the following:
  • Instruction information used to indicate whether a preset event occurs which is used to trigger the initiation of sensing the sensing target.
  • the mode of knowledge is switched from the second mode of perception to the first mode of perception;
  • the preset switching condition is used to trigger switching of the sensing mode of the sensing target from the second sensing mode to the first sensing mode.
  • the sensing mode switching device 800 also includes:
  • the first receiving module is configured to receive at least one of the handover measurement request and the handover measurement configuration information before performing the handover measurement and obtaining the handover measurement report;
  • the first sending module is configured to send a handover measurement request before receiving the handover measurement report.
  • the handover measurement request includes handover measurement configuration information.
  • the handover measurement configuration information includes at least one of the following: measurement object indication information, handover measurement report configuration, measurement event configuration information, and measurement identification, wherein a measurement identification is associated with a measurement object and a handover measurement report configuration respectively. correspond.
  • the first acquisition module 801 is specifically used to:
  • the response information includes the first sensing measurement result corresponding to the candidate node.
  • the first request information includes at least one of the following:
  • the first configuration information is used to configure sensing parameters for the candidate node to perform sensing operations on the sensing target in accordance with the first sensing mode;
  • the first configuration information includes at least one of the following: sensing parameter configuration information and soft handover parameter configuration information.
  • the sensing parameter 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 relationships, antenna configuration information.
  • the first response information also includes second configuration information, wherein the second configuration information is used for the The candidate node performs the sensing parameter configuration of the sensing operation according to the first sensing mode.
  • the M candidate nodes are determined based on first information of the M candidate nodes, wherein the first information includes at least one of the following:
  • the first acquisition module 801 is specifically used to:
  • Second response information corresponding to each of the N candidate nodes is received from the second node, where the second response information includes a first perception measurement result corresponding to the candidate node.
  • the first node is a sensing node that uses the second sensing mode to perform sensing operations on the sensing target, and the N candidate nodes include the first node;
  • the first acquisition module 801 is specifically used for:
  • a first sensing measurement result corresponding to the first node is obtained.
  • the sensing mode switching device 800 also includes:
  • a second sending module configured to send the first indication information to the third node
  • the first instruction information is used to instruct the network side device to use the first sensing mode to perform a sensing operation on the sensing target after the sensing mode switching is completed.
  • the first node and the third node One is a first network side device or a second network side device, and the other is a core network device.
  • the first network side device is a network accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target.
  • Side device the second network side device is a network side device that uses the second sensing mode to perform sensing operations on the sensing target.
  • the sensing mode switching device 800 also includes:
  • the third sending module is used to send the second indication information to the fourth node
  • the second instruction information is used to instruct the fourth node to end sensing the sensing target after the sensing mode switching is completed
  • the first node includes a core network device or a first network side device or a second network Side device
  • the first network side device is a network side device accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target
  • the second network side device is a network side device that uses the sensing operation on the sensing target.
  • the network side device performs sensing operations in the second sensing manner
  • the fourth node is a sensing node that performs sensing operations on the sensing target in the second sensing manner.
  • the sensing mode switching device 800 further includes a fourth sending module, where the fourth sending module is specifically used to:
  • a first sensing node, the fifth node includes at least one of a core network device and a second sensing node that uses the second sensing mode to perform sensing operations on the sensing target;
  • the first node includes at least one of a first sensing node and a core network device that performs sensing operations on the sensing target in the second sensing manner, and the fifth node is a sensing operation on the sensing target.
  • a second sensing node that uses the second sensing mode to perform sensing operations.
  • the sensing mode switching device 800 also includes:
  • the fifth sending module is used to send the fourth indication information to the sixth node
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode to perform a sensing operation on the sensing target after the sensing mode switching is completed
  • one of the first node and the sixth node is The first network side device or the second network side device, and the other is a core network device.
  • the first network side device is a network side device accessed by a terminal that uses the second sensing mode to perform sensing operations on the sensing target.
  • the second network side device is a network side device that uses the second sensing mode to perform sensing operations on the sensing target.
  • the first switching module 802 is specifically used to:
  • the first switching condition includes at least one of the following:
  • the measurement value of at least one sensory measurement quantity in the first perceptual measurement results is greater than or equal to the first preset threshold, or, in the first time period, at least one of the first perceptual measurement results is The number of times the measured value of a sensory measurement quantity is greater than or equal to the first preset threshold reaches the first preset number of times;
  • the measured value of at least one perceptual measurement quantity in the first perceptual measurement result is greater than the measured value of the perceptual measurement quantity corresponding to the second perceptual measurement result, or, in the second time period, the first perceptual measurement quantity is greater than the perceptual measurement quantity corresponding to the second perceptual measurement result.
  • the number of times that the measurement value of at least one perceptual measurement quantity in the perceptual measurement results is greater than the measurement value of the perceptual measurement quantity corresponding to the second perceptual measurement result reaches the second preset number of times, and the second perceptual measurement result is at the first preset time
  • the first perception measurement result obtained by performing a sensing operation according to the second sensing mode in the segment;
  • At least one of the perceptual performance evaluation indicators in the first perceptual measurement results is greater than or equal to the second preset threshold, or, in the third time period, at least one of the first perceptual measurement results is The number of times the perceptual performance evaluation index is greater than or equal to the second preset threshold reaches the third preset number of times;
  • At least one perceptual performance evaluation index in the first perceptual measurement result in the fourth time period is greater than the perceptual performance evaluation index corresponding to the second perceptual measurement result, or, in the first perceptual measurement result in the fourth time period, At least The number of times that one perceptual performance evaluation index is greater than the perceptual performance evaluation index corresponding to the second perceptual measurement result reaches the fourth preset number of times;
  • the first target value in the first time period is greater than or equal to the first preset threshold, or the number of times the first target value in the first time period is greater than the first preset threshold reaches the first preset number of times, so
  • the first target value includes a measurement value of at least one perception measurement quantity in the first perception measurement result and a measurement value of at least one communication measurement quantity corresponding to the candidate node;
  • the second target values in the third time period are all greater than or equal to the second preset threshold, or the number of times the second target value in the third time period is greater than or equal to the second preset threshold exceeds the third preset number of times.
  • the second target value includes at least one perceptual performance evaluation index in the first perceptual measurement result and a measured value of at least one communication measurement quantity corresponding to the candidate node;
  • the first perceptual measurement is better than the second perceptual measurement during a fourth time period.
  • the at least one target node includes a target terminal
  • the first switching module is specifically used for:
  • the handover confirmation information is sent to the target terminal through a third network side device, where the third network side device is a network side device accessed by the target terminal.
  • the sensing mode switching device 800 also includes a sixth sending module, specifically used for at least one of the following:
  • the sensing end command is used to instruct the recipient of the sensing end command to end performing sensing operations on the sensing target in the second sensing mode
  • the seventh node is A sensing node that uses the second sensing mode to perform a sensing operation on the sensing target, and the seventh node is different from the at least one target node
  • the first candidate node includes candidate nodes among the N candidate nodes except the at least one target node.
  • the sensing mode switching device 800 also includes:
  • the first end module is used to end the sensing operation using the second sensing method for the sensing target, and release the resources occupied by sensing the sensing target, wherein the first node is responsible for sensing the sensing target.
  • the target is a sensing node that uses the second sensing mode to perform sensing operations.
  • the sensing mode switching device 800 also includes:
  • a seventh sending module configured to send sensing reference information to the at least one target node, where the sensing reference information includes at least one of the following:
  • the sensing mode switching device 800 also includes:
  • the first execution module is used when the first perception measurement result corresponding to the candidate node is not obtained within the second preset time, or the first perception measurement result corresponding to the N candidate nodes does not meet the first switching condition. Next, perform the first operation;
  • the first operation includes the following: re-determining candidate nodes, canceling the switching of the sensing mode of the sensing target from the second sensing mode to the first sensing mode, and ending the use of the second sensing mode for the sensing target. way to perform sensory operations.
  • the sensing mode switching device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the 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 include but is not limited to the type of network side device 12 listed above, which are not specifically limited in the embodiment of this application.
  • the sensing mode switching device provided by the embodiment of the present application can implement each process implemented by the method embodiment in Figure 4 and achieve the same technical effect. To avoid duplication, the details will not be described here.
  • Figure 9 is a structural diagram of a sensing mode switching device provided by an embodiment of the present application.
  • the sensing mode switching device is applied to candidate nodes.
  • the sensing mode switching device 900 includes:
  • the first receiving module 901 is configured to receive first request information from the first node, where the first request information is used to request the candidate node to perform a sensing operation on the sensing target in a first sensing manner.
  • the signal sending node of the mode and the signal receiving node of the first sensing mode are the same node;
  • the first sending module 902 is configured to send first response information to the first node, where the first response information includes first response information or first rejection information, and the first response information includes first perception measurement
  • the first sensing measurement result includes the result of the candidate node performing at least one sensing measurement on the sensing target using the first sensing method
  • the first rejection information is used to indicate that the candidate node refuses to accept the pair.
  • the sensing target uses the first sensing mode to perform sensing operations.
  • the sensing mode switching device 900 also includes:
  • a first configuration module configured to configure sensing parameters related to the first sensing mode according to the first request information before sending the first response information to the first node;
  • the first sensing module is configured to perform at least one sensing measurement on the sensing target using the first sensing method to obtain a first sensing measurement result.
  • the first request information includes at least one of the following:
  • the first configuration information is used to configure sensing parameters for the candidate node to perform sensing operations in accordance with the first sensing mode
  • the first configuration information includes at least one of the following: sensing parameter configuration information and soft handover parameter configuration information.
  • the sensing parameter 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 relationships, antenna configuration information.
  • the first response information also includes second configuration information, where the second configuration information is used for sensing parameter configuration for the candidate node to perform a sensing operation according to the first sensing mode.
  • the sensing mode switching device 900 also includes a second receiving module, specifically used for:
  • the sensing mode switching device 900 also includes:
  • a second configuration module configured to configure sensing parameters related to the first sensing mode according to at least one of the first request information and the second configuration information after receiving the switching confirmation information from the first node.
  • the second sensing module is used to perform sensing operations on the sensing target using the first sensing method.
  • the sensing mode switching device 900 also includes:
  • the second receiving module is configured to receive sensing reference information from the first node after receiving the handover confirmation information from the first node, wherein the sensing reference information includes at least one of the following:
  • the candidate node is a sensing node that uses the second sensing mode to perform sensing operations on the sensing target before sensing mode switching; the sensing mode switching device 900 further includes:
  • a third receiving module configured to receive a sensing end command from the first node
  • the first end module is configured to end the sensing operation on the sensing target using the second sensing method, and release the resources occupied by sensing the sensing target.
  • the sensing mode switching device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the 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 include but is not limited to the type of network side device 12 listed above, which are not specifically limited in the embodiment of this application.
  • the sensing mode switching device provided by the embodiment of the present application can implement each process implemented by the method embodiment in Figure 5 and achieve the same technical effect. To avoid duplication, the details will not be described here.
  • Figure 10 is a structural diagram of a sensing mode switching device provided by an embodiment of the present application.
  • the sensing mode switching device is applied to the eighth node.
  • the sensing mode switching device 1000 includes:
  • the first execution module 1001 is used to perform the second operation
  • the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode after the sensing mode switching is completed. Perform a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end the sensing operation on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node.
  • the eighth node is a signal receiving node that uses the second sensing mode to perform sensing operations on the sensing target;
  • the sensing mode switching device 1000 also includes:
  • a first receiving module configured to receive second information before sending the handover measurement report, wherein the second information includes at least one of a handover measurement request and receiving handover measurement configuration information;
  • a measurement module configured to perform handover measurement according to the second information and obtain a handover measurement report.
  • the handover measurement request includes handover measurement configuration information.
  • the handover measurement configuration information includes at least one of the following: measurement object indication information, handover measurement report configuration, measurement event configuration information, and measurement identification, wherein a measurement identification is associated with a measurement object and a handover measurement report configuration respectively. correspond.
  • the sensing nodes that use the second sensing mode to perform sensing operations on the sensing target before the sensing mode is switched include the eighth node and the ninth node;
  • the trigger conditions for the eighth node to perform handover measurement include at least one of the following:
  • the state of the sensing target changes
  • the sensing area environment of the sensing target changes
  • the perceptual measurement quantity obtained by the eighth node satisfies the first condition
  • the communication measurement volume obtained by the eighth node satisfies the second condition
  • the position of at least one of the eighth node and the ninth node changes, and at least one of the eighth node and the ninth node is a terminal;
  • the distance between the eighth node and the ninth node changes, and at least one of the eight nodes and the ninth node is a terminal;
  • the communication measurement volume between the eighth node and the network side device accessed by the eighth node satisfies the third condition, and the eighth node is a terminal;
  • the communication measurement amount between the ninth node and the network side device accessed by the ninth node satisfies the third condition, and the ninth node is a terminal;
  • the available sensing resources of at least one of the eighth node and the ninth node are changed.
  • the sensing mode switching device 1000 also includes:
  • the first end module is configured to end the sensing operation on the sensing target using the second sensing method after receiving the sensing end command, and release the resources occupied by sensing the sensing target.
  • the sensing mode switching device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the 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 include but is not limited to the type of network side device 12 listed above, which are not specifically limited in the embodiment of this application.
  • the sensing mode switching device provided by the embodiment of the present application can implement each process implemented by the method embodiment in Figure 6 and achieve the same technical effect. To avoid duplication, the details will not be described here.
  • Figure 11 is a structural diagram of a sensing mode switching device provided by an embodiment of the present application.
  • the sensing mode switching device is applied to the second node.
  • the sensing mode switching device 1100 includes:
  • the first receiving module 1101 is configured to receive second request information sent by the first node, where the second request information is used to request the second node to find candidate nodes that use the first sensing method to perform sensing operations on the sensing target.
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node;
  • the first sending module 1102 is configured to send second response information corresponding to each of the N candidate nodes to the first node, where the second response information includes second response information or second rejection information. , the second response information includes the first perception measurement result corresponding to the candidate node, and N is a positive integer.
  • the sensing mode switching device 1100 also includes:
  • the second sending module is configured to send third request information to at least one candidate node before sending the second response information to the first node, wherein the third request information is used to request the candidate node to respond to the
  • the sensing target uses the first sensing mode to perform sensing operations
  • the second receiving module is configured to receive the third response information respectively corresponding to each of the K candidate nodes, wherein the third response information includes third response information or third rejection information, and the third response information including the first perception measurement results corresponding to the candidate nodes, and the second response information corresponding to the N candidate nodes including the K Part or all of the third response information corresponding to candidate nodes, K is an integer greater than or equal to N.
  • the at least one candidate node is determined based on first information of the at least one candidate node, wherein the first information includes at least one of the following:
  • the sensing mode switching device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip.
  • the electronic device may be a network-side device, or may be other devices besides the network-side device.
  • network side devices may include but are not limited to the types of network side devices 12 listed above.
  • Other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of this application.
  • the sensing mode switching device provided by the embodiment of the present application can implement each process implemented by the method embodiment in Figure 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 above sensing mode switching processing method embodiment 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 above sensing mode switching processing method embodiment are implemented, and the same technical effect can be achieved. To avoid duplication, they will not be described again here.
  • An embodiment of the present application also provides a terminal, including a processor and a communication interface.
  • the processor is configured to obtain the first perception measurement result corresponding to each candidate node among the N candidate nodes, wherein, The first sensing measurement result includes the result of the candidate node performing at least one sensing measurement on the sensing target using the first sensing mode, and the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are For the same node, N is a positive integer; the communication interface is used to switch the sensing mode of the sensing target from the second sensing mode to the sensing mode according to the first sensing measurement result corresponding to each of the N candidate nodes.
  • a first sensing mode wherein the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes;
  • the communication interface is used to receive first request information from the first node, wherein the first request information is used to request the candidate node to adopt a first sensing method for the sensing target.
  • Sensing operation the signal sending node in the first sensing mode and the signal receiving node in the first sensing mode are the same node; sending first response information to the first node, wherein the first response information includes the a response information or first rejection information, the first response information includes a first sensing measurement result, the first sensing measurement result includes the candidate node performing at least one sensing on the sensing target using the first sensing method
  • the first rejection information is used to indicate that the candidate node refuses to perform sensing operations on the sensing target using the first sensing method;
  • the communication interface is used to perform a second operation, and the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode after the sensing mode switching is completed.
  • the sensing mode performs a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end performing sensing operations on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node.
  • 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 (GPU) 13041 and a microphone 13042.
  • the GPU 13041 is used for recording data generated by an 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 processor 1310 is configured to obtain the first perception measurement result corresponding to each of the N candidate nodes, wherein the first perception measurement result includes the candidate node.
  • the result of performing at least one sensing measurement on the sensing target using the first sensing mode, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, N is a positive integer;
  • the radio frequency unit 1301 is used to switch the sensing mode of the sensing target from the second sensing mode to the first sensing mode according to the first sensing measurement result corresponding to each candidate node among the N candidate nodes, wherein, The signal sending node in the second sensing mode and the signal receiving node in the second sensing mode are different nodes;
  • the radio frequency unit 1301 is used to receive first request information from the first node, where the first request information is used to request the candidate node to use a first sensing method to sense the target. Sensing operation, the signal sending node in the first sensing mode and the signal receiving node in the first sensing mode are the same node; sending first response information to the first node, wherein the first response information includes the a response information or first rejection information, the first response information includes a first sensing measurement result, the first sensing measurement result includes the candidate node performing at least one sensing on the sensing target using the first sensing method As a result of the measurement, the first rejection information is used to indicate that the candidate node refuses to sense the sensing target using the first sensing method. operate;
  • the radio frequency unit 1301 is configured to perform a second operation, and the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode after the sensing mode switching is completed.
  • the sensing mode performs a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end performing sensing operations on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node.
  • An embodiment of the present application also provides a network side device, including a processor and a communication interface.
  • the processor is used to obtain the first perception measurement corresponding to each candidate node among the N candidate nodes.
  • the first sensing measurement result includes the result of the candidate node performing at least one sensing measurement on the sensing target using the first sensing mode, and the signal sending node of the first sensing mode and the third sensing mode.
  • the signal receiving nodes of a sensing mode are the same node, and N is a positive integer;
  • the communication interface is used to change the sensing mode of the sensing target according to the first sensing measurement result corresponding to each of the N candidate nodes.
  • the second sensing mode is switched to the first sensing mode, wherein the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different nodes;
  • the communication interface is used to receive first request information from the first node, wherein the first request information is used to request the candidate node to adopt the first perception for the sensing target.
  • the sensing operation is performed in the first sensing mode, and the signal sending node in the first sensing mode and the signal receiving node in the first sensing mode are the same node; sending first response information to the first node, wherein the first response information Including first response information or first rejection information, the first response information includes a first sensing measurement result, and the first sensing measurement result includes the candidate node using the first sensing mode to perform at least The result of a sensing measurement, the first rejection information is used to instruct the candidate node to refuse to perform the sensing operation on the sensing target using the first sensing method;
  • the communication interface is used to perform a second operation, and the second operation includes at least one of the following:
  • the first indication information is used to indicate that the network side device uses
  • the first sensing mode performs a sensing operation on the sensing target
  • the second indication information is used to indicate to end sensing the sensing target after the sensing mode switching is completed
  • the third indication information is used to indicate that the sensing mode is switched after the sensing mode is completed.
  • the sender of the third instruction information performs a sensing operation on the sensing target using the first sensing mode.
  • the fourth instruction information is used to instruct the terminal to use the first sensing mode after the sensing mode switching is completed.
  • the sensing mode performs a sensing operation on the sensing target;
  • the sensing measurement result includes a result of the eighth node performing at least one sensing measurement on the sensing target using the first sensing mode
  • sensing end command is used to instruct the recipient of the sensing end command to end performing sensing operations on the sensing target in the second sensing mode
  • the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node, and the signal sending node of the second sensing mode and the signal receiving node of the second sensing mode are different node;
  • the communication interface is used to receive second request information sent by the first node, wherein the second request information is used to request the second node to find a sensing target.
  • Candidate nodes that use the first sensing mode to perform sensing operations, the signal sending node of the first sensing mode and the signal receiving node of the first sensing mode are the same node; send each of the N candidate nodes to the first node Second response information corresponding to each candidate node, wherein the second response information includes second response information or second rejection information, and the second response information includes the first perception measurement result corresponding to the candidate node, N is a positive integer.
  • This network-side device embodiment corresponds to the above-mentioned network-side device method embodiment.
  • Each implementation process and implementation manner of the above-mentioned method embodiment can be applied to this network-side device embodiment, and can achieve the same technical effect.
  • the embodiment of the present application also provides a network side device.
  • the network side device 1400 includes: an antenna 1401, a radio frequency device 1402, a baseband device 1403, a processor 1404 and a memory 1405.
  • Antenna 1401 is connected to radio frequency device 1402.
  • the radio frequency device 1402 receives information through the antenna 1401 and sends the received information to the baseband device 1403 for processing.
  • the baseband device 1403 processes the information to be sent and sends it to the radio frequency device 1402.
  • the radio frequency device 1402 processes the received information and then sends it out through the antenna 1401.
  • the method performed by the network side device in the above embodiment can be implemented in the baseband device 1403, which includes a baseband processor.
  • the baseband device 1403 may include, for example, at least one baseband board, which is provided with multiple chips, as shown in FIG. Program to perform the network device operations shown in the above method embodiments.
  • the network side device may also include a network interface 1406, which is, for example, a common public radio interface (CPRI).
  • a network interface 1406 which is, for example, a common public radio interface (CPRI).
  • CPRI common public radio interface
  • the network side device 1400 in the embodiment of the present application also includes: instructions or programs stored in the memory 1405 and executable on the processor 1404.
  • the processor 1404 calls the instructions or programs in the memory 1405 to execute Figures 8 to 11
  • the method of executing each module shown in any one of them can achieve the same technical effect. To avoid repetition, it will not be described in detail here.
  • Embodiments of the present application also provide a readable storage medium.
  • Programs or instructions are stored on the readable storage medium.
  • the program or instructions are executed by a processor, each process of the above sensing mode switching method embodiment is implemented, and can achieve The same technical effects are not repeated here to avoid repetition.
  • the processor is the processor in the terminal described in the above embodiment.
  • the readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.
  • An embodiment of the present application further provides a chip.
  • the chip 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 above embodiment of the sensing mode switching method. Each process can achieve the same technical effect. To avoid repetition, we will not go into details here.
  • chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-chip, etc.
  • Embodiments of the present application further provide a computer program/program product.
  • the computer program/program product is stored in a storage medium.
  • the computer program/program product is executed by at least one processor to implement the above sensing mode switching method.
  • Each process in the example can achieve the same technical effect. To avoid repetition, we will not repeat it here.
  • the embodiment of the present application also provides a sensing mode switching system, including: a first node and a candidate node.
  • the first node can be used to execute various processes of each method embodiment on the first node side.
  • the candidate node can be used to execute Each process of each method embodiment on the candidate node side can achieve the same technical effect. To avoid duplication, it will not be described again here.
  • the above-mentioned sensing mode switching system further includes: at least one of an eighth node and a second node.
  • the eighth node can be used to execute various processes of each method embodiment on the eighth node side.
  • the third node The two nodes can be used to execute each process of each method embodiment on the second node side, and can achieve the same technical effect. To avoid duplication, details will not be described here.
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to the existing technology.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk , CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

Abstract

本申请公开了一种感知方式切换方法、装置及通信设备，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：第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；所述第一节点根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点。

Description

感知方式切换方法、装置及通信设备
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.202210602878.7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、装置及通信设备。
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。然而，在感知目标的状态、感知环境、感知节点的位置、感知节点的可用资源等发生变化的情况下，往往容易造成当前感知方式难以对感知目标的状态或感知环境等进行准确的感知测量，进而导致感知性能较差。
发明内容
本申请实施例提供一种感知方式切换方法、装置及通信设备，能够实现对感知目标的感知方式的切换以提高对感知目标进行感知测量的结果的准确性。
第一方面，提供了一种感知方式切换方法，应用于第一节点，该方法包括：
第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；
所述第一节点根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点。
第二方面，提供了一种感知方式切换装置，应用于第一节点，该装置包括：
第一获取模块，用于获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；
第一切换模块，用于根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点。
第三方面，提供了一种感知方式切换方法，应用于候选节点，该方法包括：
候选节点从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；
所述候选节点向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知操作。
第四方面，提供了一种感知方式切换装置，应用于候选节点，该装置包括：
第一接收模块，用于从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；
第一发送模块，用于向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知操作。
第五方面，提供了一种感知方式切换方法，应用于第八节点，该方法包括：
第八节点执行第二操作，所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标执行采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用第二感知方式进行感知操作；
其中，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同一节点，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不同节点。
第六方面，提供了一种感知方式切换装置，应用于第八节点，该装置包括：
第一执行模块，用于执行第二操作；
所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作；
其中，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同一节点，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不同节点。
第七方面，提供了一种感知方式切换方法，应用于第二节点，该方法包括：
第二节点接收第一节点发送的第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对感知目标采用第一感知方式进行感知操作的候选节点，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同一节点；
所述第二节点向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息，其中，所述第二响应信息包括第二应答信息或者第二拒绝信息，所述第二应答信息包括所述候选节点对应的第一感知测量结果，N为正整数。
第八方面，提供了一种感知方式切换装置，应用于第二节点，该装置包括：
第一接收模块，用于接收第一节点发送的第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对感知目标采用第一感知方式进行感知操作的候选节点，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同一节点；
第一发送模块，用于向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息，其中，所述第二响应信息包括第二应答信息或者第二拒绝信息，所述第二应答信息包括所述候选节点对应的第一感知测量结果，N为正整数。
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一方面所述的方法的步骤，或者实现如第三方面所述的方法的步骤，或者实现如第五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，所述终端为第一节点时，处理器用于获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；通信接口用于根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点；
或者，所述终端为候选节点时，所述通信接口用于从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知操作；
或者，所述终端为第八节点时，所述通信接口用于执行第二操作，所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作；
其中，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同一节点，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不同节点。
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，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤，或者实现如第三方面所述的方法的步骤，或者实现如第五方面所述的方法的步骤，或者实现如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，所述网络侧设 备为第一节点时，处理器用于获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；通信接口用于根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点；
或者，所述网络侧设备为候选节点时，所述通信接口用于从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知操作；
或者，所述网络侧设备为第八节点时，所述通信接口用于执行第二操作，所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作；
其中，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同一节点，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不同节点；
或者，所述网络侧设备为第二节点时，所述通信接口用于接收第一节点发送的第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对感知目标采用第一感知方式进行感知操作的候选节点，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同一节点；向所述第一节点发送N个候选节点中每个候选节点分别对应的第 二响应信息，其中，所述第二响应信息包括第二应答信息或者第二拒绝信息，所述第二应答信息包括所述候选节点对应的第一感知测量结果，N为正整数。
第十三方面，提供了一种感知方式切换系统，包括：第一节点和候选节点，所述第一节点可用于执行如第一方面所述的感知方式切换方法的步骤，所述候选节点可用于执行如第三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所述的方法的步骤，或者实现如第三方面所述的方法的步骤，或者实现如第五方面所述的方法的步骤，或者实现如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，实现如第一方面所述的方法的步骤，或实现如第三方面所述的方法的步骤，或者实现如第五方面所述的方法的步骤，或者实现如第七方面所述的方法的步骤。
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所述的方法的步骤，或实现如第三方面所述的方法的步骤，或者实现如第五方面所述的方法的步骤，或者实现如第七方面所述的方法的步骤。
在本申请实施例中，第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，并基于所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由所述第二感知方式切换为所述第一感知方式，使得切换后的感知方式可以更为准确的对感知目标进行感知测量，提高对感知目标的感知性能。
附图说明
图1是本申请实施例可应用的一种无线通信系统的框图；
图2a是本申请实施例提供的第二感知方式切换为第一感知方式的示意图；
图2b是本申请实施例提供的第一感知方式切换为第二感知方式的示意图；
图3是本申请实施例提供的第二感知方式切换为第一感知方式的不同组合的示意图；
图4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图之四；
图12是本申请实施例提供的通信设备的结构图；
图13是本申请实施例提供的终端的结构图；
图14是本申请实施例提供的网络侧设备的结构图。
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。
为了方便理解，以下对本申请实施例涉及的一些内容进行说明：
一、通信感知一体化或通感一体化。
无线通信和雷达传感一直在并行发展，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是对彼此之间的干扰。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)和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、对象或者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。
移动通信网络中，基站(包括基站上的某1个或多个TRP、用户设备(User Equipment，UE)(包括UE上1个或多个子阵列/面板(Panel))，可以作为参与ISAC业务的感知节点。通过节点间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、信道状态信息参考信号(Channel State Information-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)和相位追踪参考信号(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；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。以下统一称上述感知信号为第一信号。
根据感知节点是否为同一个设备，可以分成两种感知方式：A发B收、A自发自收。A发B收表示感知节点A和感知节点B不是同一设备，且物理位置分离；A自发自收表示感知信号发送和接收由同一设备执行，感知节点A通过接收自己发送的信号回波进行感知。以下统一称上述A自发自收感知为第一感知，对应的感知方式为第一感知方式；A发B收感知为第二感知，对应的感知方式为第二感知方式。
感知方式切换：
在移动通信网络中进行感知方式切换，分为第二感知方式切换至第一感知方式、第一感知方式切换至第二感知方式两种情况。图2a示出了第二感知方式切换至第一感知方式的情况，图2b示出了第一感知方式切换至第二感知方式的情况。其中，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网络侧设备或者UE，上述两种切换情况中每种情况具有6种组合。以第二感知方式切换为第一感知方式为例，具体包括：
切换场景1：网络侧设备和终端按照第二感知方式执行感知操作，切换为网络侧设备按照第一感知方式执行感知操作；
切换场景2：网络侧设备和网络侧设备按照第二感知方式执行感知操作，切换为网络侧设备按照第一感知方式执行感知操作；
切换场景3：网络侧设备和终端按照第二感知方式执行感知操作，切换为终端按照第一感知方式执行感知操作；
切换场景4：终端和终端按照第二感知方式执行感知操作，切换为终端按照第一感知方式执行感知操作；
切换场景5：终端和终端按照第二感知方式执行感知操作，切换为网络侧设备按照第一感知方式执行感知操作；
切换场景6：网络侧设备和网络侧设备按照第二感知方式执行感知操作，切换为终端按照第一感知方式执行感知操作。
其中，图3给出了第二感知方式切换为第一感知方式的不同组合的示意图。其中，网络侧设备为基准，为了表示感知节点可能为不同设备，使用基站A、基站B、基站C，UE A、UE B、UE C加以区分。
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进行详细地说明。
请参见图4，图4是本申请实施例提供的一种感知方式切换方法的流程图，该方法可 以由第一节点执行，如图4所示，包括以下步骤：
步骤401、第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，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同一节点，N为正整数。
本实施例中，上述第一感知方式的信号发送节点和上述第一感知方式的信号接收节点为同一节点，例如，感知节点C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以实现感知测量。上述感知节点可以包括终端或网络侧设备(例如，基站)。相应的，第二感知方式的信号发送节点和第二感知方式的信号接收节点为不同节点，例如，感知节点A发送第一信号，感知节点B接收经所述感知目标反射的所述第一信号以实现感知测量。
上述第一节点可以包括第一网络侧设备、第二网络侧设备、第一终端或核心网设备等。其中，上述第一网络侧设备可以为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，上述第二网络侧设备可以为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备，上述第一终端可以为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的终端，上述核心网设备，例如，可以包括感知功能(Sensing Function，SF)、接入和移动管理功能(Access and Mobility Management Function，AMF)或核心网中的感知应用服务器等。
上述候选节点可以包括终端或网络侧设备。需要说明的是，上述N个候选节点可以包括第二网络侧设备或第一终端，也可以不包括第二网络侧设备或第一终端，本实施例对此不做限定。
上述第一感知测量结果可以包括感知测量量的测量值和感知结果中的至少一项。在一些可选实施例中，上述感知测量量可以包括但不限于如下至少一项：
第一级测量量，第一级测量量可以包括接收信号/信道响应复数结果，幅度/相位，I路/Q路及其运算结果(运算包括加减乘除、矩阵加减乘、矩阵转置、三角关系运算、平方根运算和幂次运算等，以及上述运算结果的门限检测结果、最大/最小值提取结果等；运算还包括快速傅里叶变换(Fast Fourier Transform，FFT)/快速傅里叶逆变换(Inverse Fast Fourier Transform，IFFT)、离散傅里叶变换(Discrete Fourier Transform，DFT)/离散傅里叶逆变换(Inverse Discrete Fourier Transform，IDFT)、二维FFT(2D-FFT)、三维FFT(3D-FFT)、匹配滤波、自相关运算、小波变换和数字滤波等，以及上述运算结果的门限检测结果、最大/最小值提取结果等)；
第二级测量量，第二级测量量(基本测量量)包括时延、多普勒、角度、强度及其多维组合表示；
第三级测量量(基本属性/状态)，第三级测量量包括：距离、速度、朝向、空间位置和加速度中的至少一项；
第四级测量量(进阶属性/状态)，第四级测量量包括：感知目标是否存在、轨迹、动作、表情、生命体征、数量、成像结果、天气、空气质量、形状、材质和成分中的至少一项。
可选地，感知测量量还包括对应的标签信息，例如可以包括以下至少一项：感知信号标识信息、感知测量配置标识信息、感知业务信息(例如，感知业务ID)、数据订阅ID、测量量用途(例如，通信、感知、通感)、时间信息、感知节点信息(例如终端ID、节点位置、设备朝向)、感知链路信息(例如，感知链路序号、收发节点标识)、测量量说明信息(形式，例如幅度值、相位值、幅度和相位结合的复数值；资源类型，例如时域测量结果、频域资源测量结果)、测量量指标信息(例如信噪比(Signal Noise Ratio，SNR)、感知SNR)。
上述感知结果可以是基于感知测量量的测量值确定的感知结果，可以为最终的感知结果，或者用于计算最终的感知结果的中间感知结果。
步骤402、所述第一节点根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点。
例如，第一节点可以根据所述N个候选节点对应的第一感知测量结果从N个候选节点中选择至少一个目标节点，并向所述至少一个目标节点发送切换确认信息，以将所述感知目标的感知方式由所述第二感知方式切换为所述第一感知方式。
本申请实施例提供的感知方式切换方法，第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，并基于所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由所述第二感知方式切换为所述第一感知方式，这样在感知目标的状态、感知环境、感知节点的位置、感知节点的可用资源等发生变化的情况下能够实现对感知目标的感知方式的切换，使得切换后的感知方式可以更为准确的对感知目标进行感知测量，提高对感知目标进行感知测量的结果的准确性。
可选地，所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，获取N个候选节点中每个候选节点分别对应的第一感知测量结果包括：
所述第一节点获取切换测量报告；
所述第一节点根据所述切换测量报告获取N个候选节点中每个候选节点分别对应的第一感知测量结果。
本实施例中，上述切换测量报告可以包括但不限于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值、至少一项通信测量量的测量值以及至少一项通信性能评价指标的测量值等中的一项或多项。
上述第一节点根据所述切换测量报告获取N个候选节点中每个候选节点分别对应的第一感知测量结果，示例性的，可以在根据切换测量报告确定发起对所述感知目标的感知方式由第二感知方式切换为第一感知方式的情况下，获取N个候选节点中每个候选节点分 别对应的第一感知测量结果，否则可以不获取N个候选节点中每个候选节点分别对应的第一感知测量结果。
在一些可选的实施例中，上述第一节点可以根据所述切换测量报告确定是否发起对所述感知目标的感知方式由第二感知方式切换为第一感知方式，例如，在上述至少一项感知测量量的测量值满足第一阈值条件或者上述至少一项感知性能评价指标的测量值满足第二阈值条件的情况下，确定发起对所述感知目标的感知方式由第二感知方式切换为第一感知方式，否则不发起对所述感知目标的感知方式由第二感知方式切换为第一感知方式，并可以在确定发起对所述感知目标的感知方式由第二感知方式切换为第一感知方式的情况下，获取N个候选节点中每个候选节点分别对应的第一感知测量结果。
本实施例根据切换测量报告获取N个候选节点中每个候选节点分别对应的第一感知测量结果，可以更为准确的决策是否需要获取N个候选节点中每个候选节点分别对应的第一感知测量结果，进而可以在减少不必要的切换的同时保证对感知目标的感知操作的准确性。
可选地，所述第一节点获取切换测量报告，包括：
所述第一节点进行切换测量，得到切换测量报告，其中，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的信号接收节点；
或者，
所述第一节点接收切换测量报告，其中，所述第一节点包括核心网设备或者源发送节点或者第一网络侧设备，所述源发送节点为对所述感知目标采用所述第二感知方式进行感知操作的信号发送节点，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备。
在一实施方式中，在第一节点为对所述感知目标采用所述第二感知方式进行感知操作的信号接收节点的情况下，第一节点可以进行切换测量，得到切换测量报告。需要说明的是，在该情况下，第一节点可以自发进行切换测量，可以是在接收到切换测量请求的情况下进行切换测量。
在另一实施方式中，在第一节点为核心网设备或者源发送节点或者第一网络侧设备的情况下，第一节点可以接收切换测量报告。例如，在第一节点为核心网设备的情况下，第一节点可以从源接收节点(即对所述感知目标采用所述第二感知方式进行感知操作的信号接收节点)、源发送节点或者第一网络侧设备接收上述切换测量报告；在上述第一节点为源发送节点的情况下，第一节点可以从源接收节点或者核心网设备或者第一网络侧设备接收上述切换测量报告；在第一节点为第一网络侧设备的情况下，第一节点可以从源接收节点或者核心网设备或者源发送节点接收上述切换测量报告。
可选地，所述第一节点进行切换测量的触发条件包括如下至少一项：
所述感知目标的状态发生变化；
对所述感知目标采用所述第二感知方式进行感知操作的终端的位置发生变化；
所述感知目标的感知区域环境发送变化；
所述第一节点获取的感知测量量满足第一条件；
所述第一节点获取的通信测量量满足第二条件；
对所述感知目标采用所述第二感知方式进行感知操作的至少一个节点的可用感知资源发送改变。
上述感知目标的状态发生变化，例如，上述感知目标的位置、速度等发生变化。
上述感知目标的感知区域环境发送变化，例如，上述感知目标的感知区域出现遮挡。
上述第一节点获取的感知测量量满足第一条件，例如，感知信号接收功率、感知信噪比(Signal Noise Ratio，SNR)、感知信号与干扰加噪声比(Signal to Interference Plus Noise Ratio，SINR)、距离测量值、速度测量值和角度测量值等中的至少一项小于或等于对应的第一预设门限值。
上述第一节点获取的通信测量量满足第二条件，例如，参考信号接收功率(Reference Signal Received Power，RSRP)、SNR、SINR、参考信号接收质量(Reference Signal Received Quality，RSRQ)和接收信号强度指示器(Received Signal Strength Indicator，RSSI)等中的至少一项小于或等于对应的第二预设门限值，和/或，误码率、误块率、吞吐量和频谱效率等中至少一项大于或等于对应的第三预设门限。
上述对所述感知目标采用所述第二感知方式进行感知操作的至少一个节点的可用感知资源发送改变，例如，突发其他高优先级的感知业务、通信业务或通感一体化业务，需要基于剩余可用感知资源评估是否发起感知切换流程。
可选地，所述切换测量报告可以包括如下至少一项：
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值；
至少一项通信测量量的测量值；
至少一项通信性能评价指标的测量值；
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感知目标的感知方式由第二感知方式切换为第一感知方式；
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感知目标的感知方式由第二感知方式切换为第一感知方式。
在本实施例中，上述感知测量量可以参见前述相关描述，在此不做赘述。
上述感知性能评价指标可以是基于感知测量量计算得到。在一些可选的实施例中，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；
感知可复现评价指标(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。
上述通信测量量可以包括以下至少一项：RSRP、SNR、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、吞吐量和频谱效率等。
在一些可选地实施例中，上述通信性能评价指标可以是基于上述通信测量量计算得到。
在一些可选地实施例中，切换测量报告至少包括切换测量所需的感知测量量的测量值。其中，切换测量所需的感知测量量可以包括当前感知业务感知测量量。
可选地，所述第一节点进行切换测量，得到切换测量报告之前，所述方法还包括：
所述第一节点接收切换测量请求和切换测量配置信息中的至少一项；
或者
所述第一节点接收切换测量报告之前，所述方法还包括：
所述第一节点发送切换测量请求。
在一实施方式中，在第一节点为源接收节点的情况下，第一节点可以接收切换测量请求和切换测量配置信息中的至少一项，并基于切换测量请求和切换测量配置信息中的至少一项进行切换测量。例如，第一节点可以从核心网设备或者源发送节点或者源接入网设备接收上述切换测量请求和切换测量配置信息中的至少一项。需要说明的是，上述切换测量请求和切换测量配置信息可以通过同一消息发送，也可以通过不同消息发送。此外，上述切换测量请求和切换测量配置信息可以来自于同一设备，也可以来自于不同设备，本实施例对此不做限定。
在一些可选地实施例中，上述第一节点所述第一节点进行切换测量，得到切换测量报告之前，可以接收切换测量请求，其中，所述切换测量请求包括切换测量配置信息。
可选地，所述切换测量配置信息，可以包括如下至少一项：测量对象指示信息，切换测量报告配置，测量事件配置信息，测量标识，其中，一个测量标识与一个测量对象和一个切换测量报告配置分别对应。
本实施例中，上述测量对象指示信息，可以用于指示需要测量的源节点和/或候选节点的一个或多个第一信号，以及第一信号相关的感知测量量、感知参数配置信息等信息。
上述切换测量报告配置，可以包括如下至少一项：上报原则，例如，可以是周期性上报或者事件触发原则；测量报告格式，例如上报的小区最大数量和波束数量等。
上述测量事件配置信息，可以包括测量事件定义、事件相关参数和切换判决条件等中的至少一项。
可选地，所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，包括：
所述第一节点向M个候选节点中每个候选节点分别发送第一请求信息；其中，所述第一请求信息用于请求所述候选节点对所述感知目标采用所述第一感知方式进行感知操作，M为正整数；
所述第一节点接收N个候选节点中每个候选节点分别对应的第一应答信息；其中，所述N个候选节点为所述M个候选节点中的N个候选节点，N小于或等于M，所述第一应答信息包括所述候选节点对应的第一感知测量结果。
本实施例中，在第一节点为核心网设备的情况下，上述M个候选节点可以包括第二网络侧设备或第一终端，也可以不包括第二网络侧设备或第一终端；在第一节点为第二网络侧设备或第一终端的情况下，上述M个候选节点不包括第二网络侧设备或第一终端。
需要说明的是，上述候选节点在接收到第一请求信息之后，可以响应于第一请求信息发送上述第一应答信息或者第一拒接信息，其中，上述第一应答信息用于指示第一节点在感知方式切换完成后，第一应答信息的发送方同意对感知目标采用第一感知方式进行感知操作，第一拒接信息用于指示第一节点在感知方式切换完成后，第一拒接信息的发送方拒绝对感知目标采用第一感知方式进行感知操作。上述N个候选节点可以为上述M个候选节点中反馈第一应答信息的N个候选节点。
可选地，所述第一请求信息包括如下至少一项：
第一配置信息，所述第一配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置；
感知需求；
感知服务质量(Quality of Service，QoS)；
感知测量量；
感知测量结果；
感知条件；
所述感知目标的先验信息；
所述感知目标的感知区域的先验信息；
感知方式切换成功判决条件。
本实施例中，上述第一配置信息可以是第一节点建议的配置信息。可选地，所述第一配置信息可以包括如下至少一项：感知参数配置信息，软切换参数配置信息。其中，上述感知参数配置信息用于候选节点对所述感知目标采用所述第一感知方式执行感知操作的 参数配置。上述软切换参数配置信息用于配置将对所述感知目标的感知方式由所述第二感知方式软切换为所述第一感知方式。
可选地，所述感知参数配置信息可以包括如下至少一项：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(Quasi-Co-Location，QCL)关系，天线配置信息。
本实施例中，上述波形类型，例如，正交频分复用(Orthogonal Frequency Division Multiplexing，OFDM)，单载波频分多址(Single Carrier Frequency Division Multiple Access，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。
上述子载波间隔，例如，OFDM系统的子载波间隔30KHz。
上述保护间隔，例如，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。
上述带宽可以反比于距离分辨率，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。
上述数据突发(burst)持续时间可以反比于速率分辨率(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。
上述时域间隔可通过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。
应理解，上述“/”在以上各公式中标识除号。
上述发送信号功率，例如从-20dBm到23dBm每隔2dBm取一个值。
上述信号格式，例如，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。
上述信号方向，例如，感知信号的方向或者波束信息。
上述时间资源，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。
上述频率资源，例如，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。
上述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。
上述天线配置信息可以包括如下至少一项：
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)。
上述感知需求可以包括感知目标区域、感知目标类型、所需感知功能、感知目的和感知结果等中的至少一项。
上述感知QoS可以包括以下至少一项：
感知分辨率，例如，测距分辨率、测角分辨率、测速分辨率、成像分辨率等；
感知精度，例如，测距精度、测角精度、测速精度、定位精度等；
感知范围，例如，测距范围、测速范围、测角范围、成像范围等；
感知时延，例如，从感知信号发送到获得感知结果的时间间隔，或者，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，例如，相邻两次执行感知并获得感知结果的时间间隔；
检测概率，例如，在感知目标存在的情况下被正确检测出来的概率；
虚警概率，例如，在感知目标不存在的情况下错误检测出感知目标的概率；
感知安全性；
感知隐私性。
上述感知测量量可以参见前述的相关说明，在此不做赘述。上述感知测量结果可以包括基于至少一种感知测量量直接或间接得到的感知结果。
上述感知条件可以包括感知开始时间、感知结束时间和感知持续时间等中的至少一项。
上述感知目标的先验信息可以包括感知目标类型、感知目标历史状态(例如，速度、角度、距离、加速度、空间朝向等)等中的至少一项。
上述感知目标的感知区域的先验信息可以包括感知目标所在的大致位置或区域的信 息。
上述感知方式切换成功判决条件，例如，指示至少一种感知测量量和/或通信测量量的测量值在预设时间内或预设次数下达到对应的预设门限。
可选地，所述第一应答信息还包括第二配置信息，其中，所述第二配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置。
本实施例中，上述第二配置信息可以是候选节点建议的配置信息。可选地，所述第二配置信息可以包括如下至少一项：感知参数配置信息，软切换参数配置信息。
需要说明的是，候选节点在按照所述第一感知方式执行感知操作的感知参数配置时，可以是基于上述第一配置信息和上述第二配置信息中的至少一项进行配置，也可以基于与上述第一配置信息和上述第二配置信息均不同的配置信息进行配置，本实施例对此不做限定。
可选地，所述M个候选节点基于所述M个候选节点的第一信息确定，其中，所述第一信息包括如下至少一项：
位置信息；
面板朝向信息；
感知能力信息；
当前可用于进行感知的资源信息；
信道状态信息。
上述候选节点的感知能力信息，例如，包括感知覆盖范围、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、天线阵列信息(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)等中的至少一项；
上述候选节点的当前可用于进行感知的资源信息，例如，包括时间资源(符号数、时隙数、帧数等)、频率资源(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(天线/天线子阵列数)、相位调制资源(硬件移相器数)、正交码资源(正交码长度和数量)等中的至少一项。
上述候选节点的信道状态信息，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。
需要说明的是，上述候选节点可以包括候选网络侧设备或者候选终端。第一节点可以基于各个网络侧设备的第一信息确定M个候选网络侧设备，或者第一节点可以基于各个终端第一信息确定M个候选终端。
可选地，所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，包括：
所述第一节点向第二节点发送第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对所述感知目标采用所述第一感知方式进行感知操作的候选节点；
所述第一节点从所述第二节点接收N个候选节点中每个候选节点分别对应的第二应答信息，其中，所述第二应答信息包括所述候选节点对应的第一感知测量结果。
本实施例中的候选节点可以为终端。
在一些可选实施例中，在第一节点为核心网设备的情况下，上述第二节点可以包括第一网络侧设备、第二网络侧设备或者第三网络侧设备；在第一节点为第一网络侧设备的情况下，上述第二节点可以包括第二网络侧设备或者第三网络侧设备；在第一节点为第二网络侧设备的情况下，上述第二节点可以包括第一网络侧设备或者第三网络侧设备。其中，上述第一网络侧设备可以为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，上述第二网络侧设备可以为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备，上述第三网络侧设备为候选节点接入的网络侧设备。
具体地，第一节点向第二节点发送第二请求信息之后，第二节点可以获取K个候选节点中每个候选节点分别对应的第三响应信息，并基于K个候选节点中每个候选节点分别对应的第三响应信息确定N个候选节点对应的第二应答信息并发送给第一节点，其中，K可以大于或等于N。
可选地，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点，且所述N个候选节点包括所述第一节点；
所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，包括：
所述第一节点采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到所述第一节点对应的第一感知测量结果。
本实施例中，在第一节点为候选节点的情况下，第一节点可以采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到所述第一节点对应的第一感知测量结果。例如，，第一节点可以基于第一配置信息进行所述第一感知方式相关的感知参数配置，并采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到第一节点对应的第一感知测量结果。
需要说明的是，在N为1的情况下，上述N个候选节点对应的第一感知测量结果即为上述第一节点对应的第一感知测量结果。在N大于1的情况下，所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，还可以包括：
所述第一节点向P个候选节点中每个候选节点分别发送第一请求信息；其中，所述第一请求信息用于请求所述候选节点对所述感知目标采用所述第一感知方式进行感知操作，P为正整数；
所述第一节点接收N-1个候选节点中每个候选节点分别对应的第一应答信息；其中，所述N-1个候选节点为所述P个候选节点中的N-1个候选节点，N-1小于或等于P，所 述第一应答信息包括所述候选节点对应的第一感知测量结果。
可选地，所述方法还包括：
所述第一节点向第三节点发送第一指示信息；
其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用所述第一感知方式对所述感知目标执行感知操作，所述第一节点和所述第三节点中的一个为第一网络侧设备或者第二网络侧设备，另一个为核心网设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备。
可选地，所述方法还包括：
所述第一节点向第四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四节点在感知方式切换完成后结束对所述感知目标进行感知，所述第一节点包括核心网设备或者第一网络侧设备或者第二网络侧设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备，所述第四节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点。
可以理解的是，在第一节点为第二网络侧设备的情况下，第四节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点中与第二网络侧设备不同的感知节点。
可选地，所述方法还包括：
所述第一节点向第五节点发送第三指示信息；其中，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式进行感知操作，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的第一感知节点，所述第五节点包括核心网设备和对所述感知目标采用所述第二感知方式进行感知操作的第二感知节点中的至少一项；
或者
所述第一节点从第五节点接收第三指示信息；其中，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式进行感知操作，所述第一节点包括对所述感知目标采用所述第二感知方式进行感知操作的第一感知节点和核心网设备中的至少一项，所述第五节点为对所述感知目标采用所述第二感知方式进行感知操作的第二感知节点。
本实施例中，上述第一感知节点和第二感知节点为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的两个不同感知节点。
可选地，所述方法还包括：
所述第一节点向第六节点发送第四指示信息；
其中，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知 方式对所述感知目标执行感知操作，所述第一节点和所述第六节点中的一个为第一网络侧设备或者第二网络侧设备，另一个为核心网设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备。
可选地，所述第一节点根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，包括：
所述第一节点向至少一个目标节点发送切换确认信息，其中，所述目标节点为所述N个候选节点中对应的第一感知测量结果满足第一切换条件的候选节点，所述切换确认信息用于通知所述目标节点对所述感知目标采用所述第一感知方式进行感知操作。
本实施例中，第一节点可以根据所述N个候选节点对应的第一感知测量结果确定至少一个目标节点，进而可以向至少一个目标节点发送切换确认信息，用于通知所述目标节点在感知方式切换后对所述感知目标采用所述第一感知方式进行感知操作。其中，所述目标节点为所述N个候选节点中对应的第一感知测量结果满足第一切换条件的候选节点。
可选地，所述第一切换条件包括如下至少一项：
在第一时间段内所述第一感知测量结果中至少一项感知测量量的测量值均大于或等于第一预设门限，或者，在第一时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于或等于第一预设门限的次数达到第一预设次数；
在第二时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于第二感知测量结果对应的感知测量量的测量值，或者，在第二时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于第二感知测量结果对应的感知测量量的测量值的次数达到第二预设次数，所述第二感知测量结果为在第一预设时间段内按照所述第二感知方式执行感知操作获得的第一感知测量结果；
在第三时间段内所述第一感知测量结果中至少一项感知性能评价指标均大于或等于第二预设门限，或者，在第三时间段内所述第一感知测量结果中至少一项感知性能评价指标大于或等于第二预设门限的次数达到第三预设次数；
在第四时间段内所述第一感知测量结果中至少一项感知性能评价指标大于第二感知测量结果对应的感知性能评价指标，或者，在第四时间段内所述第一感知测量结果中至少一项感知性能评价指标大于第二感知测量结果对应的感知性能评价指标的次数达到第四预设次数；
在第一时间段内的第一目标值均大于或等于第一预设门限，或者，在第一时间段内的第一目标值大于第一预设门限的次数达到第一预设次数，所述第一目标值包括所述第一感知测量结果中至少一项感知测量量的测量值和候选节点对应的至少一项通信测量量的测量值；
在第三时间段内的第二目标值均大于或等于第二预设门限，或者，在第三时间段内的第二目标值大于或等于第二预设门限的次数超过第三预设次数，所述第二目标值包括所述 第一感知测量结果中至少一项感知性能评价指标和候选节点对应的至少一项通信测量量的测量值；
在第四时间段内所述第一感知测量结果优于所述第二感知测量结果。
本实施例中的感知性能评价指标可基于感知测量量计算得到。本实施例中的感知测量量和感知性能评价指标可以参见前述相关说明，在此不做赘述。
需要说明的是，在一些实施例中，在满足以下至少一项时，也可以确认触发切换：切换前对所述感知目标采用所述第二感知方式进行感知操作的终端的位置发生变化；传统切换事件满足。
其中，传统切换事件的配置：
事件A1：服务小区质量高于门限；
事件A2：服务小区质量低于门限；
事件A3：邻区质量比服务小区高出一个偏移值；
事件A4：邻区质量高于门限；
事件A5：服务小区质量低于门限1，邻小区质量高于门限2；
事件A6：邻小区质量高于辅小区；
事件B1：无线接入技术间(Inter-Radio Access Technology，Inter-RAT)邻区质量高于门限；
事件B2：主小区质量低于门限1，Inter-RAT邻区质量高于门限2；
事件I1：干扰质量高于门限。
本实施例中第一节点向对应的第一感知测量结果满足第一切换条件的至少一个目标节点发送切换确认信息，可以保证感知方式切换后的感知节点的感知性能较好，进而可以进一步提升切换后的感知性能。
可选地，所述至少一个目标节点包括目标终端；
所述第一节点向至少一个目标节点发送切换确认信息，包括：
所述第一节点通过第三网络侧设备向所述目标终端发送切换确认信息，其中，所述第三网络侧设备为所述目标终端的接入网设备。
本实施例中，在目标节点为目标终端的情况下，第一节点可以向第三网络侧设备发送切换确认信息，第三网络侧设备将接收的切换确认信息转发给目标终端。
可选地，所述方法还包括如下至少一项：
所述第一节点向第七节点发送感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作，所述第七节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点，且所述第七节点与所述至少一个目标节点均不同；
所述第一节点向第一候选节点发送取消切换信息，其中，所述取消切换信息用于通知所述第一候选节点取消对所述感知目标采用所述第一感知方式进行感知操作并释放预留 感知资源，所述第一候选节点包括所述N个候选节点中除所述至少一个目标节点之外的候选节点。
在一些可选的实施例中，在上述第七节点为终端的情况下，第一节点可以直接向第七节点发送感知结束命令，也可以是通过第一网络侧设备向第七节点发送感知结束命令，其中，第一网络侧设备为第七节点接入的网络侧设备。
在一些可选的实施例中，在候选节点为终端的情况下，第一节点可以直接向第一候选节点发送取消切换信息，也可以是通过第三网络侧设备向第一候选节点发送取消切换信息，其中，上述第三网络侧设备为上述第一候选节点接入的网络侧设备。
可选地，所述方法还包括：
所述第一节点结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源，其中，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点。
可以理解的是，在本实施例中上述第一节点为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的感知节点且第一节点不为目标节点。
可选地，所述方法还包括：
所述第一节点向所述至少一个目标节点发送感知参考信息，其中，所述感知参考信息包括如下至少一项：
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；
所述感知目标的先验信息；
所述感知目标所在的感知区域的先验信息。
本实施例中，在感知方式切换前感知参考信息中的感知测量量可以与感知切换完成后的感知测量量相同或不同。由于第一节点在确定目标节点后，将第一信息发送至目标节点，从而可以辅助目标节点对感知目标执行感知操作，这样可以进一步提升感知性能。
可选地，所述方法还包括：
在所述第一节点在第二预设时间内未获取到候选节点对应的第一感知测量结果，或者所述N个候选节点对应的第一感知测量结果均不满足第一切换条件的情况下，所述第一节点执行第一操作；
其中，所述第一操作包括如下一项：重新确定候选节点，取消将所述感知目标的感知方式由第二感知方式切换为第一感知方式，结束对所述感知目标采用所述第二感知方式进行感知操作。
例如，第一节点在第二预设时间内接收到的均为候选节点对应的拒接信息，或者获取到的候选节点对应的第一感知测量结果均不满足第一切换条件的情况下，可以重新确定候选节点并可以向重新确定的候选节点发送第一请求信息，或者，可以取消将所述感知目标的感知方式由第二感知方式切换为第一感知方式，或者结束对所述感知目标采用所述第二 感知方式进行感知操作。
请参见图5，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，该方法可以由候选节点执行，如图5所示，包括以下步骤：
步骤501、候选节点从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点。
本实施例中，上述候选节点可以包括候选终端或者候选网络侧设备。
步骤502、所述候选节点向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用第一感知方式进行感知操作。
本实施例中，上述候选节点从第一节点接收第一请求信息之后，可以响应于第一请求信息，采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到第一感知测量结果，并向第一节点发送携带上述第一感知测量结果的第一应答信息；或者上述候选节点从第一节点接收第一请求信息之后，可以响应于第一请求信息，向所述第一节点发送第一拒绝信息。
可选地，所述候选节点向所述第一节点发送第一响应信息之前，所述方法还包括：
所述候选节点根据所述第一请求信息进行所述第一感知方式相关的感知参数配置；
所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到第一感知测量结果。
可选地，所述第一请求信息包括如下至少一项：
第一配置信息，所述第一配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置；
感知需求；
感知服务质量QoS；
感知测量量；
感知测量结果；
感知条件；
所述感知目标的先验信息或所述感知目标的感知区域的先验信息；
感知方式切换成功判决条件。
可选地，所述第一配置信息包括如下至少一项：感知参数配置信息，软切换参数配置信息。
可选地，所述感知参数配置信息包括如下至少一项：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。
可选地，所述第一应答信息还包括第二配置信息，其中，所述第二配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置。
可选地，所述方法还包括：
所述候选节点从所述第一节点接收切换确认信息；其中，所述切换确认信息用于通知所述候选节点在所述感知目标的感知方式切换后对所述感知目标采用所述第一感知方式进行感知操作；
或者
所述候选节点从所述第一节点接收取消切换信息；其中，所述取消切换信息用于通知所述候选节点取消对所述感知目标采用所述第一感知方式进行感知操作并释放预留感知资源。
本实施例中，在候选节点为目标节点(例如，该候选节点对应的第一感知测量结果满足第一切换条件)的情况下，该候选节点可以从所述第一节点接收切换确认信息。
在候选节点为第一候选节点(例如，该候选节点对应的第一感知测量结果不满足第一切换条件)的情况下，该候选节点可以从所述第一节点接收取消切换信息。
可选地，所述候选节点从所述第一节点接收切换确认信息之后，所述方法还包括：
所述候选节点根据所述第一请求信息和第二配置信息中的至少一项进行所述第一感知方式相关的感知参数配置；
所述候选节点采用所述第一感知方式对所述感知目标进行感知操作。
可选地，所述候选节点从所述第一节点接收切换确认信息之后，所述方法还包括：
所述候选节点从所述第一节点接收感知参考信息，其中，所述感知参考信息包括如下至少一项：
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；
所述感知目标的先验信息；
所述感知目标所在的感知区域的先验信息。
可选地，所述候选节点为感知方式切换前对所述感知目标采用第二感知方式进行感知操作的感知节点，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不同节点；所述方法还包括：
所述候选节点从所述第一节点接收感知结束命令；
所述候选节点结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源。
需要说明的是，该实施例涉及的一些内容可以参见前述实施例的相关说明，此处不作赘述。
请参见图6，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，该方法可 以由第八节点执行，如图6所示，包括以下步骤：
步骤601、第八节点执行第二操作，所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作；
其中，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同一节点，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不同节点。
本实施例中，第八节点可以包括第一网络侧设备或第二网络侧设备或第一终端，上述第一网络侧设备可以为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，上述第二网络侧设备可以为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备，上述第一终端可以为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的终端。
可选地，所述第八节点为对所述感知目标采用所述第二感知方式进行感知操作的信号接收节点；
所述发送切换测量报告之前，所述方法还包括：
所述第八节点接收第二信息，其中，所述第二信息包括切换测量请求和接收切换测量配置信息中的至少一项；
所述第八节点根据所述第二信息进行切换测量，得到切换测量报告。
可选地，所述切换测量请求包括切换测量配置信息。
可选地，所述切换测量配置信息包括如下至少一项：测量对象指示信息，切换测量报告配置，测量事件配置信息，测量标识，其中，一个测量标识与一个测量对象和一个切换测量报告配置分别对应。
可选地，感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的感知节点包括所述第八节点和第九节点；
所述第八节点进行切换测量的触发条件包括如下至少一项：
所述感知目标的状态发生变化；
所述感知目标的感知区域环境发送变化；
所述第八节点获取的感知测量量满足第一条件；
所述第八节点获取的通信测量量满足第二条件；
所述第八节点和所述第九节点中的至少一个节点的位置发生变化，所述八节点和所述第九节点中的至少一个为终端；
所述第八节点和所述第九节点之间的距离发生变化，所述八节点和所述第九节点中的至少一个为终端；
所述第八节点与所述第八节点接入的网络侧设备之间的通信测量量满足第三条件，所述第八节点为终端；
所述第九节点与所述第九节点接入的网络侧设备之间的通信测量量满足第三条件，所述第九节点为终端；
所述第八节点和所述第九节点中的至少一个节点的可用感知资源发送改变。
本实施例中，所述第八节点与所述第八节点接入的网络侧设备之间的通信测量量满足第三条件或者所述第八节点与所述第八节点接入的网络侧设备之间的通信测量量满足第三条件，例如，RSRP、SNR、SINR、RSRQ和RSSI等中的至少一项小于或等于对应的第二预设门限值，和/或，误码率、误块率、吞吐量和频谱效率等中至少一项大于或等于对应的第三预设门限。
可选地，所述接收感知结束命令之后，所述方法还包括：
所述第八节点结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源。
本实施例中的第八节点为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的感知节点。
需要说明的是，该实施例涉及的一些内容可以参见前述实施例的相关说明，此处不作赘述。
请参见图7，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，该方法可以由第二节点执行，如图7所示，包括以下步骤：
步骤701、第二节点接收第一节点发送的第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对感知目标采用第一感知方式进行感知操作的候选节点，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同一节点。
步骤702、所述第二节点向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息，其中，所述第二响应信息包括第二应答信息或者第二拒绝信息，所述第二应答信息包括所述候选节点对应的第一感知测量结果，N为正整数。
在一些可选的实施例中，上述N个候选节点可以是上述第二节点所管理的N个终端。
可选地，所述第二节点向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息之前，所述方法还包括：
所述第二节点向至少一个候选节点发送第三请求信息，其中，所述第三请求信息用于请求所述候选节点对所述感知目标采用所述第一感知方式进行感知操作；
所述第二节点接收K个候选节点中每个候选节点分别对应的第三响应信息，其中，所述第三响应信息包括第三应答信息或者第三拒绝信息，所述第三应答信息包括所述候选节点对应的第一感知测量结果，所述N个候选节点对应的第二响应信息包括所述K个候选节点对应的第三响应信息中的部分或全部，K为大于或等于N的整数。
需要说明的是，本实施例中的第三请求信息与前述实施例的第一请求信息可以相同，也可以不相同。本实施例中的第三响应信息与前述实施例的第一响应信息可以相同，也可以不相同。
在一些可选的实施例中，上述至少一个候选节点可以是上述第二节点所管理的至少一个终端。
上述N个候选节点对应的第二响应信息可以是基于上述K个候选节点对应的第三响应信息确定，例如，第二节点可以从上述K个候选节点中选择N个候选节点对应的第三响应信息发送给第一节点，其中，上述第二响应信息和上述第三响应信息相同；或者第二节点可以从上述K个候选节点中选择N个候选节点对应的第三响应信息，并可以根据每个候选节点对应的第三响应信息确定每个候选节点对应的第二响应信息并发送给第一节点。
可选地，所述至少一个候选节点基于所述至少一个候选节点的第一信息确定，其中，所述第一信息包括如下至少一项：
位置信息；
面板朝向信息；
感知能力信息；
当前可用于进行感知的资源信息；
信道状态信息。
需要说明的是，该实施例涉及的一些内容可以参见前述实施例的相关说明，此处不作赘述。
为了更好的理解本申请，以下基于不同的切换场景进行详细说明，并将采用第一感知方式执行感知操作简称为第一感知，将采用第二感知方式执行感知操作简称为第二感知。
切换场景1：网络侧设备和终端按照第二感知方式执行感知操作，切换为网络侧设备按照第一感知方式执行感知操作，即基站-UE第二感知，切换为基站第一感知，其中，将切换前执行第二感知的基站称为源基站，将切换后执行第一感知的基站称为目标基站，本切换场景下的UE为执行切换前执行第二感知的UE。
步骤11：执行切换测量，分为下行感知(即源基站发送信号、源终端接收信号)和上行感知(即源终端发送信号、源基站接收信号)两种情况：
(1)基站-UE为下行感知：
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，
核心网设备(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，并向核心网设备反馈切换测量报告。在一些可选的实施例中，UE或核心网设备向源基站发送切换测量报告。
在一些可选的实施例中，在UE进行切换测量之前，核心网设备或源基站向UE发送切换测量所必需的切换测量配置信息，或者，所述切换测量配置信息包含在切换测量请求中。
(2)基站-UE为上行感知：
源基站进行切换测量。在一些可选的实施例中，在源基站进行切换测量之前，核心网设备或UE向源基站发送切换测量请求。
在一些可选的实施例中，在源基站进行切换测量之前，核心网设备或UE向源基站发送切换测量所必需的切换测量配置信息，或者，所述切换测量配置信息包含在切换测量请求中。
其中，切换测量配置信息可以参照前述实施例的相关说明，在此不再赘述。
可选地，上述步骤11可以基于触发事件触发，上述步骤11的触发事件可以参照前述实施例的相关说明，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，源基站向核心网设备上报切换测量报告，由核心网设备决定是否发起切换请求，或者，核心网设备根据从UE接收到的切换测量报告，决定是否发起切换请求。
若不发起切换，后续处理可以是维持或者结束当前第二感知。
若发起切换，核心网设备或源基站决定是哪个节点切换为第一感知方式，具体分为以下几种情况之一：
情况1：源基站决定切换为基站执行第一感知。
源基站向至少一个候选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，源基站向核心网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，在感知方式切换后基站执行第一感知。
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2：核心网设备决定切换为基站执行第一感知。
核心网设备向至少一个候选基站发送第一请求信息。
可选地，核心网设备向源基站发送第一指示信息。
可选地，核心网设备向UE发送第二指示信息。
可选地，所述候选基站包括源基站。
情况3：源基站决定主动切换为执行第一感知。这种情况下，源基站为候选基站。
源基站向核心网设备发送第三指示信息，所述第三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发送方可以执行第一感知。
可选地，情况3还包括情况1。
可选地，源基站或核心网设备在第一请求信息中包含建议的第一配置信息。所述第一配置信息包括感知参数配置信息，用于候选基站以及目标基站执行第一感知的感知参数配置。
可选地，第一请求信息可以包括软切换请求。可选地，第一配置信息还可以包括软切换参数配置信息。
其中，上述第一请求信息和第一配置信息可以参见前述实施例的相关说明，在此不做赘述。
在一些可选的实施例中，上述候选基站可以基于候选基站的第一信息确定，其中，第一信息可以参见前述实施例的相关说明，在此不做赘述
步骤13：候选基站决定是否接受在切换感知方式后执行第一感知。具体地，分为以下几种情况：
情况一：候选基站同意，则依次执行以下流程：
13-1)候选基站可以基于第一请求信息和第一配置信息中的至少一项，进行感知参数配置，执行第一感知。
13-2)在进行至少一次感知测量后，候选基站向源基站或核心网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一感知。
所述第一应答信息内容包括第一感知测量结果，所述第一感知测量结果可以包括以下至少一项：
1)执行第一感知的至少一次的感知测量量的测量值和/或感知结果；
2)至少一项感知性能评价指标的测量结果；
3)通信测量量的测量值。
上述感知测量量、感知性能评价指标和通信测量量可以参见前述实施例的相关说明，在此不做赘述。
可选地，第一应答信息还可以包括：
第二配置信息，所述第二配置信息，用于目标基站执行第一感知的感知参数配置。
上述第二配置信息可以参见前述实施例的相关说明，在此不做赘述。
可选地，若第一请求信息中包括软切换请求，且候选基站同意并支持软切换，上述第二配置信息还可以包括软切换参数配置信息。
3-3)源基站或核心网设备在第二预设时间内等待候选基站的第一应答信息，一旦收 到某个候选基站发送的第一应答信息满足第一切换条件，则立即选择该候选基站，作为切换后执行第一感知的感知节点，即目标节点。
上述第一切换条件可以参见前述实施例的相关说明，在此不做赘述。
情况二：候选基站不同意，则可选地，候选基站向第一请求信息发送方(源基站或核心网设备)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一感知。
若在第二预设时间内没有候选基站同意进行第一感知，后续处理可以是以下其中一项：i.源基站或核心网设备重新确定候选基站；ii.取消切换，维持当前第二感知；iii.结束当前第二感知。
步骤14：源基站或核心网设备确定目标基站后，向目标基站发送切换确认信息。所述切换确认信息用于通知切换确认信息接收方后续由它执行第一感知操作。
可选地，源基站或核心网设备确定目标基站后，向除了目标基站外的其他候选基站，发送取消切换信息，所述取消切换信息用于通知其他候选感知节点取消执行第一感知，释放预留感知资源。其他候选基站收到取消切换信息后释放预留感知资源。
步骤15：目标基站执行感知业务，UE释放感知资源。具体地，执行以下操作：
15-1)目标基站基于第一请求信息、第一配置信息、第二配置信息中的至少一项，进行感知参数配置，执行第一感知。
15-2)UE或者UE和源基站停止执行第二感知，释放感知资源。根据切换前后感知节点可能存在不同，包括以下几种情况之一：
1)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)。
可选地，源基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
2)第一请求信息发送方为核心网设备，源基站和目标基站不是同一设备：
核心网设备向源基站和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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
3)第一请求信息发送方为核心网设备，源基站和目标基站是同一设备：
核心网设备向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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
15-3)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核 心网设备发送感知测量量测量结果和/或感知结果。
需要说明的是，本切换场景下切换感知方式之前的感知测量量可以与感知方式切换后的感知测量量可以相同或者不同。
切换场景2：网络侧设备和网络侧设备按照第二感知方式执行感知操作，切换为网络侧设备按照第一感知方式执行感知操作，即基站-基站第二感知，切换为基站第一感知。其中，感知方式切换前基站A、基站B执行第二感知，发送感知信号的基站为基站A，接收感知信号的基站为基站B，将切换前的执行第二感知的基站A、B称为源基站，将切换后执行第一感知的基站称为目标基站。
步骤21：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向核心网设备发送切换测量报告。
或者，
核心网设备(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，并向核心网设备反馈切换测量报告。可选地，基站B或核心网设备向基站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向核心网设备或基站A发送切换测量报告。
可选地，在基站B进行切换测量之前，基站A或核心网设备向基站B发送切换测量所必需的切换测量配置信息；或者，所述切换测量配置信息包含在切换测量请求中。
其中，切换测量配置信息可以参照前述实施例的相关说明，在此不再赘述。
可选地，上述步骤21可以基于触发事件触发，上述步骤21的触发事件可以参照前述实施例的相关说明，在此不再赘述。
步骤2：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向核心网设备上报切换测量报告，由核心网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二感知。
若发起切换，核心网设备或源基站(包括基站A和基站B)决定是哪个节点切换为第一感知方式，具体分为以下几种情况之一：
情况1：基站A决定切换为基站执行第一感知。基站A向至少一个候选基站发送第一请求信息。
可选地，基站A向核心网设备发送第一指示信息。
可选地，所述候选基站包括基站B。
情况2：基站B决定切换为基站执行第一感知。基站B向至少一个候选基站发送第一请求信息。
可选地，基站B向核心网设备发送第一指示信息。
所述候选基站包括基站A。
情况3：核心网设备决定切换为基站执行第一感知方式。核心网设备向至少一个候选基站发送第一请求信息。
可选地，核心网设备向基站A和/或基站B发送第一指示信息。
可选地，所述候选基站包括基站A和基站B中的至少一项。
情况4：基站A决定主动切换为执行第一感知。基站A向基站B和/或核心网设备发送第三指示信息。这种情况下，基站A为候选基站。
可选地，情况4还可以包括情况1。
情况5：基站B决定主动切换为执行第一感知。基站B向基站A和/或核心网设备发送第三指示信息。这种情况下，基站B为候选基站。
可选地，情况5还可以包括情况2。
可选地，源基站或核心网设备在第一请求信息中包含建议的第一配置信息。
可选地，所述第一请求信息可以包括软切换请求。可选地，第一配置信息还可以包括软切换参数配置信息。
步骤3：候选基站决定是否接受在切换感知方式后执行第一感知。
情况一：候选基站同意，则依次执行以下流程：
23-1)候选基站基于第一请求信息，进行感知参数配置，执行第一感知。
23-2)在进行至少一次感知测量后，候选基站向源基站或核心网设备发送第一应答信息。
所述第一应答信息可以参见前述实施例的相关说明，在此不做赘述。
23-3)源基站或核心网设备在第二预设时间内等待候选基站的第一应答信息，一旦收到某个候选基站发送的第一应答信息满足第一切换条件，则立即选择该候选基站，作为切换后执行第一感知的感知节点。
可选地，第一应答信息还可以包括：
第二配置信息，所述第二配置信息，用于目标基站执行第一感知的感知参数配置。
上述第二配置信息可以参见前述实施例的相关说明，在此不做赘述。
可选地，若第一请求信息中包括软切换请求，且候选基站同意并支持软切换，上述第二配置信息还可以包括软切换参数配置信息。
情况二：候选基站不同意，则可选地，候选基站向第一请求信息发送方(源基站或核心网设备)发送第一拒绝信息。
若在第二预设时间内没有候选基站同意进行第一感知，后续处理可以是以下其中一项：i.源基站或核心网设备重新确定候选基站；ii.取消切换，维持当前第二感知；iii.结束当前第二感知；
步骤24：该步骤同上述步骤14，在此不做赘述。
步骤25：目标基站执行感知业务，至少一个源基站(基站A和/或基站B)释放感知资源。具体地，执行以下操作：
25-1)目标基站基于第一请求信息、第一配置信息、第二配置信息中的至少一项，进行感知参数配置，执行第一感知。
25-2)源基站(基站A和/或基站B)停止执行第二感知，释放感知资源。根据切换前后感知节点可能存在不同，包括以下几种情况之一：
1)第一请求信息发送方为基站A，基站A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)。
可选地，基站A将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
2)第一请求信息发送方为核心网设备，源基站和目标基站不是同一设备：
核心网设备向基站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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
3)第一请求信息发送方为核心网设备，基站A和目标基站是同一设备：
核心网设备向基站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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
4)第一请求信息发送方为核心网设备，基站B和目标基站是同一设备：
核心网设备向基站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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
25-3)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核心网设备发送感知测量量测量结果和/或感知结果。
需要说明的是，本切换场景下切换感知方式之前的感知测量量可以与感知方式切换后的感知测量量可以相同或者不同。
切换场景3：网络侧设备和终端按照第二感知方式执行感知操作，切换为终端按照第一感知方式执行感知操作，即基站-UE第二感知，切换为UE第一感知。其中，感知方式切换前基站、UE，在执行第二感知，将切换前执行第二感知的UE称为源UE，将切换后执行第一感知的UE称为目标UE；将切换前的执行第二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：该步骤同上述步骤11，在此不做赘述。
步骤32：源基站基于切换测量报告，决定是否发起切换；
或者
源基站向核心网设备上报切换测量报告，由核心网设备决定是否发起切换请求；
或者
核心网设备根据从源UE接收到的切换测量报告，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二感知。
若发起切换，核心网设备或源基站决定是哪个节点切换为第一感知方式，具体分为以下2种情况之一：
情况1：源基站决定切换为UE执行第一感知。
源基站向至少一个候选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(即候选接入基站)寻找候选UE，在感知方式切换完成后进行第二感知。进一步地，所述候选接入基站向至少一个候选UE发送第一请求信息。
可选地，源基站向核心网设备发送第四指示信息，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执行第一感知。
可选地，所述候选UE包括源UE。
情况2：核心网设备决定切换为UE执行第一感知方式。
核心网设备向至少一个候选UE发送第一请求信息。其中可以通过：核心网设备向至少一个候选接入基站发送第二请求信息，所述候选接入基站向至少一个候选UE发送第一请求信息。
可选地，核心网设备向源基站和/或源UE发送第二指示信息。
可选地，所述候选接入基站包括源基站。
情况3：源UE决定主动切换为执行第一感知。这种情况下，源UE为候选UE。
源UE向源基站和/或核心网设备发送第三指示信息。
可选地，情况3还可以包括情况1。
可选地，源基站或核心网设备在第一请求信息、第二请求信息中包含建议的第一配置信息。
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。
上述候选UE可以基于候选UE的第一信息确定，第一信息可以参数前述实施例的相关说明，在此不做赘述。
上述第一请求信息可以参数前述实施例的相关说明，在此不做赘述。
步骤33：候选UE决定是否接受在切换感知方式后执行第一感知。
情况一：候选UE同意，则依次执行以下流程：
33-1)候选UE基于第一请求信息、第一配置信息至少一项，进行感知参数配置，执 行第一感知。
33-2)在进行至少一次感知测量后，候选UE向源基站或候选接入基站发送第一应答信息。
所述第一应答信息内容可以参见前述实施例的相关说明，在此不做赘述。
可选地，所述候选接入基站向第二请求信息发送方(源基站或核心网设备)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同意执行第一感知。
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UE在第一应答信息中反馈建议的第一配置信息。
上述第一配置信息可以参见前述实施例的相关说明，在此不做赘述。
若第一请求信息、第二请求信息中包括软切换请求，且候选UE同意并支持软切换，可选地，第一配置信息包括软切换参数配置信息。
3-3)源基站或核心网设备在第二预设时间内等待候选UE的第一应答信息。可选地，源基站或核心网设备在预设时间内等待候选接入基站的第二应答信息。
一旦收到某个候选UE发送的第一应答信息满足第一切换条件，则立即选择该候选UE作为切换后执行第一感知的感知节点。
或者，
一旦收到某个候选接入基站的第二应答信息满足第一切换条件，则立即选择该候选接入基站下的对应发送满足第一切换条件的第一应答信息的候选UE，作为切换后执行第一感知的感知节点。
可选地，第一应答信息内容包括第二配置信息。所述第二配置信息包括以下至少一项：同第一配置信息。
若第一请求信息中包括软切换请求，且候选UE同意并支持软切换，可选地，第二配置信息包括软切换参数配置信息。
上述第一切换条件可以参见前述实施例的相关说明，在此不做赘述。
情况二：候选UE不同意，则可选地，候选UE向第一请求信息发送方(源基站或核心网设备)发送第一拒绝信息。
可选地，所述候选接入基站向第二请求信息发送方(源基站或核心网设备)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。
若在预设等待时间内没有候选接入基站同意进行第一感知，后续处理可以是以下其中一项：i.源基站或核心网设备重新确定候选UE；ii.候选接入基站重新确定候选UE；iii.源基站或核心网设备重新确定候选接入基站，候选接入基站确定候选UE；iii.取消切换，维持当前第二感知；iv.结束当前第二感知。
步骤34：源基站或核心网设备确定目标UE后，向目标UE发送切换确认信息；或者， 源基站或核心网设备向目标接入基站发送切换确认信息，目标接入基站向目标UE转发切换确认信息。
可选地，源基站或核心网设备确定目标UE后，向除了目标UE外的其他候选UE，发送取消切换信息；或者，向除了目标接入基站外的其他候选接入基站，发送取消切换信息，其他候选接入基站向其他候选UE转发取消切换信息。其他候选UE收到取消切换信息后释放预留感知资源。
步骤35：目标UE执行感知业务，源基站释放感知资源。具体地，执行以下操作：
35-1)目标UE基于第一请求信息或第二请求信息、第一配置信息、第二配置信息中的至少一项，进行感知参数配置，执行第一感知。
35-2)源基站或者源基站和UE停止执行第二感知，释放感知资源。根据切换前后感知节点可能存在不同，包括以下几种情况之一：
1)请求信息(包括第一请求信息或第二请求信息)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)。
可选地，源基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE；
或者，
源基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标接入基站，目标接入基站将所述感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
2)请求信息(包括第一请求信息或第二请求信息)发送方为核心网设备，源UE和目标UE不是同一设备：
核心网设备向源基站和源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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
3)请求信息(包括第一请求信息或第二请求信息)发送方为核心网设备，源UE和目标UE是同一设备：
核心网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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
5-3)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向核心网设备或源基站发送感知测量量测量结果和/或感知结果；或者，
目标UE向目标接入基站发送感知测量量测量结果和/或感知结果，目标接入基站向核心网设备或源基站发送感知测量量测量结果和/或感知结果。
需要说明的是，本切换场景下切换感知方式之前的感知测量量可以与感知方式切换后的感知测量量可以相同或者不同。
切换场景4：终端和终端按照第二感知方式执行感知操作，切换为终端按照第一感知方式执行感知操作，即UE-UE第二感知，切换为UE第一感知。其中，感知方式切换前UE A、UE B在执行第二感知，发送感知信号的UE为UE A，接收感知信号的UE为UE B，将源UE的接入基站称为源接入基站，将切换后执行第一感知的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41：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/或核心网设备(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或源接入基站向核心网设备和/或UE A发送切换测量报告。
或者，
核心网设备(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，并向核心网设备反馈切换测量报告。可选地，核心网设备向源接入基站和/或UE A发送切换测量报告。
在一些可选的实施例中，在UE B进行切换测量之前，UE A、源接入基站、核心网设备任意一者向UE B发送切换测量所必需的切换测量配置信息；或者，所述切换测量配置信息包含在切换测量请求中。
其中，切换测量配置信息可以参照前述实施例的相关说明，在此不再赘述。
可选地，上述步骤41可以基于触发事件触发。
所述步骤41的触发事件可以包括以下至少一项：
1)感知目标的状态发生变化(状态包括位置、速度等)；
2)UE A和/或UE B位置发生变化；
3)UE A和UE B之间距离发送变化；
4)感知区域环境发送变化(比如出现阻挡)；
5)UE B获取的感知测量量达到预设门限；例如，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；
6)UE B获取的通信测量量达到预设门限；
7)UA A和/或UE B与源接入基站间的通信测量量达到预设门限。
8)UE A和/或UE B可用感知资源发送改变；例如，突发其他高优先级感知/通信/通感一体化业务，需要基于剩余可用感知资源评估是否发起感知切换流程。
步骤42：源接入基站或核心网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二感知。
若发起切换，核心网设备、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一感知方式，具体分为以下几种情况之一：
情况1：源接入基站决定切换为UE执行第一感知。
源接入基站向至少一个候选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接入基站发送第二请求信息。所述候选接入基站向至少一个候选UE发送第一请求信息。
可选地，源接入基站向核心网设备发送第四指示信息。
可选地，所述候选UE包括源UE。
情况2：核心网设备决定切换为UE执行第一感知方式。
核心网设备向至少一个候选UE发送第一请求信息。其中可以通过：核心网设备向至少一个候选接入基站发送第二请求信息，所述候选接入基站向至少一个候选UE发送第一请求信息。
可选地，核心网设备向源接入基站发送第四指示信息。
所述候选UE包括源UE，所述候选接入基站包括源接入基站。
情况3：UE A决定主动切换为执行第一感知。UE A向源接入基站和/或核心网设备发送第三指示信息。这种情况下，UE A为候选UE。
可选地，UE A、源接入基站、核心网设备中至少一者向UE B发送第二指示信息。
可选地，情况3还可以包括情况1或情况2。
情况4：UE B决定主动切换为执行第一感知。UE B向源接入基站和/或核心网设备发送第三指示信息。这种情况下，UE B为候选UE。
可选地，UE B、源接入基站、核心网设备中至少一者向UE A发送第二指示信息。
可选地，情况4还包括情况1或情况2。
可选地，源基站或核心网设备在第一请求信息、第二请求信息中包含建议的第一配置信息。
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UE决定是否接受在切换感知方式后执行第一感知。
情况一：候选UE同意，则依次执行以下流程：
43-1)候选UE基于第一请求信息、第一配置信息至少一项，进行感知参数配置，执行第一感知。
43-2)在进行至少一次感知测量后，候选UE向源接入基站或候选接入基站发送第一应答信息。
所述第一应答信息内容包括以下至少一项：同实施例一。
可选地，所述候选接入基站向第二请求信息发送方(源接入基站或核心网设备)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UE在第一应答信息中反馈建议的第一配置信息。
所述第一配置信息可以参见前述实施例的相关说明。
若第一请求信息、第二请求信息中包括软切换请求，且候选UE同意并支持软切换，可选地，第一配置信息包括软切换参数配置信息。
43-3)源接入基站或核心网设备在第二预设时间内等待候选UE的第一应答信息。可选地，源接入基站或核心网设备在预设时间内等待候选接入基站的第二应答信息。
一旦收到某个候选UE发送的第一应答信息满足第一切换条件，则立即选择该候选UE作为切换后执行第一感知的感知节点；
或者，
一旦收到某个候选接入基站的第二应答信息满足第一切换条件，则立即选择该候选接入基站下的对应发送满足第一切换条件的第一应答信息的候选UE，作为切换后执行第一感知的感知节点。
可选地，第一应答信息内容包括第二配置信息。
可选地，若第一请求信息中包括软切换请求，且候选UE同意并支持软切换，第二配置信息包括软切换参数配置信息。
上述第一切换条件可以参见前述实施例的相关说明。
情况二：候选UE不同意，则可选地，候选UE向第一请求信息发送方(源接入基站或核心网设备)发送第一拒绝信息。
可选地，所述候选接入基站向第二请求信息发送方(源接入基站或核心网设备)发送第二拒绝信息。
若在第二预设时间内没有候选UE同意进行第一感知，后续处理可以是以下其中一项：i.源接入基站或核心网设备重新确定候选UE；ii.候选接入基站重新确定候选UE；iii.源接入基站或核心网设备重新确定候选接入基站，候选接入基站确定候选UE；iii.取消切换，维持当前第二感知；iv.结束当前第二感知。
步骤4：源接入基站或核心网设备确定目标UE后，向目标UE发送切换确认信息。或者，源接入基站或核心网设备向目标接入基站发送切换确认信息，目标接入基站向目标UE转发切换确认信息。
可选地，源接入基站或核心网设备确定目标UE后，向除了目标UE外的其他候选UE，发送取消切换信息；或者，向除了目标接入基站外的其他候选接入基站，发送取消切换信息，其他候选接入基站向其他候选UE转发取消切换信息。其他候选UE收到取消切换信息后释放预留感知资源。
步骤45：目标UE执行感知业务，至少一个源UE(UE A和/或UE B)释放感知资源。具体地，执行以下操作：
45-1)目标UE基于第一请求信息或第二请求信息、第一配置信息、第二配置信息中的至少一项，进行感知参数配置，执行第一感知。
45-2)源UE(UE A和/或UE B)停止执行第二感知，释放感知资源。根据切换前后感知节点可能存在不同，包括以下几种情况之一：
1)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)。
可选地，源接入基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
或者，
源接入基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标接入基站，目标接入基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
2)请求信息发送方为核心网设备，源UE和目标UE不是同一设备：
核心网设备向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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
3)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)。
可选地，源接入基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
4)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)。
可选地，源接入基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
5)请求信息发送方为核心网设备，UE A和目标UE是同一设备：
核心网设备向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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
6)请求信息发送方为核心网设备，UE B和目标UE是同一设备：
核心网设备向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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
5-3)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向核心网设备或源基站发送感知测量量测量结果和/或感知结果；或者，
目标UE向目标接入基站发送感知测量量测量结果和/或感知结果，目标接入基站向核心网设备或源基站发送感知测量量测量结果和/或感知结果。
需要说明的是，本切换场景下切换感知方式之前的感知测量量可以与感知方式切换后的感知测量量可以相同或者不同。
切换场景5：终端和终端按照第二感知方式执行感知操作，切换为网络侧设备按照第一感知方式执行感知操作，即UE-UE第二感知，切换为基站第一感知。其中，感知方式切换前UE A、UE B在执行第二感知，发送感知信号的UE为UE A，接收感知信号的UE为UE B，将切换前执行第二感知的UE A、B称为源UE，将源UE的接入基站称为源接入基站，将切换后执行第一感知的基站称为目标基站。
步骤51：该步骤同上述步骤41，在此不做赘述。
步骤52：源接入基站或核心网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二感知。
若发起切换，核心网设备或源接入基站决定是哪个节点切换为第一感知方式，具体分为以下几种情况之一：
情况1：源接入基站决定切换为基站执行第一感知。
源接入基站向至少一个候选基站发送第一请求信息。
可选地，源接入基站向核心网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2：核心网设备决定切换为基站执行第一感知方式。
核心网设备向至少一个候选基站发送第一请求信息。
可选地，核心网设备向源接入基站发送第一指示信息。
可选地，核心网设备向UE A和/或UE B发送第二指示信息。
可选地，所述候选基站包括源接入基站。
情况3：源接入基站决定主动切换为执行第一感知。源接入基站向核心网设备发送第三指示信息。这种情况下，源接入基站为候选基站。
可选地，源接入基站和/或核心网设备向UE A、UE B发送第二指示信息。
可选地，情况3还可以包括情况1。
可选地，源基站或核心网设备在第一请求信息中包含建议的第一配置信息。
可选地，所述第一请求信息可以包括软切换请求。
步骤53：候选基站决定是否接受在切换感知方式后执行第一感知。
情况一：候选基站同意，则依次执行以下流程：
53-1)候选基站基于第一请求信息和第一配置信息中的至少一项，进行感知参数配置，执行第一感知。
53-2)在进行至少一次感知测量后，候选基站向源接入基站或核心网设备发送第一应答信息。
上述第一应答信息内容参见前述实施例的相关说明，在此不做赘述。
53-3)源接入基站或核心网设备在第二预设时间内等待候选基站的第一应答信息，一旦收到某个候选基站发送的第一应答信息满足第一切换条件，则立即选择该候选基站，作为切换后执行第一感知的感知节点。
上述第一应该信息的相关内容可以参见前述实施例的相关说明。
可选地，若第一请求信息中包括软切换请求，且候选基站同意并支持软切换，第二配置信息包括软切换参数配置信息。
上述第一切换条件可以参见前述实施例的相关说明。
情况二：候选基站不同意，则可选地，候选基站向第一请求信息发送方(源接入基站或核心网设备)发送第一拒绝信息。
若在第二预设时间内没有候选基站同意进行第一感知，后续处理可以是以下其中一项：i.源接入基站或核心网设备重新确定候选基站；ii.取消切换，维持当前第二感知；iii.结束当前第二感知。
步骤54：源接入基站或核心网设备确定目标基站后，向目标基站发送切换确认信息。
可选地，源接入基站或核心网设备确定目标基站后，向除了目标基站外的其他候选基站，发送取消切换信息。其他候选基站收到取消切换信息后释放预留感知资源。
步骤55：目标基站执行感知业务，源UE(UE A和UE B)释放感知资源。具体地，执行以下操作：
55-1)目标基站基于第一请求信息、第一配置信息、第二配置信息中的至少一项，进行感知参数配置，执行第一感知。
55-2)源UE(UE A和UE B)停止执行第二感知，释放感知资源。
源接入基站或核心网设备向源UE(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).
可选地，源接入基站将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标基站。
55-3)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核心网设备发送感知测量量测量结果和/或感知结果。
需要说明的是，本切换场景下切换感知方式之前的感知测量量可以与感知方式切换后 的感知测量量可以相同或者不同。
切换场景6：网络侧设备和网络侧设备按照第二感知方式执行感知操作，切换为终端按照第一感知方式执行感知操作，即基站-基站第二感知，切换为UE第一感知。其中，感知方式切换前基站A、基站B在执行第二感知，发送感知信号的基站为基站A，接收感知信号的基站为基站B，将切换后执行第一感知的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：该步骤同上述步骤21，在此不做赘述。
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向核心网设备上报切换测量报告，由核心网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二感知。
若发起切换，核心网设备或源基站(包括基站A和基站B)决定是哪个节点切换为第一感知方式，具体分为以下几种情况之一：
情况1：基站A决定切换为UE执行第一感知。基站A向至少一个候选UE发送第一请求信息。其中还可以通过：基站A向至少一个候选接入基站发送第二请求信息，所述候选接入基站向至少一个候选UE发送第一请求信息。
可选地，基站A向核心网设备发送第一指示信息。
可选地，所述候选接入基站包括基站B。
情况2：基站B决定切换为UE执行第一感知。基站B向至少一个候选UE发送第一请求信息。其中还可以通过：基站B向至少一个候选接入基站发送第二请求信息，所述候选接入基站向至少一个候选UE发送第一请求信息。
可选地，基站B向核心网设备发送第一指示信息。
可选地，所述候选接入基站包括基站A。
情况3：核心网设备决定切换为UE执行第一感知方式。核心网设备向至少一个候选UE发送第一请求信息。其中可以通过：核心网设备向至少一个候选接入基站发送第二请求信息，所述候选接入基站向至少一个候选UE发送第一请求信息。
可选地，核心网设备向基站A和/或基站B发送第一指示信息。
所述候选接入基站包括基站A和基站B。
可选地，源基站或核心网设备在第一请求信息、第二请求信息中包含建议的第一配置信息。
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63：候选UE决定是否接受在切换感知方式后执行第一感知。
情况一：候选UE同意，则依次执行以下流程：
63-1)候选UE基于第一请求信息、第一配置信息至少一项，进行感知参数配置，执行第一感知。
63-2)在进行至少一次感知测量后，候选UE向源基站或候选接入基站发送第一应答信息。
所述第一应答信息内容可以参见前述实施例的相关说明。
可选地，所述候选接入基站向第二请求信息发送方(源基站或核心网设备)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UE在第一应答信息中反馈建议的第一配置信息。
所述第一配置信息可以参见前述实施例的相关说明。
可选地，若第一请求信息、第二请求信息中包括软切换请求，且候选UE同意并支持软切换，第一配置信息包括软切换参数配置信息。
63-3)源基站或核心网设备在第二预设时间内等待候选UE的第一应答信息。可选地，源基站或核心网设备在预设时间内等待候选接入基站的第二应答信息。
一旦收到某个候选UE发送的第一应答信息满足第一切换条件，则立即选择该候选UE作为切换后执行第一感知的感知节点；
或者，
一旦收到某个候选接入基站的第二应答信息满足第一切换条件，则立即选择该候选接入基站下的对应发送满足第一切换条件的第一应答信息的候选UE，作为切换后执行第一感知的感知节点。
可选地，第一应答信息内容包括第二配置信息。第二配置信息可以参见前述实施例的相关说明。
可选地，若第一请求信息中包括软切换请求，且候选UE同意并支持软切换，第二配置信息包括软切换参数配置信息。
上述第一切换条件可以参见前述实施例的相关说明。
情况二：候选UE不同意，则可选地，候选UE向第一请求信息发送方(源基站或核心网设备)发送第一拒绝信息。
可选地，所述候选接入基站向第二请求信息发送方(源基站或核心网设备)发送第二拒绝信息。
若在预设等待时间内没有候选UE同意进行第一感知，后续处理可以是以下其中一项：i.源基站或核心网设备重新确定候选UE；ii.候选接入基站重新确定候选UE；iii.源基站或核心网设备重新确定候选接入基站，候选接入基站确定候选UE；iii.取消切换，维持当前第二感知；iv.结束当前第二感知。
步骤64：该步骤同上述步骤34，在此不做赘述。
步骤65：目标UE执行感知业务，源基站释放感知资源。具体地，执行以下操作：
65-1)目标UE基于第一请求信息或第二请求信息、第一配置信息、第二配置信息中的至少一项，进行感知参数配置，执行第一感知。
65-2)源基站(基站A和基站B)停止执行第二感知，释放感知资源。根据切换前后感知节点可能存在不同，包括以下几种情况之一：
1)请求信息发送方为基站A，基站A和目标接入基站不是同一设备：
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)；
可选地，基站A将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE；
或者，
基站A将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标接入基站，目标接入基站将所述感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
2)请求信息发送方为基站B，基站B和目标接入基站不是同一设备：
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).
可选地，基站B将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
或者，
基站B将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标接入基站，目标接入基站将所述感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
3)请求信息发送方为核心网设备：
核心网设备向源基站(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)。
可选地，核心网设备将部分或全部感知测量量的历史测量值和/或历史感知结果、感知目标/区域先验信息发送给目标UE。
65-3)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向核心网设备或源基站发送感知测量量测量结果和/或感知结果；或者，
目标UE向目标接入基站发送感知测量量测量结果和/或感知结果，目标接入基站向核心网设备或源基站发送感知测量量测量结果和/或感知结果。
需要说明的是，本切换场景下切换感知方式之前的感知测量量可以与感知方式切换后的感知测量量可以相同或者不同。
需要说明的是，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，或者，该感知方式切换装置中的用于执行感知方式切换方法的控制模块。本申请实施例中以感知方式切换装置执行感知方式切换方法为例，说明本申请实施例提供的感知方式切换装置。
请参见图8，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图，该感知方式切换装置8应用于第一节点，如图8所示，感知方式切换装置800包括：
第一获取模块801，用于获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；
第一切换模块802，用于根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点。
可选地，所述第一获取模块801具体用于：
获取切换测量报告；
根据所述切换测量报告获取N个候选节点中每个候选节点分别对应的第一感知测量结果。
可选地，所述第一获取模块801具体用于：
进行切换测量，得到切换测量报告，其中，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的信号接收节点；
或者，
接收切换测量报告，其中，所述第一节点包括核心网设备或者源发送节点或者第一网络侧设备，所述源发送节点为对所述感知目标采用所述第二感知方式进行感知操作的信号发送节点，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备。
可选地，所述第一节点进行切换测量的触发条件包括如下至少一项：
所述感知目标的状态发生变化；
对所述感知目标采用所述第二感知方式进行感知操作的终端的位置发生变化；
所述感知目标的感知区域环境发送变化；
所述第一节点获取的感知测量量满足第一条件；
所述第一节点获取的通信测量量满足第二条件；
对所述感知目标采用所述第二感知方式进行感知操作的至少一个感知节点的可用感知资源发送改变。
可选地，所述切换测量报告包括如下至少一项：
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值；
至少一项通信测量量的测量值；
至少一项通信性能评价指标的测量值；
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感知目标的感 知方式由第二感知方式切换为第一感知方式；
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感知目标的感知方式由第二感知方式切换为第一感知方式。
可选地，感知方式切换装置800还包括：
第一接收模块，所述进行切换测量，得到切换测量报告之前，接收切换测量请求和切换测量配置信息中的至少一项；
或者
第一发送模块，用于所述接收切换测量报告之前，发送切换测量请求。
可选地，所述切换测量请求包括切换测量配置信息。
可选地，所述切换测量配置信息包括如下至少一项：测量对象指示信息，切换测量报告配置，测量事件配置信息，测量标识，其中，一个测量标识与一个测量对象和一个切换测量报告配置分别对应。
可选地，所述第一获取模块801具体用于：
向M个候选节点中每个候选节点分别发送第一请求信息；其中，所述第一请求信息用于请求所述候选节点对所述感知目标采用所述第一感知方式进行感知操作，M为正整数；
接收N个候选节点中每个候选节点分别对应的第一应答信息；其中，所述N个候选节点为所述M个候选节点中的N个候选节点，N小于或等于M，所述第一应答信息包括所述候选节点对应的第一感知测量结果。
可选地，所述第一请求信息包括如下至少一项：
第一配置信息，所述第一配置信息用于所述候选节点按照所述第一感知方式对所述感知目标执行感知操作的感知参数配置；
感知需求；
感知服务质量QoS；
感知测量量；
感知测量结果；
感知条件；
所述感知目标的先验信息；
所述感知目标的感知区域的先验信息；
感知方式切换成功判决条件。
可选地，所述第一配置信息包括如下至少一项：感知参数配置信息，软切换参数配置信息。
可选地，所述感知参数配置信息包括如下至少一项：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。
可选地，所述第一应答信息还包括第二配置信息，其中，所述第二配置信息用于所述 候选节点按照所述第一感知方式执行感知操作的感知参数配置。
可选地，所述M个候选节点基于所述M个候选节点的第一信息确定，其中，所述第一信息包括如下至少一项：
位置信息；
面板朝向信息；
感知能力信息；
当前可用于进行感知的资源信息；
信道状态信息。
可选地，所述第一获取模块801具体用于：
向第二节点发送第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对所述感知目标采用所述第一感知方式进行感知操作的候选节点；
从所述第二节点接收N个候选节点中每个候选节点分别对应的第二应答信息，其中，所述第二应答信息包括所述候选节点对应的第一感知测量结果。
可选地，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点，且所述N个候选节点包括所述第一节点；
所述第一获取模块801具体用于：
采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到所述第一节点对应的第一感知测量结果。
可选地，感知方式切换装置800还包括：
第二发送模块，用于向第三节点发送第一指示信息；
其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用所述第一感知方式对所述感知目标执行感知操作，所述第一节点和所述第三节点中的一个为第一网络侧设备或者第二网络侧设备，另一个为核心网设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备。
可选地，感知方式切换装置800还包括：
第三发送模块，用于向第四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四节点在感知方式切换完成后结束对所述感知目标进行感知，所述第一节点包括核心网设备或者第一网络侧设备或者第二网络侧设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备，所述第四节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点。
可选地，感知方式切换装置800还包括第四发送模块，所述第四发送模块具体用于：
向第五节点发送第三指示信息；其中，所述第三指示信息用于指示在感知方式切换完 成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式进行感知操作，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的第一感知节点，所述第五节点包括核心网设备和对所述感知目标采用所述第二感知方式进行感知操作的第二感知节点中的至少一项；
或者
从第五节点接收第三指示信息；其中，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式进行感知操作，所述第一节点包括对所述感知目标采用所述第二感知方式进行感知操作的第一感知节点和核心网设备中的至少一项，所述第五节点为对所述感知目标采用所述第二感知方式进行感知操作的第二感知节点。
可选地，感知方式切换装置800还包括：
第五发送模块，用于向第六节点发送第四指示信息；
其中，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作，所述第一节点和所述第六节点中的一个为第一网络侧设备或者第二网络侧设备，另一个为核心网设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备。
可选地，所述第一切换模块802具体用于：
向至少一个目标节点发送切换确认信息，其中，所述目标节点为所述N个候选节点中对应的第一感知测量结果满足第一切换条件的候选节点，所述切换确认信息用于通知所述目标节点对所述感知目标采用所述第一感知方式进行感知操作。
可选地，所述第一切换条件包括如下至少一项：
在第一时间段内所述第一感知测量结果中至少一项感知测量量的测量值均大于或等于第一预设门限，或者，在第一时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于或等于第一预设门限的次数达到第一预设次数；
在第二时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于第二感知测量结果对应的感知测量量的测量值，或者，在第二时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于第二感知测量结果对应的感知测量量的测量值的次数达到第二预设次数，所述第二感知测量结果为在第一预设时间段内按照所述第二感知方式执行感知操作获得的第一感知测量结果；
在第三时间段内所述第一感知测量结果中至少一项感知性能评价指标均大于或等于第二预设门限，或者，在第三时间段内所述第一感知测量结果中至少一项感知性能评价指标大于或等于第二预设门限的次数达到第三预设次数；
在第四时间段内所述第一感知测量结果中至少一项感知性能评价指标大于第二感知测量结果对应的感知性能评价指标，或者，在第四时间段内所述第一感知测量结果中至少 一项感知性能评价指标大于第二感知测量结果对应的感知性能评价指标的次数达到第四预设次数；
在第一时间段内的第一目标值均大于或等于第一预设门限，或者，在第一时间段内的第一目标值大于第一预设门限的次数达到第一预设次数，所述第一目标值包括所述第一感知测量结果中至少一项感知测量量的测量值和候选节点对应的至少一项通信测量量的测量值；
在第三时间段内的第二目标值均大于或等于第二预设门限，或者，在第三时间段内的第二目标值大于或等于第二预设门限的次数超过第三预设次数，所述第二目标值包括所述第一感知测量结果中至少一项感知性能评价指标和候选节点对应的至少一项通信测量量的测量值；
在第四时间段内所述第一感知测量结果优于所述第二感知测量结果。
可选地，所述至少一个目标节点包括目标终端；
所述第一切换模块具体用于：
通过第三网络侧设备向所述目标终端发送切换确认信息，其中，所述第三网络侧设备为所述目标终端接入的网络侧设备。
可选地，感知方式切换装置800还包括第六发送模块，具体用于如下至少一项：
向第七节点发送感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作，所述第七节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点，且所述第七节点与所述至少一个目标节点均不同；
向第一候选节点发送取消切换信息，其中，所述取消切换信息用于通知所述第一候选节点取消对所述感知目标采用所述第一感知方式进行感知操作并释放预留感知资源，所述第一候选节点包括所述N个候选节点中除所述至少一个目标节点之外的候选节点。
可选地，感知方式切换装置800还包括：
第一结束模块，用于结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源，其中，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点。
可选地，感知方式切换装置800还包括：
第七发送模块，用于向所述至少一个目标节点发送感知参考信息，其中，所述感知参考信息包括如下至少一项：
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；
所述感知目标的先验信息；
所述感知目标所在的感知区域的先验信息。
可选地，感知方式切换装置800还包括：
第一执行模块，用于在第二预设时间内未获取到候选节点对应的第一感知测量结果，或者所述N个候选节点对应的第一感知测量结果均不满足第一切换条件的情况下，执行第一操作；
其中，所述第一操作包括如下一项：重新确定候选节点，取消将所述感知目标的感知方式由第二感知方式切换为第一感知方式，结束对所述感知目标采用所述第二感知方式进行感知操作。
本申请实施例中的感知方式切换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，也可以是网络侧设备。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，网络侧设备包括但不限于上述所列举的网络侧设备12的类型，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4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。
请参见图9，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图，该感知方式切换装置应用于候选节点。如图9所示，感知方式切换装置900包括：
第一接收模块901，用于从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；
第一发送模块902，用于向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用第一感知方式进行感知操作。
可选地，感知方式切换装置900还包括：
第一配置模块，用于所述向所述第一节点发送第一应答信息之前，根据所述第一请求信息进行所述第一感知方式相关的感知参数配置；
第一感知模块，用于采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到第一感知测量结果。
可选地，所述第一请求信息包括如下至少一项：
第一配置信息，所述第一配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置；
感知需求；
感知服务质量QoS；
感知测量量；
感知测量结果；
感知条件；
所述感知目标的先验信息或所述感知目标的感知区域的先验信息；
感知方式切换成功判决条件。
可选地，所述第一配置信息包括如下至少一项：感知参数配置信息，软切换参数配置信息。
可选地，所述感知参数配置信息包括如下至少一项：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。
可选地，所述第一应答信息还包括第二配置信息，其中，所述第二配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置。
可选地，感知方式切换装置900还包括第二接收模块，具体用于：
从所述第一节点接收切换确认信息；其中，所述切换确认信息用于通知所述候选节点在所述感知目标的感知方式切换后对所述感知目标采用所述第一感知方式进行感知操作；
或者
从所述第一节点接收取消切换信息；其中，所述取消切换信息用于通知所述候选节点取消对所述感知目标采用所述第一感知方式进行感知操作并释放预留感知资源。
可选地，感知方式切换装置900还包括：
第二配置模块，用于所述从所述第一节点接收切换确认信息之后，根据所述第一请求信息和第二配置信息中的至少一项进行所述第一感知方式相关的感知参数配置；
第二感知模块，用于采用所述第一感知方式对所述感知目标进行感知操作。
可选地，感知方式切换装置900还包括：
第二接收模块，用于所述从所述第一节点接收切换确认信息之后，从所述第一节点接收感知参考信息，其中，所述感知参考信息包括如下至少一项：
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；
所述感知目标的先验信息；
所述感知目标所在的感知区域的先验信息。
可选地，所述候选节点为感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的感知节点；感知方式切换装置900还包括：
第三接收模块，用于从所述第一节点接收感知结束命令；
第一结束模块，用于结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源。
本申请实施例中的感知方式切换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，也可以是网络侧设备。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，网络侧设备包括但不限于上述所列举的网络侧设备12的类型，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5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。
请参见图10，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图，该感知方式切换装置应用于第八节点。如图10所示，感知方式切换装置1000包括：
第一执行模块1001，用于执行第二操作；
所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用第二感知方式进行感知操作；
其中，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同一节点，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不同节点。
可选地，所述第八节点为对所述感知目标采用所述第二感知方式进行感知操作的信号接收节点；
感知方式切换装置1000还包括：
第一接收模块，用于所述发送切换测量报告之前，接收第二信息，其中，所述第二信息包括切换测量请求和接收切换测量配置信息中的至少一项；
测量模块，用于根据所述第二信息进行切换测量，得到切换测量报告。
可选地，所述切换测量请求包括切换测量配置信息。
可选地，所述切换测量配置信息包括如下至少一项：测量对象指示信息，切换测量报告配置，测量事件配置信息，测量标识，其中，一个测量标识与一个测量对象和一个切换测量报告配置分别对应。
可选地，感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的感知节点包括所述第八节点和第九节点；
所述第八节点进行切换测量的触发条件包括如下至少一项：
所述感知目标的状态发生变化；
所述感知目标的感知区域环境发送变化；
所述第八节点获取的感知测量量满足第一条件；
所述第八节点获取的通信测量量满足第二条件；
所述第八节点和所述第九节点中的至少一个节点的位置发生变化，所述八节点和所述第九节点中的至少一个为终端；
所述第八节点和所述第九节点之间的距离发生变化，所述八节点和所述第九节点中的至少一个为终端；
所述第八节点与所述第八节点接入的网络侧设备之间的通信测量量满足第三条件，所述第八节点为终端；
所述第九节点与所述第九节点接入的网络侧设备之间的通信测量量满足第三条件，所述第九节点为终端；
所述第八节点和所述第九节点中的至少一个节点的可用感知资源发送改变。
可选地，感知方式切换装置1000还包括：
第一结束模块，用于所述接收感知结束命令之后，结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源。
本申请实施例中的感知方式切换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，也可以是网络侧设备。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，网络侧设备包括但不限于上述所列举的网络侧设备12的类型，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6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。
请参见图11，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图，该感知方式切换装置应用于第二节点。如图11所示，感知方式切换装置1100包括：
第一接收模块1101，用于接收第一节点发送的第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对感知目标采用第一感知方式进行感知操作的候选节点，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同一节点；
第一发送模块1102，用于向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息，其中，所述第二响应信息包括第二应答信息或者第二拒绝信息，所述第二应答信息包括所述候选节点对应的第一感知测量结果，N为正整数。
可选地，感知方式切换装置1100还包括：
第二发送模块，用于所述向所述第一节点发送第二应答信息之前，向至少一个候选节点发送第三请求信息，其中，所述第三请求信息用于请求所述候选节点对所述感知目标采用所述第一感知方式进行感知操作；
第二接收模块，用于接收K个候选节点中每个候选节点分别对应的第三响应信息，其中，所述第三响应信息包括第三应答信息或者第三拒绝信息，所述第三应答信息包括所述候选节点对应的第一感知测量结果，所述N个候选节点对应的第二响应信息包括所述K 个候选节点对应的第三响应信息中的部分或全部，K为大于或等于N的整数。
可选地，所述至少一个候选节点基于所述至少一个候选节点的第一信息确定，其中，所述第一信息包括如下至少一项：
位置信息；
面板朝向信息；
感知能力信息；
当前可用于进行感知的资源信息；
信道状态信息。
本申请实施例中的感知方式切换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。该电子设备可以是网络侧设备，也可以为除网络侧设备之外的其他设备。示例性的，网络侧设备可以包括但不限于上述所列举的网络侧设备12的类型，其他设备可以为服务器、网络附属存储器(Network Attached Storage，NAS)等，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执行时实现上述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。该通信设备1200为网络侧设备时，该程序或指令被处理器1201执行时实现上述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，所述终端为第一节点时，处理器用于获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；通信接口用于根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点；
或者，所述终端为候选节点时，所述通信接口用于从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知操作；
或者，所述终端为第八节点时，所述通信接口用于执行第二操作，所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作；
其中，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同一节点，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不同节点。
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。
其中，终端1300为第一节点时，所述处理器1310用于获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；所述射频单元1301用于根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点；
或者，终端1300为候选节点时，所述射频单元1301用于从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知 操作；
或者，终端1300为第八节点时，所述射频单元1301用于执行第二操作，所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作；
其中，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同一节点，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不同节点。
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，所述网络侧设备为第一节点时，处理器用于获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；通信接口用于根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点；
或者，所述网络侧设备为候选节点时，所述通信接口用于从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知操作；
或者，所述网络侧设备为第八节点时，所述通信接口用于执行第二操作，所述第二操作包括如下至少一项：
发送切换测量报告；
接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对所述感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作；
其中，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同一节点，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不同节点；
或者，所述网络侧设备为第二节点时，所述通信接口用于接收第一节点发送的第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对感知目标采用第一感知方式进行感知操作的候选节点，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同一节点；向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息，其中，所述第二响应信息包括第二应答信息或者第二拒绝信息，所述第二应答信息包括所述候选节点对应的第一感知测量结果，N为正整数。
该网络侧设备实施例与上述网络侧设备方法实施例对应，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至图11中任一项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感知方式切换系统，包括：第一节点和候选节点，所述第一节点可用于执行第一节点侧各个方法实施例的各个过程，所述候选节点可用于执行上述候选节点侧各个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。
可选地，上述一种感知方式切换系统还包括：第八节点和第二节点中的至少一项，所述第八节点可用于执行第八节点侧各个方法实施例的各个过程，所述第二节点可用于执行上述第二节点侧各个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。
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现有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 (52)

  1. 一种感知方式切换方法，包括：
    第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；
    所述第一节点根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点。
  2. 根据权利要求1所述的方法，其中，所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，包括：
    所述第一节点获取切换测量报告；
    所述第一节点根据所述切换测量报告获取N个候选节点中每个候选节点分别对应的第一感知测量结果。
  3. 根据权利要求2所述的方法，其中，所述第一节点获取切换测量报告，包括：
    所述第一节点进行切换测量，得到切换测量报告，其中，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的信号接收节点；
    或者，
    所述第一节点接收切换测量报告，其中，所述第一节点包括核心网设备或者源发送节点或者第一网络侧设备，所述源发送节点为对所述感知目标采用所述第二感知方式进行感知操作的信号发送节点，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备。
  4. 根据权利要求3所述的方法，其中，所述第一节点进行切换测量的触发条件包括如下至少一项：
    所述感知目标的状态发生变化；
    对所述感知目标采用所述第二感知方式进行感知操作的终端的位置发生变化；
    所述感知目标的感知区域环境发送变化；
    所述第一节点获取的感知测量量满足第一条件；
    所述第一节点获取的通信测量量满足第二条件；
    对所述感知目标采用所述第二感知方式进行感知操作的至少一个感知节点的可用感知资源发送改变。
  5. 根据权利要求3所述的方法，其中，所述切换测量报告包括如下至少一项：
    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值；
    至少一项通信测量量的测量值；
    至少一项通信性能评价指标的测量值；
    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感知目标的感知方式由第二感知方式切换为第一感知方式；
    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感知目标的感知方式由第二感知方式切换为第一感知方式。
  6. 根据权利要求3所述的方法，其中，所述第一节点进行切换测量，得到切换测量报告之前，所述方法还包括：
    所述第一节点接收切换测量请求和切换测量配置信息中的至少一项；
    或者
    所述第一节点接收切换测量报告之前，所述方法还包括：
    所述第一节点发送切换测量请求。
  7. 根据权利要求6所述的方法，其中，所述切换测量请求包括切换测量配置信息。
  8. 根据权利要求6或7所述的方法，其中，所述切换测量配置信息包括如下至少一项：测量对象指示信息，切换测量报告配置，测量事件配置信息，测量标识，其中，一个测量标识与一个测量对象和一个切换测量报告配置分别对应。
  9. 根据权利要求1所述的方法，其中，所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，包括：
    所述第一节点向M个候选节点中每个候选节点分别发送第一请求信息；其中，所述第一请求信息用于请求所述候选节点对所述感知目标采用所述第一感知方式进行感知操作；
    所述第一节点接收N个候选节点中每个候选节点分别对应的第一应答信息；其中，所述N个候选节点为所述M个候选节点中的N个候选节点，N小于或等于M，所述第一应答信息包括所述候选节点对应的第一感知测量结果。
  10. 根据权利要求9所述的方法，其中，所述第一请求信息包括如下至少一项：
    第一配置信息，所述第一配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置；
    感知需求；
    感知服务质量QoS；
    感知测量量；
    感知测量结果；
    感知条件；
    所述感知目标的先验信息；
    所述感知目标的感知区域的先验信息；
    感知方式切换成功判决条件。
  11. 根据权利要求10所述的方法，其中，所述第一配置信息包括如下至少一项：感知参数配置信息，软切换参数配置信息。
  12. 根据权利要求11所述的方法，其中，所述感知参数配置信息包括如下至少一项：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。
  13. 根据权利要求9所述的方法，其中，所述第一应答信息还包括第二配置信息，其中，所述第二配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置。
  14. 根据权利要求9所述的方法，其中，所述M个候选节点基于所述M个候选节点的第一信息确定，其中，所述第一信息包括如下至少一项：
    位置信息；
    面板朝向信息；
    感知能力信息；
    当前可用于进行感知的资源信息；
    信道状态信息。
  15. 根据权利要求1所述的方法，其中，所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，包括：
    所述第一节点向第二节点发送第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对所述感知目标采用所述第一感知方式进行感知操作的候选节点；
    所述第一节点从所述第二节点接收N个候选节点中每个候选节点分别对应的第二应答信息，其中，所述第二应答信息包括所述候选节点对应的第一感知测量结果。
  16. 根据权利要求1所述的方法，其中，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点，且所述N个候选节点包括所述第一节点；
    所述第一节点获取N个候选节点中每个候选节点分别对应的第一感知测量结果，包括：
    所述第一节点采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到所述第一节点对应的第一感知测量结果。
  17. 根据权利要求1所述的方法，所述方法还包括：
    所述第一节点向第三节点发送第一指示信息；
    其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用所述第一感知方式对所述感知目标执行感知操作，所述第一节点和所述第三节点中的一个为第一网络侧设备或者第二网络侧设备，另一个为核心网设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备。
  18. 根据权利要求1所述的方法，所述方法还包括：
    所述第一节点向第四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四节点在感知方式切换完成后结束对所述感知目标进行感知，所述第一节点包括核心网设备或者第一网络侧设备或者第二网络侧设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备，所述第四节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点。
  19. 根据权利要求1所述的方法，所述方法还包括：
    所述第一节点向第五节点发送第三指示信息；其中，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式进行感知操作，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的第一感知节点，所述第五节点包括核心网设备和对所述感知目标采用所述第二感知方式进行感知操作的第二感知节点中的至少一项；
    或者
    所述第一节点从第五节点接收第三指示信息；其中，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式进行感知操作，所述第一节点包括对所述感知目标采用所述第二感知方式进行感知操作的第一感知节点和核心网设备中的至少一项，所述第五节点为对所述感知目标采用所述第二感知方式进行感知操作的第二感知节点。
  20. 根据权利要求1所述的方法，所述方法还包括：
    所述第一节点向第六节点发送第四指示信息；
    其中，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作，所述第一节点和所述第六节点中的一个为第一网络侧设备或者第二网络侧设备，另一个为核心网设备，所述第一网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的终端接入的网络侧设备，所述第二网络侧设备为对所述感知目标采用所述第二感知方式进行感知操作的网络侧设备。
  21. 根据权利要求1所述的方法，其中，所述第一节点根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，包括：
    所述第一节点向至少一个目标节点发送切换确认信息，其中，所述目标节点为所述N个候选节点中对应的第一感知测量结果满足第一切换条件的候选节点，所述切换确认信息用于通知所述目标节点对所述感知目标采用所述第一感知方式进行感知操作。
  22. 根据权利要求21所述的方法，其中，所述第一切换条件包括如下至少一项：
    在第一时间段内所述第一感知测量结果中至少一项感知测量量的测量值均大于或等于第一预设门限，或者，在第一时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于或等于第一预设门限的次数达到第一预设次数；
    在第二时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于第二感知测量结果对应的感知测量量的测量值，或者，在第二时间段内所述第一感知测量结果中至少一项感知测量量的测量值大于第二感知测量结果对应的感知测量量的测量值的次数达到第二预设次数，所述第二感知测量结果为在第一预设时间段内按照所述第二感知方式执行感知操作获得的第一感知测量结果；
    在第三时间段内所述第一感知测量结果中至少一项感知性能评价指标均大于或等于第二预设门限，或者，在第三时间段内所述第一感知测量结果中至少一项感知性能评价指标大于或等于第二预设门限的次数达到第三预设次数；
    在第四时间段内所述第一感知测量结果中至少一项感知性能评价指标大于第二感知测量结果对应的感知性能评价指标，或者，在第四时间段内所述第一感知测量结果中至少一项感知性能评价指标大于第二感知测量结果对应的感知性能评价指标的次数达到第四预设次数；
    在第一时间段内的第一目标值均大于或等于第一预设门限，或者，在第一时间段内的第一目标值大于第一预设门限的次数达到第一预设次数，所述第一目标值包括所述第一感知测量结果中至少一项感知测量量的测量值和候选节点对应的至少一项通信测量量的测量值；
    在第三时间段内的第二目标值均大于或等于第二预设门限，或者，在第三时间段内的第二目标值大于或等于第二预设门限的次数超过第三预设次数，所述第二目标值包括所述第一感知测量结果中至少一项感知性能评价指标和候选节点对应的至少一项通信测量量的测量值；
    在第四时间段内所述第一感知测量结果优于所述第二感知测量结果。
  23. 根据权利要求21所述的方法，其中，所述至少一个目标节点包括目标终端；
    所述第一节点向至少一个目标节点发送切换确认信息，包括：
    所述第一节点通过第三网络侧设备向所述目标终端发送切换确认信息，其中，所述第三网络侧设备为所述目标终端接入的网络侧设备。
  24. 根据权利要求21所述的方法，所述方法还包括如下至少一项：
    所述第一节点向第七节点发送感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用所述第二感知方式进行感知操作，所述第七节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点，且所述第七节点与所述至少一个目标节点均不同；
    所述第一节点向第一候选节点发送取消切换信息，其中，所述取消切换信息用于通知所述第一候选节点取消对所述感知目标采用所述第一感知方式进行感知操作并释放预留感知资源，所述第一候选节点包括所述N个候选节点中除所述至少一个目标节点之外的候选节点。
  25. 根据权利要求21所述的方法，所述方法还包括：
    所述第一节点结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源，其中，所述第一节点为对所述感知目标采用所述第二感知方式进行感知操作的感知节点。
  26. 根据权利要求21所述的方法，所述方法还包括：
    所述第一节点向所述至少一个目标节点发送感知参考信息，其中，所述感知参考信息包括如下至少一项：
    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；
    所述感知目标的先验信息；
    所述感知目标所在的感知区域的先验信息。
  27. 根据权利要求1所述的方法，所述方法还包括：
    在所述第一节点在第二预设时间内未获取到候选节点对应的第一感知测量结果，或者所述N个候选节点对应的第一感知测量结果均不满足第一切换条件的情况下，所述第一节点执行第一操作；
    其中，所述第一操作包括如下一项：重新确定候选节点，取消将所述感知目标的感知方式由第二感知方式切换为第一感知方式，结束对所述感知目标采用所述第二感知方式进行感知操作。
  28. 一种感知方式切换方法，包括：
    候选节点从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；
    所述候选节点向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知操作。
  29. 根据权利要求28所述的方法，其中，所述候选节点向所述第一节点发送第一响应信息之前，所述方法还包括：
    所述候选节点根据所述第一请求信息进行所述第一感知方式相关的感知参数配置；
    所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量，得到第一感知测量结果。
  30. 根据权利要求28所述的方法，其中，所述第一请求信息包括如下至少一项：
    第一配置信息，所述第一配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置；
    感知需求；
    感知服务质量QoS；
    感知测量量；
    感知测量结果；
    感知条件；
    所述感知目标的先验信息或所述感知目标的感知区域的先验信息；
    感知方式切换成功判决条件。
  31. 根据权利要求30所述的方法，其中，所述第一配置信息包括如下至少一项：感知参数配置信息，软切换参数配置信息。
  32. 根据权利要求31所述的方法，其中，所述感知参数配置信息包括如下至少一项：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。
  33. 根据权利要求28所述的方法，其中，所述第一应答信息还包括第二配置信息，其中，所述第二配置信息用于所述候选节点按照所述第一感知方式执行感知操作的感知参数配置。
  34. 根据权利要求28所述的方法，所述方法还包括：
    所述候选节点从所述第一节点接收切换确认信息；其中，所述切换确认信息用于通知所述候选节点在所述感知目标的感知方式切换后对所述感知目标采用所述第一感知方式进行感知操作；
    或者
    所述候选节点从所述第一节点接收取消切换信息；其中，所述取消切换信息用于通知所述候选节点取消对所述感知目标采用所述第一感知方式进行感知操作并释放预留感知资源。
  35. 根据权利要求34所述的方法，其中，所述候选节点从所述第一节点接收切换确认信息之后，所述方法还包括：
    所述候选节点根据所述第一请求信息和第二配置信息中的至少一项进行所述第一感知方式相关的感知参数配置；
    所述候选节点采用所述第一感知方式对所述感知目标进行感知操作。
  36. 根据权利要求34所述的方法，其中，所述候选节点从所述第一节点接收切换确认信息之后，所述方法还包括：
    所述候选节点从所述第一节点接收感知参考信息，其中，所述感知参考信息包括如下至少一项：
    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；
    所述感知目标的先验信息；
    所述感知目标所在的感知区域的先验信息。
  37. 根据权利要求28所述的方法，其中，所述候选节点为感知方式切换前对所述感知目标采用第二感知方式进行感知操作的感知节点，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不同节点；所述方法还包括：
    所述候选节点从所述第一节点接收感知结束命令；
    所述候选节点结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源。
  38. 一种感知方式切换方法，包括：
    第八节点执行第二操作，所述第二操作包括如下至少一项：
    发送切换测量报告；
    接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
    发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
    接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结束对所述感知目标采用第二感知方式进行感知操作；
    其中，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同一节点，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不同节点。
  39. 根据权利要求38所述的方法，其中，所述第八节点为对所述感知目标采用所述第二感知方式进行感知操作的信号接收节点；
    所述发送切换测量报告之前，所述方法还包括：
    所述第八节点接收第二信息，其中，所述第二信息包括切换测量请求和接收切换测量配置信息中的至少一项；
    所述第八节点根据所述第二信息进行切换测量，得到切换测量报告。
  40. 根据权利要求39所述的方法，其中，所述切换测量请求包括切换测量配置信息。
  41. 根据权利要求39或40所述的方法，其中，所述切换测量配置信息包括如下至少一项：测量对象指示信息，切换测量报告配置，测量事件配置信息，测量标识，其中，一个测量标识与一个测量对象和一个切换测量报告配置分别对应。
  42. 根据权利要求39所述的方法，其中，感知方式切换前对所述感知目标采用所述第二感知方式进行感知操作的感知节点包括所述第八节点和第九节点；
    所述第八节点进行切换测量的触发条件包括如下至少一项：
    所述感知目标的状态发生变化；
    所述感知目标的感知区域环境发送变化；
    所述第八节点获取的感知测量量满足第一条件；
    所述第八节点获取的通信测量量满足第二条件；
    所述第八节点和所述第九节点中的至少一个节点的位置发生变化，所述八节点和所述第九节点中的至少一个为终端；
    所述第八节点和所述第九节点之间的距离发生变化，所述八节点和所述第九节点中的至少一个为终端；
    所述第八节点与所述第八节点接入的网络侧设备之间的通信测量量满足第三条件，所述第八节点为终端；
    所述第九节点与所述第九节点接入的网络侧设备之间的通信测量量满足第三条件，所述第九节点为终端；
    所述第八节点和所述第九节点中的至少一个节点的可用感知资源发送改变。
  43. 根据权利要求38所述的方法，其中，所述接收感知结束命令之后，所述方法还包括：
    所述第八节点结束对所述感知目标采用所述第二感知方式进行感知操作，并释放对所述感知目标进行感知所占用的资源。
  44. 一种感知方式切换方法，包括：
    第二节点接收第一节点发送的第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对感知目标采用第一感知方式进行感知操作的候选节点，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同一节点；
    所述第二节点向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息，其中，所述第二响应信息包括第二应答信息或者第二拒绝信息，所述第二应答信息包括所述候选节点对应的第一感知测量结果，N为正整数。
  45. 根据权利要求44所述的方法，其中，所述第二节点向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息之前，所述方法还包括：
    所述第二节点向至少一个候选节点发送第三请求信息，其中，所述第三请求信息用于请求所述候选节点对所述感知目标采用所述第一感知方式进行感知操作；
    所述第二节点接收K个候选节点中每个候选节点分别对应的第三响应信息，其中，所述第三响应信息包括第三应答信息或者第三拒绝信息，所述第三应答信息包括所述候选节点对应的第一感知测量结果，所述N个候选节点对应的第二响应信息包括所述K个候选节点对应的第三响应信息中的部分或全部，K为大于或等于N的整数。
  46. 根据权利要求45所述的方法，其中，所述至少一个候选节点基于所述至少一个候选节点的第一信息确定，其中，所述第一信息包括如下至少一项：
    位置信息；
    面板朝向信息；
    感知能力信息；
    当前可用于进行感知的资源信息；
    信道状态信息。
  47. 一种感知方式切换装置，应用于第一节点，包括：
    第一获取模块，用于获取N个候选节点中每个候选节点分别对应的第一感知测量结果，其中，所述第一感知测量结果包括所述候选节点采用第一感知方式对感知目标执行至少一次感知测量的结果，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同一节点，N为正整数；
    第一切换模块，用于根据根据所述N个候选节点中每个候选节点分别对应的第一感知测量结果，将所述感知目标的感知方式由第二感知方式切换为所述第一感知方式，其中，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不同节点。
  48. 一种感知方式切换装置，应用于候选节点，包括：
    第一接收模块，用于从第一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候选节点对感知目标采用第一感知方式进行感知操作，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同一节点；
    第一发送模块，用于向所述第一节点发送第一响应信息，其中，所述第一响应信息包括第一应答信息或者第一拒绝信息，所述第一应答信息包括第一感知测量结果，所述第一感知测量结果包括所述候选节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果，所述第一拒绝信息用于指示所述候选节点拒接对所述感知目标采用所述第一感知方式进行感知操作。
  49. 一种感知方式切换装置，应用于第八节点，包括：
    第一执行模块，用于执行第二操作；
    所述第二操作包括如下至少一项：
    发送切换测量报告；
    接收第一指示信息、第二指示信息、第三指示信息或第四指示信息，或者发送第三指示信息，其中，所述第一指示信息用于指示在感知方式切换完成后通过网络侧设备采用第一感知方式对感知目标执行感知操作，所述第二指示信息用于指示在感知方式切换完成后结束对所述感知目标进行感知，所述第三指示信息用于指示在感知方式切换完成后通过所述第三指示信息的发送方对所述感知目标采用所述第一感知方式执行感知操作，所述第四指示信息用于指示在感知方式切换完成后通过终端采用所述第一感知方式对所述感知目标执行感知操作；
    发送感知测量结果，其中，所述感知测量结果包括所述第八节点采用所述第一感知方式对所述感知目标执行至少一次感知测量的结果；
    接收感知结束命令，其中，所述感知结束命令用于指示所述感知结束命令的接收方结 束对所述感知目标采用第二感知方式进行感知操作；
    其中，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同一节点，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不同节点。
  50. 一种感知方式切换装置，应用于第二节点，包括：
    第一接收模块，用于接收第一节点发送的第二请求信息，其中，所述第二请求信息用于请求所述第二节点寻找对感知目标采用第一感知方式进行感知操作的候选节点，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同一节点；
    第一发送模块，用于向所述第一节点发送N个候选节点中每个候选节点分别对应的第二响应信息，其中，所述第二响应信息包括第二应答信息或者第二拒绝信息，所述第二应答信息包括所述候选节点对应的第一感知测量结果，N为正整数。
  51. 一种通信设备，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权利要求1至27任一项所述的感知方式切换方法的步骤，或者实现权利要求28至37任一项所述的感知方式切换方法的步骤，或者实现权利要求38至43任一项所述的感知方式切换方法的步骤，或者实现权利要求44至46任一项所述的感知方式切换方法的步骤。
  52. 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27任一项所述的感知方式切换方法的步骤，或者实现权利要求28至37任一项所述的感知方式切换方法的步骤，或者实现权利要求38至43任一项所述的感知方式切换方法的步骤，或者实现权利要求44至46任一项所述的感知方式切换方法的步骤。
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