WO2024178559A1

WO2024178559A1 - Sensing methods, apparatus, device and storage medium

Info

Publication number: WO2024178559A1
Application number: PCT/CN2023/078517
Authority: WO
Inventors: 刘晓菲
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2023-02-27
Filing date: 2023-02-27
Publication date: 2024-09-06
Anticipated expiration: 2025-08-27
Also published as: CN118872322A

Abstract

Provided in the present disclosure are sensing methods, an apparatus, a device and a storage medium. A method provided by the embodiments of the present disclosure comprises: sending first information to a second node, wherein the first information comprises sensing context information, and the sensing context information is information related to sensing of a terminal device. The method of the present disclosure lays a solid foundation for electronic devices such as terminal devices to improve the communication performance or fulfill certain functions.

Description

Perception method, device, equipment and storage medium

Technical Field

本公开涉及通信技术领域，尤其涉及感知方法、装置、设备及存储介质。The present disclosure relates to the field of communication technology, and in particular to a sensing method, device, equipment and storage medium.

Background Art

在通信系统中，多变的环境会直接影响到通信的质量。其中，环境可以包括：信道的传输特性，终端设备和网络设备之间的相对速度等。In a communication system, a changing environment directly affects the quality of communication, which may include: the transmission characteristics of the channel, the relative speed between the terminal device and the network device, etc.

在一些情况下，若网络设备或终端设备可以预先确定环境的相关信息等先验知识，则可以利用这些先验知识以提高通信质量或实现某些功能。但是，在很多情况下，预先确定这些先验知识是比较困难的，进而无法有效地提供通信质量或实现某些功能。In some cases, if the network device or terminal device can predetermine the prior knowledge such as the relevant information of the environment, the prior knowledge can be used to improve the communication quality or realize certain functions. However, in many cases, it is difficult to predetermine the prior knowledge, and thus it is impossible to effectively improve the communication quality or realize certain functions.

发明内容Summary of the invention

本公开提出一种感知方法、装置、设备及存储介质。The present disclosure provides a sensing method, device, equipment and storage medium.

第一方面，本公开实施例提供一种感知方法，被第一节点执行，包括：In a first aspect, an embodiment of the present disclosure provides a sensing method, which is performed by a first node and includes:

向第二节点发送第一信息，所述第一信息包括感知上下文信息，所述感知上下文信息为终端设备的感知相关的信息。First information is sent to the second node, where the first information includes perception context information, and the perception context information is perception-related information of the terminal device.

第二方面，本公开实施例提供一种感知方法，被终端设备执行，包括：In a second aspect, an embodiment of the present disclosure provides a perception method, which is executed by a terminal device and includes:

接收第一配置，所述第一配置用于配置所述终端设备的感知配置，所述第一配置为所述终端设备连接至第二节点后所使用的配置。A first configuration is received, where the first configuration is used to configure a perception configuration of the terminal device, and the first configuration is a configuration used after the terminal device is connected to a second node.

第三方面，本公开实施例提供一种感知方法，被第三节点执行，包括：In a third aspect, an embodiment of the present disclosure provides a sensing method, which is executed by a third node and includes:

接收第五节点发送的小区变更指示，所述小区变更指示用于指示所述终端设备的服务节点和/或服务小区发生变更；所述小区变更指示包括变更后的服务节点的节点标识、变更后的服务小区的小区标识、终端设备的设备标识中的至少之一；receiving a cell change indication sent by the fifth node, where the cell change indication is used to indicate that a serving node and/or serving cell of the terminal device has changed; the cell change indication includes at least one of a node identifier of a changed serving node, a cell identifier of a changed serving cell, and a device identifier of the terminal device;

向第二节点发送第一信息，所述第二节点为所述终端设备的服务节点，所述第一信息包括感知上下文信息，所述感知上下文信息为终端设备的感知相关的信息。The first information is sent to a second node, where the second node is a service node of the terminal device. The first information includes perception context information, where the perception context information is perception-related information of the terminal device.

第四方面，本公开实施例提供一种感知方法，被第二节点执行，包括：In a fourth aspect, an embodiment of the present disclosure provides a sensing method, which is executed by a second node and includes:

接收第一信息，所述第一信息包括感知上下文信息，所述感知上下文信息为终端设备的感知相关的信息。First information is received, where the first information includes perception context information, and the perception context information is information related to perception of a terminal device.

第五方面，本公开实施例提供一种感知方法，被终端设备执行，包括：In a fifth aspect, an embodiment of the present disclosure provides a perception method, which is executed by a terminal device, including:

接收第二节点发送的第一配置，所述第一配置用于配置所述终端设备的感知配置，所述第一配置为所述终端设备连接至第二节点后所使用的配置；receiving a first configuration sent by a second node, where the first configuration is used to configure a perception configuration of the terminal device, and the first configuration is a configuration used after the terminal device is connected to the second node;

基于所述第一配置执行感知任务。A perception task is performed based on the first configuration.

第六方面，本公开实施例提供一种通信系统，包括：In a sixth aspect, an embodiment of the present disclosure provides a communication system, including:

第一节点，用于执行如第一方面所述的方法；A first node, configured to execute the method according to the first aspect;

第二节点，用于执行如第四方面所述的方法；A second node, used to execute the method according to the fourth aspect;

终端设备，用于执行如第二方面所述的方法。Terminal device, used to execute the method as described in the second aspect.

第七方面，本公开实施例提供一种通信系统，包括：In a seventh aspect, an embodiment of the present disclosure provides a communication system, including:

第三节点，用于执行如第三方面所述的方法；A third node, configured to execute the method according to the third aspect;

终端设备，用于执行如第五方面所述的方法。Terminal device, used to execute the method as described in the fifth aspect.

第八方面，本公开实施例提供一种通信装置，包括：In an eighth aspect, an embodiment of the present disclosure provides a communication device, including:

收发模块，用于向第二节点发送第一信息，所述第一信息包括感知上下文信息，所述感知上下文信息为终端设备的感知相关的信息。 The transceiver module is used to send first information to the second node, where the first information includes perception context information, and the perception context information is perception-related information of the terminal device.

第九方面，本公开实施例提供一种通信装置，包括：In a ninth aspect, an embodiment of the present disclosure provides a communication device, including:

收发模块，用于接收第一配置，所述第一配置用于配置所述终端设备的感知配置，所述第一配置为所述终端设备连接至第二节点后所使用的配置。The transceiver module is used to receive a first configuration, where the first configuration is used to configure a perception configuration of the terminal device, and the first configuration is a configuration used after the terminal device is connected to the second node.

第十方面，本公开实施例提供一种通信装置，包括：In a tenth aspect, an embodiment of the present disclosure provides a communication device, including:

收发模块，用于接收第五节点发送的小区变更指示，所述小区变更指示用于指示所述终端设备的服务节点和/或服务小区发生变更；所述小区变更指示包括变更后的服务节点的节点标识、变更后的服务小区的小区标识、终端设备的设备标识中的至少之一；a transceiver module, configured to receive a cell change indication sent by a fifth node, wherein the cell change indication is used to indicate that a serving node and/or serving cell of the terminal device has changed; the cell change indication includes at least one of a node identifier of a changed serving node, a cell identifier of a changed serving cell, and a device identifier of the terminal device;

所述收发模块，还用于向第二节点发送第一信息，所述第二节点为所述终端设备的服务节点，所述第一信息包括感知上下文信息，所述感知上下文信息为终端设备的感知相关的信息。The transceiver module is also used to send first information to a second node, where the second node is a service node of the terminal device. The first information includes perception context information, which is perception-related information of the terminal device.

第十一方面，本公开实施例提供一种通信装置，包括：In an eleventh aspect, an embodiment of the present disclosure provides a communication device, including:

收发模块，用于接收第一信息，所述第一信息包括感知上下文信息，所述感知上下文信息为终端设备的感知相关的信息。The transceiver module is used to receive first information, where the first information includes perception context information, and the perception context information is information related to perception of the terminal device.

第十二方面，本公开实施例提供一种通信装置，包括：In a twelfth aspect, an embodiment of the present disclosure provides a communication device, including:

收发模块，用于接收第二节点发送的第一配置，所述第一配置用于配置所述终端设备的感知配置，所述第一配置为所述终端设备连接至第二节点后所使用的配置；a transceiver module, configured to receive a first configuration sent by a second node, wherein the first configuration is used to configure a perception configuration of the terminal device, and the first configuration is a configuration used after the terminal device is connected to the second node;

处理模块，用于基于所述第一配置执行感知任务。A processing module is used to perform a perception task based on the first configuration.

第十三方面，本公开实施例提供一种通信装置，该通信装置包括处理器，当该处理器调用存储器中的计算机程序时，执行上述第一方面至第五方面任一所述的方法。In a thirteenth aspect, an embodiment of the present disclosure provides a communication device, which includes a processor. When the processor calls a computer program in a memory, it executes any method described in the first to fifth aspects above.

第十四方面，本公开实施例提供一种通信装置，该装置包括处理器和接口电路，该接口电路用于接收代码指令并传输至该处理器，该处理器用于运行所述代码指令以使该装置执行上述第一方面至第五方面任一所述的方法。In a fourteenth aspect, an embodiment of the present disclosure provides a communication device, which includes a processor and an interface circuit, wherein the interface circuit is used to receive code instructions and transmit them to the processor, and the processor is used to run the code instructions to enable the device to execute any one of the methods described in the first to fifth aspects above.

第十五方面，本公开实施例提供一种通信系统，该系统包括第八方面至第十二方面任一所述的通信装置，或者，该系统包括第十三方面所述的通信装置，或者，该系统包括第十四方面所述的通信装置。In aspect fifteen, an embodiment of the present disclosure provides a communication system, the system comprising the communication device described in any one of aspects eight to twelfth, or the system comprising the communication device described in aspect thirteen, or the system comprising the communication device described in aspect fourteen.

第十六方面，本发明实施例提供一种计算机可读存储介质，用于储存为上述网络设备所用的指令，当所述指令被执行时，使所述终端设备执行上述第一方面至第五方面任一所述的方法。In the sixteenth aspect, an embodiment of the present invention provides a computer-readable storage medium for storing instructions used for the above-mentioned network device. When the instructions are executed, the terminal device executes any method described in the above-mentioned first to fifth aspects.

第十七方面，本公开还提供一种包括计算机程序的计算机程序产品，当其在计算机上运行时，使得计算机执行上述第一方面至第五方面任一所述的方法。In the seventeenth aspect, the present disclosure further provides a computer program product comprising a computer program, which, when executed on a computer, enables the computer to execute any of the methods described in the first to fifth aspects above.

第十八方面，本公开提供一种芯片系统，该芯片系统包括至少一个处理器和接口，用于支持网络设备实现第一方面至第五方面任一所述的方法所涉及的功能，例如，确定或处理上述方法中所涉及的数据和信息中的至少一种。在一种可能的设计中，所述芯片系统还包括存储器，所述存储器，用于保存源辅节点必要的计算机程序和数据。该芯片系统，可以由芯片构成，也可以包括芯片和其他分立器件。In aspect 18, the present disclosure provides a chip system, which includes at least one processor and an interface, for supporting a network device to implement the functions involved in any of the methods described in aspect 1 to aspect 5, for example, determining or processing at least one of the data and information involved in the above method. In one possible design, the chip system also includes a memory, which is used to store computer programs and data necessary for the source auxiliary node. The chip system can be composed of a chip, or it can include a chip and other discrete devices.

第十九方面，本公开提供一种计算机程序，当其在计算机上运行时，使得计算机执行上述第一方面至第五方面任一所述的方法。In a nineteenth aspect, the present disclosure provides a computer program, which, when executed on a computer, enables the computer to execute any one of the methods described in the first to fifth aspects above.

BRIEF DESCRIPTION OF THE DRAWINGS

本公开上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

图1为本公开实施例提供的一种通信系统的架构示意图；FIG1 is a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure;

图2为本公开另一个实施例所提供的感知方法的流程示意图；FIG2 is a schematic flow chart of a sensing method provided by another embodiment of the present disclosure;

图3为本公开再一个实施例所提供的感知方法的流程示意图；FIG3 is a flow chart of a sensing method provided in yet another embodiment of the present disclosure;

图4为本公开又一个实施例所提供的感知方法的流程示意图；FIG4 is a schematic diagram of a flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图5为本公开又一个实施例所提供的感知方法的流程示意图；FIG5 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图6为本公开又一个实施例所提供的感知方法的流程示意图；FIG6 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图7为本公开又一个实施例所提供的感知方法的流程示意图；FIG7 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图8为本公开又一个实施例所提供的感知方法的流程示意图； FIG8 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图9为本公开又一个实施例所提供的感知方法的流程示意图；FIG9 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图10为本公开又一个实施例所提供的感知方法的流程示意图；FIG10 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图11为本公开又一个实施例所提供的感知方法的流程示意图；FIG11 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图12为本公开又一个实施例所提供的感知方法的流程示意图；FIG12 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图13为本公开又一个实施例所提供的感知方法的流程示意图；FIG13 is a schematic flow chart of a sensing method provided by yet another embodiment of the present disclosure;

图14为本公开又一个实施例所提供的感知方法的交互示意图；FIG14 is an interactive schematic diagram of a perception method provided by yet another embodiment of the present disclosure;

图15为本公开又一个实施例所提供的感知方法的交互示意图；FIG15 is an interactive schematic diagram of a perception method provided by yet another embodiment of the present disclosure;

图16为本公开再一个实施例所提供的通信装置的结构示意图；FIG16 is a schematic diagram of the structure of a communication device provided by yet another embodiment of the present disclosure;

图17为本公开再一个实施例所提供的通信装置的结构示意图；FIG17 is a schematic diagram of the structure of a communication device provided by yet another embodiment of the present disclosure;

图18为本公开再一个实施例所提供的通信装置的结构示意图；FIG18 is a schematic diagram of the structure of a communication device provided by yet another embodiment of the present disclosure;

图19为本公开再一个实施例所提供的通信装置的结构示意图；FIG19 is a schematic diagram of the structure of a communication device provided by yet another embodiment of the present disclosure;

图20为本公开再一个实施例所提供的通信装置的结构示意图；FIG20 is a schematic diagram of the structure of a communication device provided by yet another embodiment of the present disclosure;

图21为本公开再一个实施例所提供的感知系统的结构示意图；FIG21 is a schematic diagram of the structure of a perception system provided by yet another embodiment of the present disclosure;

图22为本公开再一个实施例所提供的感知系统的结构示意图；FIG22 is a schematic diagram of the structure of a perception system provided by yet another embodiment of the present disclosure;

图23是本申请实施例提供的一种通信装置的结构示意图；FIG23 is a schematic diagram of the structure of a communication device provided in an embodiment of the present application;

图24为本公开一个实施例所提供的一种芯片的结构示意图。FIG. 24 is a schematic diagram of the structure of a chip provided by an embodiment of the present disclosure.

DETAILED DESCRIPTION

这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开实施例相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开实施例的一些方面相一致的装置和方法的例子。Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present disclosure as detailed in the appended claims.

在本公开实施例使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开实施例。在本公开实施例和所附权利要求书中所使用的单数形式的“一种”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments and are not intended to limit the disclosed embodiments. The singular forms of "a" and "the" used in the disclosed embodiments and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and/or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

应当理解，尽管在本公开实施例可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信号彼此区分开。例如，在不脱离本公开实施例范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”及“若”可以被解释成为“在……时”或“当……时”或“响应于确定”。It should be understood that although the terms first, second, third, etc. may be used to describe various information in the disclosed embodiments, these information should not be limited to these terms. These terms are only used to distinguish signals of the same type from each other. For example, without departing from the scope of the disclosed embodiments, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at" or "when" or "in response to determination".

下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的要素。下面通过参考附图描述的实施例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

在通信系统中，终端设备通常需要传输(即接收和/或发送)感知信号，以实现感知服务。其中，感知信号在传输过程中会被反射体阻挡而使得感知信号产生反射、衍射、透射、相位变化、多普勒平移、信号强度变化等传输效应，基于此，感知信号接收端(如终端设备或基站)通过感知接收到的感知信号可以获取反射体的信息，从而实现位置识别、运动检测、生物特征测量、天气识别、交通状况识别等感知服务。In a communication system, a terminal device usually needs to transmit (i.e., receive and/or send) a sensing signal to realize sensing services. In the process of transmission, the sensing signal will be blocked by a reflector, causing the sensing signal to produce transmission effects such as reflection, diffraction, transmission, phase change, Doppler shift, and signal strength change. Based on this, the sensing signal receiving end (such as a terminal device or a base station) can obtain the information of the reflector by sensing the received sensing signal, thereby realizing sensing services such as location recognition, motion detection, biometric measurement, weather recognition, and traffic condition recognition.

可选地，终端设备传输感知信号时所使用的感知资源是由该终端设备的服务基站调度分配的，当终端设备的服务基站不同时，调度至终端设备使用的感知资源也会有所不同。其中，当终端设备发生跨基站或跨小区移动时，会使得终端设备的服务基站发生变化。其中，若终端设备在跨基站或跨小区移动前正在进行感知，那么在跨小区或跨基站移动后如何为终端设备调度所要使用的感知资源以确保感知服务的连续性是亟需解决的问题。Optionally, the perception resources used by the terminal device when transmitting the perception signal are scheduled and allocated by the service base station of the terminal device. When the service base station of the terminal device is different, the perception resources scheduled to the terminal device for use will also be different. Among them, when the terminal device moves across base stations or across cells, the service base station of the terminal device will change. Among them, if the terminal device is performing perception before moving across base stations or across cells, then how to schedule the perception resources to be used for the terminal device after moving across cells or across base stations to ensure the continuity of the perception service is an urgent problem to be solved.

基于此，本公开提出了一种感知方法、装置、设备及存储介质。 Based on this, the present disclosure proposes a perception method, device, equipment and storage medium.

为了更好的理解本公开实施例公开的一种感知方法，下面首先对本公开实施例适用的通信系统进行描述。In order to better understand a perception method disclosed in an embodiment of the present disclosure, a communication system to which the embodiment of the present disclosure is applicable is first described below.

请参见图1，图1为本公开实施例提供的一种通信系统的架构示意图。该通信系统可包括但不限于第一节点、第二节点、终端设备、第三节点。可选地，图1所示的设备数量和形态用于举例并不构成对本公开实施例的限定，实际应用中可以包括一个或一个以上的第一节点，或者一个或一个以上的第二节点，或者一个或一个以上的终端设备，或者一个或一个以上的第三节点。可选地，图1所示的通信系统以包括一个第一节点、一个第二节点、一个终端设备、一个第三节点为例。Please refer to Figure 1, which is a schematic diagram of the architecture of a communication system provided in an embodiment of the present disclosure. The communication system may include, but is not limited to, a first node, a second node, a terminal device, and a third node. Optionally, the number and form of devices shown in Figure 1 are used for example and do not constitute a limitation on the embodiment of the present disclosure. In actual applications, one or more first nodes, or one or more second nodes, or one or more terminal devices, or one or more third nodes may be included. Optionally, the communication system shown in Figure 1 takes a first node, a second node, a terminal device, and a third node as an example.

需要说明的是，本公开实施例的技术方案可以应用于各种通信系统。例如：长期演进(long term evolution，LTE)系统、第五代(5th generation，5G)移动通信系统、5G新空口(new radio，NR)系统，或者其他未来的新型移动通信系统等。It should be noted that the technical solutions of the embodiments of the present disclosure can be applied to various communication systems, such as long term evolution (LTE) system, fifth generation (5G) mobile communication system, 5G new radio (NR) system, or other future new mobile communication systems.

本公开实施例中的终端设备可以是用户侧的一种用于接收或发射信号的实体，如手机。也可以称为终端(terminal)、用户设备(user equipment，UE)、移动台(mobile station，MS)、移动终端设备(mobile terminal，MT)等。终端设备可以是具备通信功能的汽车、智能汽车、手机(mobile phone)、穿戴式设备、平板电脑(Pad)、带无线收发功能的电脑、虚拟现实(virtual reality，VR)终端设备、增强现实(augmented reality，AR)终端设备、工业控制(industrial control)中的无线终端设备、无人驾驶(self-driving)中的无线终端设备、远程手术(remote medical surgery)中的无线终端设备、智能电网(smart grid)中的无线终端设备、运输安全(transportation safety)中的无线终端设备、智慧城市(smart city)中的无线终端设备、智慧家庭(smart home)中的无线终端设备等等。本公开的实施例对终端设备所采用的具体技术和具体设备形态不做限定。The terminal device in the disclosed embodiment may be an entity on the user side for receiving or transmitting signals, such as a mobile phone. It may also be referred to as a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), etc. The terminal device may be a car with communication function, a smart car, a mobile phone, a wearable device, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in smart grid, a wireless terminal device in transportation safety, a wireless terminal device in smart city, a wireless terminal device in smart home, etc. The embodiments of the present disclosure do not limit the specific technology and specific device form adopted by the terminal device.

本公开实施例中的第一节点、第二节点可以是接入网设备(例如基站)，其中，本公开实施例中的接入网设备是网络侧的一种用于发射或接收信号的实体。例如，接入网设备可以为演进型基站(evolved NodeB，eNB)、发送接收点(transmission reception point，TRP)、NR系统中的下一代基站(next generation NodeB，gNB)、其他未来移动通信系统中的基站或无线保真(wireless fidelity，WiFi)系统中的接入节点等。本公开的实施例对接入网设备所采用的具体技术和具体设备形态不做限定。本公开实施例提供的接入网设备可以是由集中单元(central unit，CU)与分布式单元(distributed unit，DU)组成的，其中，CU也可以称为控制单元(control unit)，采用CU-DU的结构可以将接入网设备，例如基站的协议层拆分开，部分协议层的功能放在CU集中控制，剩下部分或全部协议层的功能分布在DU中，由CU集中控制DU。The first node and the second node in the embodiment of the present disclosure may be access network devices (e.g., base stations), wherein the access network device in the embodiment of the present disclosure is an entity on the network side for transmitting or receiving signals. For example, the access network device may be an evolved NodeB (eNB), a transmission reception point (TRP), a next generation NodeB (gNB) in an NR system, a base station in other future mobile communication systems, or an access node in a wireless fidelity (WiFi) system. The embodiment of the present disclosure does not limit the specific technology and specific device form adopted by the access network device. The access network device provided in the embodiment of the present disclosure may be composed of a central unit (CU) and a distributed unit (DU), wherein the CU may also be referred to as a control unit. The CU-DU structure may be used to split the protocol layer of the access network device, such as a base station, and the functions of some protocol layers are placed in the CU for centralized control, and the functions of the remaining part or all of the protocol layers are distributed in the DU, and the DU is centrally controlled by the CU.

本公开实施例中的第三节点可以为用于生成终端设备所要执行的感知任务的节点，例如，该第三节点可以为感知网元(Sensing Function，SF)、定位管理功能(location management function，LMF)网元、移动性管理功能(Access and Mobility management Function，AMF)网元中的任一种。The third node in the embodiment of the present disclosure may be a node for generating a perception task to be performed by the terminal device. For example, the third node may be any one of a sensing network element (Sensing Function, SF), a positioning management function (location management function, LMF) network element, and a mobility management function (Access and Mobility management Function, AMF) network element.

请参见图2，图2为本公开实施例提供的一种通信系统的架构示意图。该通信系统可以包括但不限于第一节点、第二节点、终端设备、第三节点、第五节点。可选地，图1所示的设备数量和形态用于举例并不构成对本公开实施例的限定，实际应用中可以包括一个或一个以上的第一节点，或者一个或一个以上的第二节点，或者一个或一个以上的终端设备，或者一个或一个以上的第三节点，或者一个或一个以上的第五节点。可选地，图1所示的通信系统以包括一个第一节点、一个第二节点、一个终端设备、一个第三节点、一个第五节点为例。Please refer to Figure 2, which is a schematic diagram of the architecture of a communication system provided in an embodiment of the present disclosure. The communication system may include, but is not limited to, a first node, a second node, a terminal device, a third node, and a fifth node. Optionally, the number and form of devices shown in Figure 1 are used for example and do not constitute a limitation on the embodiment of the present disclosure. In actual applications, one or more first nodes, or one or more second nodes, or one or more terminal devices, or one or more third nodes, or one or more fifth nodes may be included. Optionally, the communication system shown in Figure 1 includes a first node, a second node, a terminal device, a third node, and a fifth node as an example.

本公开实施例中的终端设备、第一节点、第二节点、第三节点的介绍可以参考前述描述内容。For the introduction of the terminal device, the first node, the second node, and the third node in the embodiments of the present disclosure, reference may be made to the foregoing description.

本公开实施例中的第五节点可以是核心网设备，该核心网设备是部署在核心网中的设备，核心网网元是部署在核心网中的网元，两者的功能是提供用户连接、对用户的管理以及对业务完成承载，作为承载网络提供到外部网络的接口。可选地，该第五节点可以为接入和AMF网元，其中，AMF网元用于执行注册、连接、可达性、移动性管理，为终端设备和会话管理功能(Session Management Function，SMF)网元提供会话管理消息传输通道，为终端设备接入时提供认证、鉴权功能；是终端设备和无线的核心网控制面的接入点。The fifth node in the embodiment of the present disclosure may be a core network device, which is a device deployed in the core network, and a core network element is a network element deployed in the core network. The functions of both are to provide user connection, user management, and service carrying, and to provide an interface to the external network as a bearer network. Optionally, the fifth node may be an access and AMF network element, wherein the AMF network element is used to perform registration, connection, reachability, and mobility management, provide a session management message transmission channel for terminal devices and session management function (SMF) network elements, and provide authentication and authorization functions for terminal devices when accessing; it is an access point for terminal devices and the wireless core network control plane.

可以理解的是，本公开实施例描述的通信系统是为了更加清楚的说明本公开实施例的技术方案，并不构成对于本公开实施例提供的技术方案的限定，本领域普通技术人员可知，随着系统架构的演变和新业务场景的出现，本公开实施例提供的技术方案对于类似的技术问题，同样适用。It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution provided by the embodiment of the present disclosure. A person skilled in the art can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by the embodiment of the present disclosure is also applicable to similar technical problems.

可以理解的是，本公开实施例描述的通信系统是为了更加清楚的说明本公开实施例的技术方案，并不构成对于本公开实施例提供的技术方案的限定，本领域普通技术人员可知，随着系统架构的演变和新业务场景的出现，本公开实施例提供的技术方案对于类似的技术问题，同样适用。It can be understood that the communication system described in the embodiment of the present disclosure is to more clearly illustrate the technical solution of the embodiment of the present disclosure, and This does not constitute a limitation on the technical solutions provided in the embodiments of the present disclosure. A person skilled in the art can appreciate that, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present disclosure are also applicable to similar technical problems.

下面参考附图对本公开实施例所提供的感知方法、装置、设备及存储介质进行详细描述。The sensing method, apparatus, device and storage medium provided by the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

需要说明的是，本公开中，在不矛盾的情况下，任一实施方式或实施例中的每个步骤均可以作为独立实施例来实施，且各步骤之间可以任意组合，例如，在某一实施方式或实施例中去除部分步骤后的方案也可以作为独立实施例来实施，且在某一实施方式或实施例中各步骤的顺序可以任意交换，另外，某一实施方式或实施例中的可选方式或可选例可以任意组合；此外，各实施方式或实施例之间可以任意组合，例如，不同实施方式或实施例的部分或全部步骤可以任意组合，某一实施方式或实施例可以与其他实施方式或实施例的可选方式或可选例任意组合。It should be noted that in the present disclosure, in the absence of contradiction, each step in any implementation mode or example can be implemented as an independent example, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain implementation mode or example can also be implemented as an independent example, and the order of the steps in a certain implementation mode or example can be arbitrarily exchanged. In addition, the optional methods or optional examples in a certain implementation mode or example can be arbitrarily combined; in addition, the various implementation modes or examples can be arbitrarily combined. For example, some or all steps of different implementation modes or examples can be arbitrarily combined, and a certain implementation mode or example can be arbitrarily combined with optional methods or optional examples of other implementation modes or examples.

图3为本公开实施例所提供的一种感知方法的流程示意图，该方法由第一节点执行，如图3所示，该感知方法可以包括以下步骤：FIG3 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a first node. As shown in FIG3 , the sensing method may include the following steps:

步骤301、向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。Step 301: Send first information to a second node, where the first information includes perception context information, and the perception context information is information related to perception of a terminal device.

可选地，在本公开的一个实施例之中，在第一节点向第二节点发送第一信息时，或，在第一节点向第二节点发送第一消息前，该第二节点可以为终端设备的服务节点(即当前服务节点)，该第一节点可以为终端设备的上一个服务节点(lastservingnode)。Optionally, in one embodiment of the present disclosure, when the first node sends the first information to the second node, or before the first node sends the first message to the second node, the second node may be the service node of the terminal device (i.e., the current service node), and the first node may be the last serving node (last serving node) of the terminal device.

以下对图3实施例中的第一节点、第二节点、终端设备之间的通信关系进行示例性介绍。The following is an exemplary introduction to the communication relationship between the first node, the second node, and the terminal device in the embodiment of FIG3 .

可选地，在本公开的一个实施例之中，第一节点、第二节点、终端设备之间的通信关系可以为：第一节点为终端设备执行节点切换前的服务节点，第二节点为终端设备执行节点切换后的服务节点。也即是，该第一节点可以为节点切换过程中的源节点(如源基站或称为上一个服务节点)，该第二节点可以为节点切换过程中的目标节点(如目标基站或称为当前服务节点)。以及，在一些实施例之中，当第一节点为终端设备执行节点切换前的服务节点，第二节点为终端设备执行节点切换后的服务节点时，该终端设备的状态可以为：终端设备可以处于从第一节点切换至第二节点的节点切换状态下。Optionally, in one embodiment of the present disclosure, the communication relationship between the first node, the second node, and the terminal device may be: the first node is the service node of the terminal device before performing node switching, and the second node is the service node of the terminal device after performing node switching. That is, the first node may be the source node in the node switching process (such as the source base station or the previous service node), and the second node may be the target node in the node switching process (such as the target base station or the current service node). And, in some embodiments, when the first node is the service node of the terminal device before performing node switching, and the second node is the service node of the terminal device after performing node switching, the state of the terminal device may be: the terminal device may be in a node switching state of switching from the first node to the second node.

可选地，在本公开的另一个实施例之中，第一节点、第二节点、终端设备之间的通信关系可以为：第一节点为终端设备进入非激活态或空闲态之前的服务节点，第二节点为终端设备从非激活态或空闲态切换至连接态时所连接的服务节点。具体的，终端设备在与第一节点连接的情况下可能会从连接态切换至非激活态或空闲态，并且，终端设备在进入非激活态或空闲态之后还发生了移动，且移动至第二节点的通信区域，以及，该终端设备在第二节点的通信区域又从非激活态或空闲态切换至了连接态。此时，该第一节点可以称为旧节点(如旧基站或称为上一个服务节点)，该第二节点可以称为新节点(如新基站或称为当前服务节点)。Optionally, in another embodiment of the present disclosure, the communication relationship between the first node, the second node, and the terminal device may be: the first node is the service node before the terminal device enters the inactive state or the idle state, and the second node is the service node to which the terminal device is connected when it switches from the inactive state or the idle state to the connected state. Specifically, the terminal device may switch from the connected state to the inactive state or the idle state when connected to the first node, and the terminal device moves after entering the inactive state or the idle state, and moves to the communication area of the second node, and the terminal device switches from the inactive state or the idle state to the connected state in the communication area of the second node. At this time, the first node can be called an old node (such as an old base station or a previous service node), and the second node can be called a new node (such as a new base station or a current service node).

可选地，在本公开的又一个实施例之中，第一节点可以是CU，第二节点可以是DU，其中，终端设备可以是先通过与第一节点通信交互来执行了第一业务，之后，再通过与第二节点通信交互以执行第二业务，也即是，该第一节点为终端设备的上一次通信节点(或称为上一个服务节点)，第二节点为终端设备的当前通信节点(或称为当前服务节点)。以及，在一些实施例之中，当第一节点是CU，第二节点是DU时，该终端设备的状态可以为：终端设备可以处于从第一节点切换至第二节点的节点切换状态下。Optionally, in another embodiment of the present disclosure, the first node may be a CU, and the second node may be a DU, wherein the terminal device may first perform a first service by communicating and interacting with the first node, and then perform a second service by communicating and interacting with the second node, that is, the first node is the last communication node (or the last service node) of the terminal device, and the second node is the current communication node (or the current service node) of the terminal device. And, in some embodiments, when the first node is a CU and the second node is a DU, the state of the terminal device may be: the terminal device may be in a node switching state of switching from the first node to the second node.

可选地，在本公开的一个实施例之中，当第一节点、第二节点、终端设备之间的通信关系不同时，第一节点向第二节点发送第一信息的方法也会有所不同。Optionally, in an embodiment of the present disclosure, when the communication relationships among the first node, the second node, and the terminal device are different, the method by which the first node sends the first information to the second node may also be different.

可选地，在本公开的一个实施例之中，当第一节点为终端设备的节点切换过程中的源节点，第二节点为终端设备的节点切换过程中的目标节点时，该第一信息可以被包括在由第一节点发送给第二节点的XnAP消息中，该XnAP消息可以是切换请求(Handover Request)消息，并且，该第一信息可以是在终端设备的节点切换过程中由第一节点发送至第二节点的。Optionally, in one embodiment of the present disclosure, when the first node is a source node in a node switching process of a terminal device and the second node is a target node in a node switching process of the terminal device, the first information may be included in an XnAP message sent by the first node to the second node, the XnAP message may be a handover request (Handover Request) message, and the first information may be sent from the first node to the second node in the node switching process of the terminal device.

可选地，在本公开的另一个实施例之中，当第一节点为前述的旧节点(如旧基站)，该第二节点为前述的新节点(如新基站)时，该第一信息也可以被包括在由第一节点发送给第二节点的XnAP消息中，此时，该XnAP消息可以是检索UE上下文响应(Retrieve UE context Response)消息或部分UE上下文传输消息，可选地，该Retrieve UE context Response消息可以是第一节点在接收到第二节点发送的用于请求UE上下文的请求消息(例如，检索UE上下文请求(Retrieve UE Context Request)消息)时发送至第二节点的，并且，该第一信息可以是在终端设备在连接至第二节点之后，由第一节点发送至第二节点的。Optionally, in another embodiment of the present disclosure, when the first node is the aforementioned old node (such as an old base station) and the second node is the aforementioned new node (such as a new base station), the first information may also be included in an XnAP message sent by the first node to the second node. In this case, the XnAP message may be a Retrieve UE context Response message or a partial UE context Response message. Transmission message, optionally, the Retrieve UE context Response message may be sent by the first node to the second node when the first node receives a request message sent by the second node for requesting a UE context (for example, a Retrieve UE Context Request message), and the first information may be sent by the first node to the second node after the terminal device is connected to the second node.

可选地，在本公开的又一个实施例之中，当第一节点为前述的CU，该第二节点为前述的DU时，该第一信息可以被包括在由第一节点发送给第二节点的F1AP消息中，该F1AP消息可以是UE上下文建立请求消息或UE上下文修改请求消息。Optionally, in another embodiment of the present disclosure, when the first node is the aforementioned CU and the second node is the aforementioned DU, the first information may be included in an F1AP message sent by the first node to the second node, and the F1AP message may be a UE context establishment request message or a UE context modification request message.

可选地，在本公开的一个实施例之中，第一节点向第二节点发送的第一信息中可以包括有感知上下文信息，其中，该感知上下文信息为终端设备的感知相关的信息，其基于该感知上下文信息可以确定出终端设备的感知配置，可选地，该感知上下文信息具体可以用于确定终端设备连接至第二节点后所要使用的感知配置。其中，该感知配置例如可以理解为：终端设备传输感知信号时所要用到的时频域资源。由此可知，当终端设备的服务节点从第一节点变更至第二节点时，第一节点会向第二节点发送感知上下文信息，以便第二节点可以基于该感知上下文信息确定出终端设备的感知配置，则第二节点后续可以将该终端设备的感知配置发送至终端设备，以便终端设备从第一节点切换至第二节点后，还可以基于第二节点确定的终端设备的感知配置继续执行感知任务，实现了跨节点移动时终端设备感知的连续性。Optionally, in one embodiment of the present disclosure, the first information sent by the first node to the second node may include perception context information, wherein the perception context information is information related to the perception of the terminal device, and the perception configuration of the terminal device can be determined based on the perception context information. Optionally, the perception context information can be specifically used to determine the perception configuration to be used after the terminal device is connected to the second node. Among them, the perception configuration can be understood as: the time-frequency domain resources to be used when the terminal device transmits the perception signal. It can be seen that when the service node of the terminal device changes from the first node to the second node, the first node will send the perception context information to the second node, so that the second node can determine the perception configuration of the terminal device based on the perception context information, and then the second node can subsequently send the perception configuration of the terminal device to the terminal device, so that after the terminal device switches from the first node to the second node, it can also continue to perform the perception task based on the perception configuration of the terminal device determined by the second node, thereby realizing the continuity of the perception of the terminal device when moving across nodes.

可选的，第二节点在基于感知上下文信息确定终端设备的感知配置时，该第二节点可以确定直接沿用第一节点下的感知配置，或者，也可以是重新确定不同于第一节点下的感知配置的新感知配置。具体的，当第二节点基于感知上下文信息确定第一节点下的感知配置能用于终端设备连接至第二节点时执行感知任务(如第一节点下的感知配置对应的资源在第二节点下未被占用)，则第二节点可以确定继续沿用第一节点下的感知配置。当第二节点基于感知上下文信息确定第一节点下的感知配置不能用于终端设备连接至第二节点时执行感知任务(如第一节点下的感知配置对应的资源在第二节点下被占用)，则第二节点可以重新确定新的感知配置。Optionally, when the second node determines the perception configuration of the terminal device based on the perception context information, the second node may determine to directly use the perception configuration under the first node, or may redetermine a new perception configuration that is different from the perception configuration under the first node. Specifically, when the second node determines based on the perception context information that the perception configuration under the first node can be used to perform perception tasks when the terminal device is connected to the second node (such as the resources corresponding to the perception configuration under the first node are not occupied under the second node), the second node may determine to continue to use the perception configuration under the first node. When the second node determines based on the perception context information that the perception configuration under the first node cannot be used to perform perception tasks when the terminal device is connected to the second node (such as the resources corresponding to the perception configuration under the first node are occupied under the second node), the second node may redetermine a new perception configuration.

可选地，在本公开的一个实施例之中，该感知上下文信息可以包括以下至少之一：感知类型、感知启动条件信息、感知结束条件信息、第三节点的相关信息、感知任务的任务标识、感知任务、感知信号的传输需求信息、已配置的感知信号的信息、第四节点的相关信息。Optionally, in one embodiment of the present disclosure, the perception context information may include at least one of the following: perception type, perception start condition information, perception end condition information, relevant information of a third node, task identifier of a perception task, perception task, transmission requirement information of a perception signal, information of a configured perception signal, and relevant information of a fourth node.

以下对上述的感知上下文信息中的每一项信息进行详细介绍：The following is a detailed introduction to each of the above-mentioned perception context information:

可选地，在本公开的一个实施例之中，上述的感知类型可以为被感知的目标，该被感知的目标例如可以为被感知区域(如可以感知该被感知区域的天气)或被感知物体(如可以感知该被感知物体的大小)。Optionally, in an embodiment of the present disclosure, the above-mentioned perception type may be a perceived target, and the perceived target may be, for example, a perceived area (such as the weather of the perceived area may be perceived) or a perceived object (such as the size of the perceived object may be perceived).

可选地，在本公开的另一个实施例之中，上述的感知类型可以为感知模式，其中，该感知模式可以理解为感知信号的传输模式。示例的，该感知模式可以包括以下至少之一：终端设备发送感知信号，且接收感知信号；终端设备发送感知信号，其他终端设备接收感知信号；终端设备发送感知信号，基站接收感知信号；基站发送感知信号，终端设备接收感知信号；基站发送感知信号，且接收感知信号；基站发送感知信号，其他基站接收感知信号。Optionally, in another embodiment of the present disclosure, the above-mentioned perception type may be a perception mode, wherein the perception mode may be understood as a transmission mode of a perception signal. For example, the perception mode may include at least one of the following: a terminal device sends a perception signal and receives a perception signal; a terminal device sends a perception signal and other terminal devices receive the perception signal; a terminal device sends a perception signal and a base station receives the perception signal; a base station sends a perception signal and the terminal device receives the perception signal; a base station sends a perception signal and receives the perception signal; a base station sends a perception signal and receives the perception signal; a base station sends a perception signal and other base stations receive the perception signal.

可选地，在本公开的又一个实施例之中，上述的感知类型可以为终端设备所扮演的感知角色，可选地，该感知角色可以为该终端设备在感知信号传输过程中所扮演的感知角色。示例的，该感知角色可以包括以下任一种：感知信号发送端；感知信号接收端；感知信号发送端和感知信号接收端。Optionally, in another embodiment of the present disclosure, the above-mentioned perception type may be a perception role played by the terminal device, and optionally, the perception role may be a perception role played by the terminal device during the perception signal transmission process. For example, the perception role may include any one of the following: a perception signal sending end; a perception signal receiving end; a perception signal sending end and a perception signal receiving end.

可选地，在本公开的一个实施例之中，上述的感知启动条件信息可以用于指示触发终端设备进行感知的条件，感知结束条件信息可以用于指示停止终端设备进行感知的条件。可选地，该感知启动条件信息可以包括允许触发感知的区域条件、允许触发感知的时间条件、允许触发感知的测量条件中的至少一种。该感知结束条件信息也可以包括停止感知的区域条件、停止感知的时间条件、停止感知的测量条件中的至少一种。或者，感知结束条件信息用于指示终端设备不执行感知的条件，例如，在感知结束条件信息中指示的条件被满足的情况下，终端设备不执行感知。Optionally, in one embodiment of the present disclosure, the above-mentioned perception start condition information can be used to indicate the conditions for triggering the terminal device to perform perception, and the perception end condition information can be used to indicate the conditions for stopping the terminal device from performing perception. Optionally, the perception start condition information may include at least one of the area conditions for allowing the triggering of perception, the time conditions for allowing the triggering of perception, and the measurement conditions for allowing the triggering of perception. The perception end condition information may also include at least one of the area conditions for stopping perception, the time conditions for stopping perception, and the measurement conditions for stopping perception. Alternatively, the perception end condition information is used to indicate the conditions for the terminal device not to perform perception, for example, when the conditions indicated in the perception end condition information are met, the terminal device does not perform perception.

可选地，上述的允许触发感知的区域条件可以用于指示允许触发感知的区域范围(area scope)，其中，当终端设备处于该允许触发感知的区域范围时，允许终端设备进行感知。上述的停止感知的区域条件可以用于指示停止感知的区域范围(area scope)，其中，当终端设备处于该停止感知的区域范围时，停止终端设备进行的感知。其中，以“允许触发感知的区域范围”为例进行介绍。可选地，该允许触发感知的时间范围可以包括以下至少之一：允许触发感知的小区列表、允许触发感知的基站列表、允许触发感知的跟踪区(tracking area，TA)列表、允许触发感知的公共陆地移动网络(Public Land Mobile Network，PLMN)列表。其中，以“允许触发感知的小区列表”为例，当终端设备所在的小区包括于该允许触发感知的小区列表中时，则允许终端设备进行感知。其中，该“停止感知的区域范围”与“允许触发感知的区域范围”类似，在此不在赘述。Optionally, the above-mentioned area condition for allowing triggering of perception can be used to indicate an area scope for allowing triggering of perception, wherein when the terminal device is in the area scope for allowing triggering of perception, the terminal device is allowed to perceive. The above-mentioned area condition for stopping perception can be used to indicate an area scope for stopping perception, wherein when the terminal device is in the area scope for stopping perception , stop the perception performed by the terminal device. Among them, the "area range for which triggering perception is allowed" is taken as an example for introduction. Optionally, the time range for which triggering perception is allowed may include at least one of the following: a list of cells for which triggering perception is allowed, a list of base stations for which triggering perception is allowed, a list of tracking areas (TA) for which triggering perception is allowed, and a list of public land mobile networks (PLMN) for which triggering perception is allowed. Among them, taking the "list of cells for which triggering perception is allowed" as an example, when the cell where the terminal device is located is included in the list of cells for which triggering perception is allowed, the terminal device is allowed to perform perception. Among them, the "area range for stopping perception" is similar to the "area range for which triggering perception is allowed", which will not be repeated here.

可选地，上述的允许触发感知的时间条件可以用于指示允许触发感知的时间范围(time scope)，上述的停止感知的时间条件可以用于指示停止感知的时间范围，其中，以“允许触发感知的时间范围”为例进行介绍。可选地，该允许触发感知的时间范围可以包括以下至少之一：允许触发感知的开始时间、允许触发感知的结束时间、允许触发感知的剩余时间。可选地，当当前时间介于允许触发感知开始时间至允许触发感知的结束时间之间时，则允许终端设备进行感知，或者，当允许触发感知的剩余时间大于0时，则也允许终端设备进行感知。其中，该“停止感知的时间范围”与前述的“允许触发感知的时间范围”类似，在此不再赘述。Optionally, the above-mentioned time condition for allowing triggering perception can be used to indicate the time scope (time scope) for allowing triggering perception, and the above-mentioned time condition for stopping perception can be used to indicate the time scope for stopping perception, wherein the “time scope for allowing triggering perception” is taken as an example for introduction. Optionally, the time scope for allowing triggering perception can include at least one of the following: the start time for allowing triggering perception, the end time for allowing triggering perception, and the remaining time for allowing triggering perception. Optionally, when the current time is between the start time for allowing triggering perception and the end time for allowing triggering perception, the terminal device is allowed to perceive, or, when the remaining time for allowing triggering perception is greater than 0, the terminal device is also allowed to perceive. Among them, the “time scope for stopping perception” is similar to the aforementioned “time scope for allowing triggering perception”, and will not be repeated here.

可选地，上述的允许触发感知的测量条件和停止感知的测量条件均可以包括以下至少之一：Optionally, the measurement condition for allowing the triggering of sensing and the measurement condition for stopping the sensing may include at least one of the following:

第一测量参数，其中，该第一测量参数可以用于指示：当终端设备的当前感知测量参数小于该第一测量参数时，则允许继续触发感知，当终端设备的当前感知测量参数达到或超过该第一测量参数时，则不允许再触发感知(即停止感知)；可选地，该感知测量参数例如可以是感知测量的测量次数和/或测量频率，以及，当前感知测量参数可以是第一节点和/或终端设备发送至第二节点的。A first measurement parameter, wherein the first measurement parameter can be used to indicate: when a current perception measurement parameter of the terminal device is less than the first measurement parameter, perception is allowed to continue to be triggered; when the current perception measurement parameter of the terminal device reaches or exceeds the first measurement parameter, perception is not allowed to be triggered again (i.e., perception is stopped); optionally, the perception measurement parameter can be, for example, the number of measurements and/or the measurement frequency of the perception measurement, and the current perception measurement parameter can be sent by the first node and/or the terminal device to the second node.

剩余测量参数，其中，该剩余测量参数可以用于指示：当该剩余测量参数大于0时，则允许继续触发感知，当该剩余测量参数为0时，则不允许再触发感知(即停止感知)，可选地，该剩余测量参数例如可以是感知测量的剩余测量次数。The remaining measurement parameter can be used to indicate that when the remaining measurement parameter is greater than 0, continued triggering of perception is allowed; when the remaining measurement parameter is 0, triggering of perception is not allowed (i.e., stopping perception). Optionally, the remaining measurement parameter can be, for example, the remaining number of measurements of the perception measurement.

其中，第一节点通过向第二节点发送该感知启动条件信息和/或感知结束条件信息，以便该第二节点可以基于该感知上下文信息中的感知启动条件信息和/或感知结束条件信息来确定是否要继续允许终端设备进行感知，则当确定要继续允许终端设备进行感知时，第二节点可以基于感知上下文信息和/或第二节点的资源情况(如第二节点的资源使用情况和/或第二节点的资源干扰情况)确定终端设备的感知配置。Among them, the first node sends the perception start condition information and/or the perception end condition information to the second node, so that the second node can determine whether to continue to allow the terminal device to perceive based on the perception start condition information and/or the perception end condition information in the perception context information. When it is determined to continue to allow the terminal device to perceive, the second node can determine the perception configuration of the terminal device based on the perception context information and/or the resource situation of the second node (such as the resource usage of the second node and/or the resource interference situation of the second node).

可选地，在本公开的一个实施例之中，上述的第三节点的相关信息可以为第三节点的标识。其中，该第三节点可以为用于生成终端设备所要执行的感知任务的节点，例如，该第三节点可以为SF网元、定位管理功能(location management function，LMF)网元、AMF网元或基站中的任一种。可选地，该感知任务可以用于指示感知信号接收端所需要感知的目标，例如，该感知任务可以为：感知信号接收端需要感知该感知信号的反射体的大小、速度、距离、方向等中的至少之一。Optionally, in an embodiment of the present disclosure, the relevant information of the third node may be an identifier of the third node. The third node may be a node for generating a perception task to be performed by the terminal device, for example, the third node may be any one of a SF network element, a location management function (LMF) network element, an AMF network element or a base station. Optionally, the perception task may be used to indicate a target that the perception signal receiving end needs to perceive, for example, the perception task may be: the perception signal receiving end needs to perceive at least one of the size, speed, distance, direction, etc. of the reflector of the perception signal.

可选地，在本公开的一个实施例之中，第一节点通过向第二节点发送第三节点的相关信息，以便该第二节点可以基于第三节点的相关信息来确定出哪个节点为第三节点，由此，当第一节点向第二节点发送的感知上下文信息中不包含能直接确定出终端设备的感知配置的信息时，如当感知上下文信息中不包括：感知类型、感知启动条件信息、感知结束条件信息、感知任务、感知信号的传输需求信息、已配置的感知信号的信息时，该第二节点可以向第三节点请求获取该终端设备对应的感知任务，则第二节点可以基于从第三节点处请求获取到的终端设备对应的感知任务来确定终端设备的感知配置。Optionally, in one embodiment of the present disclosure, the first node sends relevant information of the third node to the second node so that the second node can determine which node is the third node based on the relevant information of the third node. Thus, when the perception context information sent by the first node to the second node does not contain information that can directly determine the perception configuration of the terminal device, such as when the perception context information does not include: perception type, perception start condition information, perception end condition information, perception task, transmission requirement information of the perception signal, and information of the configured perception signal, the second node can request the third node to obtain the perception task corresponding to the terminal device, and the second node can determine the perception configuration of the terminal device based on the perception task corresponding to the terminal device requested from the third node.

可选的，在本公开的一个实施例之中，上述的感知任务的任务标识可以是终端设备所要执行的感知任务对应的任务标识，具体的，可能会存在有多个感知任务，其中，为了区分指示各个感知任务，可以为各个感知任务分配能唯一指示该感知任务标识。Optionally, in one embodiment of the present disclosure, the task identifier of the above-mentioned perception task may be a task identifier corresponding to the perception task to be performed by the terminal device. Specifically, there may be multiple perception tasks. In order to distinguish and indicate each perception task, each perception task may be assigned an identifier that can uniquely indicate the perception task.

可选的，在本公开的一个实施例之中，上述的感知任务可以理解为感知需求，例如该感知任务可以为：需要感知该被感知的目标的大小、速度、距离、方向等中的至少之一。Optionally, in an embodiment of the present disclosure, the above-mentioned perception task may be understood as a perception requirement. For example, the perception task may be: the need to perceive at least one of the size, speed, distance, direction, etc. of the perceived target.

可选地，在本公开的一个实施例之中，上述的感知信号的传输需求信息可以用于指示感知信号的传输需求。可选地，该感知信号的传输需求信息可以包括以下至少之一：Optionally, in an embodiment of the present disclosure, the above-mentioned transmission requirement information of the perception signal may be used to indicate the transmission requirement of the perception signal. Optionally, the transmission requirement information of the perception signal may include at least one of the following:

感知信号的传输周期； The transmission period of the sensing signal;

感知信号的资源类型，该资源类型例如可以为周期、非周期或半周期；The resource type of the sensing signal, which may be, for example, periodic, aperiodic or semi-periodic;

感知信号的频域资源，该频域资源例如可以为FR1，FR2对应的带宽信息，和/或非授权频谱资源及带宽等；Frequency domain resources of the sensing signal, where the frequency domain resources may be, for example, bandwidth information corresponding to FR1 and FR2, and/or unlicensed spectrum resources and bandwidth, etc.;

感知信号的空间关系，该空间关系例如可以为与感知信号具有空间关系的信号的相关信息。The spatial relationship of the perceptual signal may be, for example, information related to a signal having a spatial relationship with the perceptual signal.

可选地，在本公开的一个实施例之中，上述的已配置的感知信号可以为：第一节点所配置的感知信号。上述的已配置的感知信号的信息可以为已配置的感知信号的传输资源。可选地，该已配置的感知信号的传输资源可以是第一节点确定的，具体的，在本公开的一个实施例之中，第一节点在为终端设备提供通信服务时，该第一节点可以从第三节点处获取到该终端设备对应的感知任务，以及该第一节点可以基于该终端设备对应的感知任务来为终端设备配置感知信号的传输资源，并将所配置的传输资源发送至终端设备，以便终端设备使用该传输资源来传输感知信号，从而完成感知任务。可选地，在本公开的一个实施例之中，第一节点在从第三节点处获取到该终端设备对应的感知任务时，第一节点还可以基于该感知任务对应生成感知上下文信息，以便当后续终端设备的服务节点从第一节点变更为第二节点时，该第一节点可以成功向第二节点发送其所生成的该感知上下文信息。Optionally, in one embodiment of the present disclosure, the above-mentioned configured perception signal may be: a perception signal configured by the first node. The above-mentioned information of the configured perception signal may be a transmission resource of the configured perception signal. Optionally, the transmission resource of the configured perception signal may be determined by the first node. Specifically, in one embodiment of the present disclosure, when the first node provides communication services for the terminal device, the first node may obtain the perception task corresponding to the terminal device from the third node, and the first node may configure the transmission resource of the perception signal for the terminal device based on the perception task corresponding to the terminal device, and send the configured transmission resource to the terminal device, so that the terminal device uses the transmission resource to transmit the perception signal, thereby completing the perception task. Optionally, in one embodiment of the present disclosure, when the first node obtains the perception task corresponding to the terminal device from the third node, the first node may also generate perception context information based on the perception task, so that when the service node of the subsequent terminal device is changed from the first node to the second node, the first node can successfully send the perception context information generated by it to the second node.

可选地，在本公开的一个实施例之中，第一节点通过向第二节点发送感知信号的传输需求信息和/或已配置的感知信号的信息，则第二节点可以参考该感知信号的传输需求信息、已配置的感知信号的信息、第二节点的资源情况来确定终端设备的感知配置。可选的，需要说明的是，上述的“参考”仅是本公开的一个示例描述，其与“考虑”或“根据”或“基于”具有相同的意义。应当理解，其他的与上述的“参考”具备相同含义的名词也在本公开的保护范围内。Optionally, in one embodiment of the present disclosure, the first node sends the transmission requirement information of the perception signal and/or the information of the configured perception signal to the second node, and the second node can refer to the transmission requirement information of the perception signal, the information of the configured perception signal, and the resource situation of the second node to determine the perception configuration of the terminal device. Optionally, it should be noted that the above-mentioned "reference" is only an example description of the present disclosure, which has the same meaning as "consider" or "according to" or "based on". It should be understood that other nouns with the same meaning as the above-mentioned "reference" are also within the scope of protection of the present disclosure.

可选地，在本公开的一个实施例之中，上述的第四节点可以为收集感知测量结果的节点，该第四节点可以为：SF、SF-U、基站、核心网设备、或终端设备等，可选地，在本公开的一个实施例之中，第一节点通过向第二节点发送该第四节点的相关信息，以便第二节点可以基于第四节点的相关信息确定出哪个节点是第四节点，由此第二节点在获取到感知测量结果(例如第二节点可以从感知信号接收端处获取到感知测量结果)后，可以将感知测量结果发送至第四节点，以便第四节点基于该感知测量结果计算出感知结果，该感知结果例如可以为感知的反射体(或称为被感知的目标)的大小、速度、距离、方向等中的至少之一，但不限于此，以此来完成感知任务。需要说明的是，在本公开的一个实施例之中，第二节点向第四节点发送感知测量结果时，还可以同时发送参与感知的终端设备的标识、参与感知的基站的标识、参与感知的终端设备所在的小区的标识、感知任务的任务标识中的至少之一，以向第四节点指示参与感知的终端设备、参与感知的基站、参与感知的终端设备所在的小区、感知任务，由此第四节点在基于感知测量结果计算感知结果时还可以综合考虑到参与感知的终端设备、参与感知的基站、参与感知的终端设备所在的小区、感知任务，从而可以提高计算准确度。Optionally, in one embodiment of the present disclosure, the fourth node may be a node for collecting perception measurement results, and the fourth node may be: SF, SF-U, base station, core network equipment, or terminal equipment, etc. Optionally, in one embodiment of the present disclosure, the first node sends relevant information of the fourth node to the second node, so that the second node can determine which node is the fourth node based on the relevant information of the fourth node. After the second node obtains the perception measurement result (for example, the second node can obtain the perception measurement result from the perception signal receiving end), it can send the perception measurement result to the fourth node, so that the fourth node calculates the perception result based on the perception measurement result. The perception result may be, for example, at least one of the size, speed, distance, direction, etc. of the perceived reflector (or the perceived target), but is not limited to this, so as to complete the perception task. It should be noted that in one embodiment of the present disclosure, when the second node sends the perception measurement result to the fourth node, it can also simultaneously send at least one of the identifier of the terminal device participating in the perception, the identifier of the base station participating in the perception, the identifier of the cell where the terminal device participating in the perception is located, and the task identifier of the perception task, so as to indicate to the fourth node the terminal device participating in the perception, the base station participating in the perception, the cell where the terminal device participating in the perception is located, and the perception task. Therefore, when the fourth node calculates the perception result based on the perception measurement result, it can also comprehensively consider the terminal device participating in the perception, the base station participating in the perception, the cell where the terminal device participating in the perception is located, and the perception task, thereby improving the calculation accuracy.

综上所述，本公开实施例提供的感知方法之中，第一节点可以向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。由此可知，本公开实施例之中，节点之间可以传输用于确定终端设备的感知配置的感知上下文信息。基于此，当终端设备发生跨节点移动(即终端设备的服务节点发生变更时，例如由第一节点变更至第二节点时)，且该终端设备在上一个服务节点上正在进行感知时，该上一个服务节点(即第一节点)可以向新的节点(即第二节点)发送感知上下文信息，以便新的节点可以基于该感知上下文信息确定出终端设备的感知配置，由此终端设备可以基于新的节点确定的感知配置来继续进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。In summary, in the perception method provided by the embodiment of the present disclosure, the first node can send the first information to the second node, and the first information includes perception context information, and the perception context information is the perception-related information of the terminal device. It can be seen that in the embodiment of the present disclosure, the perception context information used to determine the perception configuration of the terminal device can be transmitted between nodes. Based on this, when the terminal device moves across nodes (that is, when the service node of the terminal device changes, for example, when it changes from the first node to the second node), and the terminal device is performing perception on the previous service node, the previous service node (that is, the first node) can send perception context information to the new node (that is, the second node), so that the new node can determine the perception configuration of the terminal device based on the perception context information, so that the terminal device can continue to perceive based on the perception configuration determined by the new node, thereby achieving the continuity of the perception of the terminal device when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

图4为本公开实施例所提供的一种感知方法的流程示意图，该方法由第一节点执行，如图4所示，该感知方法可以包括以下步骤：FIG4 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a first node. As shown in FIG4 , the sensing method may include the following steps:

步骤401、接收第二节点发送的第二信息，该第二信息包括第一配置，该第一配置用于配置终端设备的感知配置。Step 401: Receive second information sent by a second node, where the second information includes a first configuration, and the first configuration is used to configure a perception configuration of a terminal device.

可选地，在本公开的一个实施例之中，图4实施例的执行场景可以为：终端设备从第一节点切换至第二节点的过程中。可选地，该第二信息可以为切换请求确认消息。Optionally, in an embodiment of the present disclosure, the execution scenario of the embodiment of Figure 4 may be: during the process of the terminal device switching from the first node to the second node. Optionally, the second information may be a switching request confirmation message.

可选地，在本公开的一个实施例之中，该第一配置可以是第一节点在向第二节点发送了第一信息后，由第二节点基于该第一信息中的感知上下文信息以及第二节点的资源情况(如第二节点的资源使用情况和/或第二节点的资源干扰情况)所确定出来的。在一些实施例之中，该第一配置可以包含第二节点基于感知上下文信息所确定出的该终端设备的感知配置的具体内容。或者，在另一些实施例之中，该第一配置可以用于配置终端设备继续使用已有的感知配置来进行感知。Optionally, in an embodiment of the present disclosure, the first configuration may be that after the first node sends the first information to the second node, Determined by the second node based on the perception context information in the first information and the resource situation of the second node (such as the resource usage of the second node and/or the resource interference of the second node). In some embodiments, the first configuration may include the specific content of the perception configuration of the terminal device determined by the second node based on the perception context information. Alternatively, in other embodiments, the first configuration may be used to configure the terminal device to continue to use the existing perception configuration for perception.

此外，关于步骤401的其他详细介绍可以参考前述实施例描述。In addition, for other detailed descriptions of step 401, reference may be made to the aforementioned embodiment descriptions.

步骤402、向终端设备发送第三信息，该第三信息可以包括第一配置。Step 402: Send third information to the terminal device, where the third information may include the first configuration.

可选地，在本公开的一个实施例之中，该第三信息可以为切换命令信息，可选地，该第三信息还用于指示终端设备切换至第二节点，其中，该第一配置可以为终端设备在切换至第二节点后所使用的感知配置。由此可知，本公开的一个实施例之中，第一节点向第二节点发送了第一信息之后，第二节点会向第一节点反馈该第二节点所确定出的终端设备的感知配置，并且，第一节点还会将第二节点所确定出的终端设备的感知配置发送至终端设备，以便终端设备切换至第二节点时使用该感知配置来进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。Optionally, in one embodiment of the present disclosure, the third information may be switching command information, and optionally, the third information is also used to instruct the terminal device to switch to the second node, wherein the first configuration may be the perception configuration used by the terminal device after switching to the second node. It can be seen that in one embodiment of the present disclosure, after the first node sends the first information to the second node, the second node will feedback the perception configuration of the terminal device determined by the second node to the first node, and the first node will also send the perception configuration of the terminal device determined by the second node to the terminal device, so that the terminal device uses the perception configuration for perception when switching to the second node, thereby achieving the continuity of the perception of the terminal device when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

配置前后不变是不是可以不发，作为并列方案，and，谁来判断配置前后变不变。If the configuration remains unchanged, can we not send it? As a parallel solution, and, who will judge whether the configuration remains unchanged.

图5为本公开实施例所提供的一种感知方法的流程示意图，该方法由终端设备执行，如图5所示，该感知方法可以包括以下步骤：FIG5 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a terminal device. As shown in FIG5 , the sensing method may include the following steps:

步骤501、接收第一配置，该第一配置用于配置终端设备的感知配置，该第一配置为终端设备连接至第二节点后所使用的配置。Step 501: Receive a first configuration, where the first configuration is used to configure a perception configuration of a terminal device, and the first configuration is a configuration used after the terminal device is connected to a second node.

可选地，在本公开的一个实施例之中，终端设备可以是接收第一节点通过第三信息发送的该第一配置。其中，关于“第一配置”、“第三信息”、以及步骤501的详细介绍可以参考前述实施例描述。Optionally, in an embodiment of the present disclosure, the terminal device may receive the first configuration sent by the first node through the third information. For a detailed description of the "first configuration", "third information", and step 501, reference may be made to the description of the aforementioned embodiment.

可选地，在本公开的一个实施例之中，当终端设备接收到第一节点通过第三信息发送的该第一配置之后，终端设备还可以向第二节点发送第四信息，该第四信息用于指示终端设备从第一节点到第二节点切换完成，示例的，该第四信息可以为切换完成消息或RRC重配置完成消息。Optionally, in one embodiment of the present disclosure, after the terminal device receives the first configuration sent by the first node through the third information, the terminal device may also send fourth information to the second node, and the fourth information is used to indicate that the terminal device has completed switching from the first node to the second node. By way of example, the fourth information may be a switching completion message or an RRC reconfiguration completion message.

可选地，在本公开的一个实施例之中，终端设备在接收第一配置之前，终端设备还可以向第一节点发送测量报告消息，该测量报告消息指示终端设备测量到更适合的邻区作为目标服务小区，第一节点收到该测量报告之后，可以根据该测量报告将终端设备切换至第二节点，并向第二节点发送第一信息，以使得第二节点基于该第一信息确定第一配置并向终端设备发送该第一配置。Optionally, in one embodiment of the present disclosure, before receiving the first configuration, the terminal device may also send a measurement report message to the first node, where the measurement report message indicates that the terminal device has measured a more suitable neighboring area as a target service cell. After the first node receives the measurement report, it may switch the terminal device to the second node based on the measurement report and send first information to the second node, so that the second node determines the first configuration based on the first information and sends the first configuration to the terminal device.

图6为本公开实施例所提供的一种感知方法的流程示意图，该方法由终端设备执行，如图6所示，该感知方法可以包括以下步骤：FIG6 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a terminal device. As shown in FIG6 , the sensing method may include the following steps:

步骤601、基于第一配置执行感知任务。 Step 601: Execute a perception task based on a first configuration.

可选地，在本公开的一个实施例之中，终端设备可以是在切换至第二节点之后，基于该第一配置来执行感知任务。可选地，终端设备基于第一配置执行感知任务的方法可以包括：终端设备基于第一配置确定出传输感知信号时所使用的时频域资源，之后，基于所确定出的时频域资源来传输感知信号，以便感知信号的接收端(如第二节点或终端设备自身)可以对接收到的感知信号进行感知和/或测量，来确定出感知信号传输过程中的反射体的大小、速度、距离、方向等中的至少之一。Optionally, in an embodiment of the present disclosure, the terminal device may perform the perception task based on the first configuration after switching to the second node. Optionally, the method for the terminal device to perform the perception task based on the first configuration may include: the terminal device determines the time-frequency domain resources used when transmitting the perception signal based on the first configuration, and then transmits the perception signal based on the determined time-frequency domain resources, so that the receiving end of the perception signal (such as the second node or the terminal device itself) can perceive and/or measure the received perception signal to determine at least one of the size, speed, distance, direction, etc. of the reflector during the transmission of the perception signal.

此外，关于步骤601的详细介绍可以参考前述实施例描述。In addition, for a detailed description of step 601, reference may be made to the description of the aforementioned embodiment.

综上所述，本公开实施例提供的感知方法之中，第一节点可以向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。由此可知，本公开实施例之中，节点之间可以传输用于确定终端设备的感知配置的感知上下文信息。基于此，当终端设备发生跨节点移动(即终端设备的服务节点发生变更时，例如由第一节点变更至第二节点时)，且该终端设备在(lastservingnode)上一个服务节点上正在进行感知时，该上一个服务节点(即第一节点)可以向新的节点(即第二节点)发送感知上下文信息，以便新的节点可以基于该感知上下文信息确定出终端设备的感知配置，由此终端设备可以基于新的节点确定的感知配置来继续进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。In summary, in the perception method provided by the embodiment of the present disclosure, the first node can send the first information to the second node, and the first information includes perception context information, and the perception context information is the perception-related information of the terminal device. It can be seen that in the embodiment of the present disclosure, the perception context information used to determine the perception configuration of the terminal device can be transmitted between nodes. Based on this, when the terminal device moves across nodes (that is, when the service node of the terminal device changes, for example, when it changes from the first node to the second node), and the terminal device is perceiving on the last serving node (last serving node), the last serving node (that is, the first node) can send the perception context information to the new node (that is, the second node), so that the new node can determine the perception configuration of the terminal device based on the perception context information, and thus the terminal device can continue to perceive based on the perception configuration determined by the new node, thereby achieving the continuity of the perception of the terminal device when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

图7为本公开实施例所提供的一种感知方法的流程示意图，该方法由第三节点执行，如图7所示，该感知方法可以包括以下步骤：FIG. 7 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a third node. As shown in FIG. 7 , the sensing method may include the following steps:

步骤701、接收第五节点发送的小区变更指示，该小区变更指示用于指示终端设备的服务节点和/或服务小区发生变更。Step 701: Receive a cell change indication sent by a fifth node, where the cell change indication is used to indicate that a serving node and/or serving cell of a terminal device has changed.

其中，关于第三节点的详细介绍可以参考前述实施例描述。For a detailed introduction to the third node, please refer to the description of the aforementioned embodiment.

可选地，在本公开的一个实施例之中，图7实施例的执行场景可以为：终端设备完成了从第一节点到第二节点的切换后。Optionally, in an embodiment of the present disclosure, the execution scenario of the embodiment of FIG. 7 may be: after the terminal device completes the switching from the first node to the second node.

可选地，在本公开的一个实施例之中，该第五节点可以为AMF，该小区变更指示可以是AMF在接收到第二节点发送的第一请求之后，由AMF发送至第三节点的，其中，该第一请求可以用于第二节点向第五节点进行路径切换请求，同时，该第一请求还可以用于请求第一信息以及用于指示终端设备的服务节点和/或服务小区发生变更；可选地，该第一请求可以包括以下至少之一：Optionally, in an embodiment of the present disclosure, the fifth node may be an AMF, and the cell change indication may be sent by the AMF to the third node after the AMF receives the first request sent by the second node, wherein the first request may be used for the second node to make a path switching request to the fifth node, and at the same time, the first request may also be used to request the first information and to indicate that the serving node and/or serving cell of the terminal device has changed; optionally, the first request may include at least one of the following:

变更后的服务节点的节点标识；The node ID of the changed service node;

变更后的服务小区的小区标识；The cell identifier of the changed serving cell;

终端设备的设备标识。The device ID of the terminal device.

可选地，在本公开的一个实施例之中，当第五节点接收到第二节点发送的第一请求之后，第五节点可以确定出终端设备的服务节点已发生变更，此时，第五节点可以向第三节点发送小区变更指示，以通知第三节点该终端设备的服务节点发生变更，以便第三节点后续可以向变更后的服务节点(即第二节点)发送感知上下文信息。其中，该小区变更指示可以包括以下至少之一：Optionally, in an embodiment of the present disclosure, after the fifth node receives the first request sent by the second node, the fifth node may determine that the service node of the terminal device has changed. At this time, the fifth node may send a cell change indication to the third node to notify the third node that the service node of the terminal device has changed, so that the third node can subsequently send perception context information to the changed service node (i.e., the second node). The cell change indication may include at least one of the following:

终端设备的设备标识。The device ID of the terminal device.

可选地，在本公开的一个实施例中，所述节点标识是下一代无线接入网节点(Next Generation Radio Access Network node，NG-RAN node ID)。Optionally, in one embodiment of the present disclosure, the node identifier is a next generation radio access network node (Next Generation Radio Access Network node, NG-RAN node ID).

可选地，在本公开的一个实施例中，所述小区标识是新空口小区全球标识(New Radio Cell Global Identifier，NCGI)。Optionally, in one embodiment of the present disclosure, the cell identifier is a New Radio Cell Global Identifier (NCGI).

步骤702、向第二节点发送第一信息。Step 702: Send first information to the second node.

可选地，该第二节点为终端设备的变更后的服务节点(或称为当前服务节点)，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。Optionally, the second node is a changed service node (or called a current service node) of the terminal device, and the first information includes perception context information, which is perception-related information of the terminal device.

其中，关于第二节点、第一信息、感知上下文信息、终端设备的配置的相关介绍可以参考前述实施例描述。Among them, the relevant introduction about the second node, the first information, the perceived context information, and the configuration of the terminal device can refer to the description of the aforementioned embodiment.

可选地，在本公开的一个实施例之中，第三节点可以基于小区变更指示中的变更后的服务节点的节点标识和/或变更后的服务小区的小区标识确定出变更后的服务节点为第二节点，则第三节点可以向第二节点发送感知上下文信息，以便第二节点可以基于该感知上下文信息确定出终端设备的感知配置，并将该终端设备的感知配置发送至终端设备，由此即使终端设备的服务节点发生了变更，但该终端设备仍可以基于第二节点所确定的感知配置继续执行感知任务，则实现了跨节点移动时终端设备感知的连续性。Optionally, in one embodiment of the present disclosure, the third node may, based on the node of the changed serving node in the cell change indication, If the point identifier and/or the cell identifier of the changed service cell determines that the changed service node is the second node, the third node can send perception context information to the second node, so that the second node can determine the perception configuration of the terminal device based on the perception context information, and send the perception configuration of the terminal device to the terminal device. Even if the service node of the terminal device is changed, the terminal device can still continue to perform the perception task based on the perception configuration determined by the second node, thereby achieving the continuity of the terminal device's perception when moving across nodes.

可选地，在本公开的一个实施例之中，第三节点向第二节点发送第一信息的方法可以包括以下至少一种：Optionally, in an embodiment of the present disclosure, the method in which the third node sends the first information to the second node may include at least one of the following:

第三节点通过第五节点向第二节点发送该第一信息；The third node sends the first information to the second node through the fifth node;

第三节点直接向该第二节点发送该第一信息。The third node directly sends the first information to the second node.

图8为本公开实施例所提供的一种感知方法的流程示意图，该方法由第二节点执行，如图8所示，该感知方法可以包括以下步骤：FIG8 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by the second node. As shown in FIG8 , the sensing method may include the following steps:

步骤801、接收第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。Step 801: Receive first information, where the first information includes perception context information, and the perception context information is information related to perception of a terminal device.

可选地，在本公开的一个实施例之中，第二节点可以接收由第一节点发送的该第一信息。Optionally, in one embodiment of the present disclosure, the second node may receive the first information sent by the first node.

可选地，在本公开的一个实施例之中，第二节点也可以接收由第三节点发送的该第一信息。Optionally, in one embodiment of the present disclosure, the second node may also receive the first information sent by the third node.

其中，关于该部分的详细介绍可以参考前述实施例描述。For a detailed description of this part, please refer to the aforementioned embodiment description.

综上，本公开实施例提供的感知方法之中，第一节点可以向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。由此可知，本公开实施例之中，节点之间可以传输用于确定终端设备的感知配置的感知上下文信息。基于此，当终端设备发生跨节点移动(即终端设备的服务节点发生变更时，例如由第一节点变更至第二节点时)，且该终端设备在上一个服务节点上正在进行感知时，该上一个服务节点(即第一节点)可以向新的节点(即第二节点)发送感知上下文信息，以便新的节点可以基于该感知上下文信息确定出终端设备的感知配置，由此终端设备可以基于新的节点确定的感知配置来继续进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。In summary, in the perception method provided by the embodiment of the present disclosure, the first node can send the first information to the second node, and the first information includes perception context information, and the perception context information is the perception-related information of the terminal device. It can be seen that in the embodiment of the present disclosure, the perception context information used to determine the perception configuration of the terminal device can be transmitted between nodes. Based on this, when the terminal device moves across nodes (that is, when the service node of the terminal device changes, for example, when it changes from the first node to the second node), and the terminal device is performing perception on the previous service node, the previous service node (that is, the first node) can send perception context information to the new node (that is, the second node), so that the new node can determine the perception configuration of the terminal device based on the perception context information, so that the terminal device can continue to perceive based on the perception configuration determined by the new node, thereby achieving the continuity of the perception of the terminal device when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

图9为本公开实施例所提供的一种感知方法的流程示意图，该方法由第二节点执行，如图9所示，该感知方法可以包括以下步骤：FIG9 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by the second node. As shown in FIG9 , the sensing method may include the following steps:

步骤901、接收第一节点发送的第一信息。Step 901: Receive first information sent by a first node.

步骤902、基于第一信息确定第一配置，该第一配置可以用于配置终端设备的感知配置。Step 902: Determine a first configuration based on the first information, where the first configuration can be used to configure a perception configuration of the terminal device.

可选地，在本公开的一个实施例之中，上述的“基于第一信息确定第一配置”的方法可以包括：响应于第一信息中的感知上下文信息仅包括第三节点的相关信息和/或感知任务的感知标识时，第二节点基于第三节点的相关信息确定出哪个节点为第三节点，并向第三节点请求获取终端设备所要执行的感知任务，例如，第二节点可以向第三节点发送第二请求，该第二请求中可以包括有终端设备的标识和/或感知任务的感知标识，以及，第三节点接收到该第二请求之后，可以基于该第二请求中的终端设备的标识和/或感知任务的感知标识确定出感知任务，再将感知任务发送至第二节点，之后，第二节点再基于感知任务确定第一配置。需要说明的是，上述的“响应于”仅是本公开的一个示例描述，其与“如果”或“当...时”具有相同的意义。应当理解，其他的与上述的“响应于”具备相同含义的名词也在本公开的保护范围内。Optionally, in an embodiment of the present disclosure, the above-mentioned method of "determining the first configuration based on the first information" may include: in response to the perception context information in the first information only including relevant information of the third node and/or the perception identification of the perception task, the second node determines which node is the third node based on the relevant information of the third node, and requests the third node to obtain the perception task to be performed by the terminal device, for example, the second node may send a second request to the third node, the second request may include the identification of the terminal device and/or the perception identification of the perception task, and after the third node receives the second request, it may determine the perception task based on the identification of the terminal device and/or the perception identification of the perception task in the second request, and then send the perception task to the second node, and then the second node determines the first configuration based on the perception task. It should be noted that the above-mentioned "in response to" is only an example description of the present disclosure, which has the same meaning as "if" or "when...". It should be understood that other nouns with the same meaning as the above-mentioned "in response to" are also within the scope of protection of the present disclosure.

可选地，在本公开的一个实施例之中，上述“基于第一信息确定第一配置”的方法可以包括：响应于第一信息中的感知上下文信息包括了能直接确定第一配置的信息时，如当感知上下文信息中包括：感知类型、感知启动条件信息、感知结束条件信息、感知任务、感知信号的传输需求信息、已配置的感知信号的信息中的至少一种时，第二节点可以基于第一信息中的感知上下文信息确定该第一配置。Optionally, in an embodiment of the present disclosure, the method of “determining the first configuration based on the first information” may include: responding to When the perception context information in the first information includes information that can directly determine the first configuration, such as when the perception context information includes: perception type, perception start condition information, perception end condition information, perception task, transmission requirement information of perception signal, and at least one of information of configured perception signal, the second node can determine the first configuration based on the perception context information in the first information.

步骤903、向第一节点发送第二信息，该第二信息包括第一配置。Step 903: Send second information to the first node, where the second information includes the first configuration.

步骤904、接收终端设备发送的第四信息，该第四信息用于指示终端设备切换完成。Step 904: Receive fourth information sent by the terminal device, where the fourth information is used to indicate that the switching of the terminal device is completed.

其中，关于步骤901-904的详细介绍可以参考前述实施例描述。For a detailed description of steps 901 - 904 , please refer to the description of the aforementioned embodiment.

图10为本公开实施例所提供的一种感知方法的流程示意图，该方法由第二节点执行，如图10所示，该感知方法可以包括以下步骤：FIG10 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a second node. As shown in FIG10 , the sensing method may include the following steps:

步骤1001、接收第一节点发送的第一信息。Step 1001: Receive first information sent by a first node.

步骤1002、基于第一信息确定第一配置，该第一配置可以用于配置终端设备的感知配置。Step 1002: determine a first configuration based on the first information, where the first configuration can be used to configure a perception configuration of the terminal device.

步骤1003、向终端设备发送第一配置。Step 1003: Send a first configuration to the terminal device.

可选地，在本公开的一个实施例之中，第二节点确定出第一配置之后，可以不将第一配置发送至第一节点，而是当终端设备切换至该第二节点时，直接将该第一配置发送至终端设备，以便终端设备可以基于该第一配置来继续执行感知任务，实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。Optionally, in one embodiment of the present disclosure, after the second node determines the first configuration, it may not send the first configuration to the first node. Instead, when the terminal device switches to the second node, the first configuration is directly sent to the terminal device, so that the terminal device can continue to perform the perception task based on the first configuration, thereby achieving the continuity of the terminal device's perception when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

其中，关于步骤1001-1003的详细介绍可以参考前述实施例描述。For a detailed description of steps 1001 - 1003 , please refer to the description of the aforementioned embodiment.

图11为本公开实施例所提供的一种感知方法的流程示意图，该方法由第二节点执行，如图11所示，该感知方法可以包括以下步骤：FIG11 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a second node. As shown in FIG11 , the sensing method may include the following steps:

步骤1101、响应于终端设备的感知配置发生变化，向第三节点发送资源变更指示。Step 1101: In response to a change in the perception configuration of a terminal device, a resource change indication is sent to a third node.

可选地，图11实施例的适用于“第三节点未参与第二节点确定第一配置的过程(也即是第二节点是基于第一节点发送的第一信息直接确定出第一配置)”的这一场景。Optionally, the embodiment of FIG. 11 is applicable to the scenario in which “the third node does not participate in the process in which the second node determines the first configuration (that is, the second node directly determines the first configuration based on the first information sent by the first node)”.

可选地，在本公开的一个实施例之中，该资源变更指示用于指示终端设备的感知配置发生变更。可选地，该资源变更指示可以包括变更后的终端设备的感知配置对应的资源。Optionally, in an embodiment of the present disclosure, the resource change indication is used to indicate that a perception configuration of the terminal device has changed. Optionally, the resource change indication may include resources corresponding to the perception configuration of the changed terminal device.

可选的，在本公开的一个实施例之中，图11实施例也可以适用于“第三节点参与第二节点确定第一配置的过程(也即是第二节点是基于第三节点的发送确定第一配置)”的这一场景。此时，该资源变更指示可以理解为：是第二节点对于第三节点发送的用于确定第一配置的消息(即前述的图9实施例中的步骤902中第三节点向第二节点发送的感知任务，或者，后续的图12中的步骤1202中第三节点向第二节点发送的第一信息)的确认(acknowledge，ACK)答复。Optionally, in an embodiment of the present disclosure, the embodiment of FIG. 11 may also be applicable to the scenario of "a third node participates in the process of the second node determining the first configuration (that is, the second node determines the first configuration based on the transmission of the third node)". At this time, the resource change indication can be understood as: an acknowledgement (ACK) reply of the second node to the message sent by the third node for determining the first configuration (that is, the perception task sent by the third node to the second node in step 902 of the embodiment of FIG. 9 above, or the first information sent by the third node to the second node in step 1202 of the subsequent FIG. 12).

其中，在本公开的一个实施例之中，第二节点之所以要向当终端设备的感知配置发生变化时，向第三节点发送资源变更指示的原因主要为：由于终端设备所执行的感知任务可能并不仅有第二节点和终端设备参与，还有其他设备参与，则第二节点通过向第三节点发送资源变更指示，以便第三节点可以向参与了该终端设备的感知任务的其他设备同步指示该终端设备的感知配置发生了变化，从而可以确保其他设备可以基于变更后的感知配置来与终端设备成功继续执行感知任务，确保了感知任务的稳定执行和准确性。Among them, in one embodiment of the present disclosure, the second node sends a message to the first node when the perception configuration of the terminal device changes. The main reason why the three nodes send resource change indications is: since the perception task performed by the terminal device may not only involve the second node and the terminal device, but also other devices, the second node sends a resource change indication to the third node so that the third node can synchronously indicate to other devices participating in the perception task of the terminal device that the perception configuration of the terminal device has changed, thereby ensuring that other devices can successfully continue to perform the perception task with the terminal device based on the changed perception configuration, thereby ensuring the stable execution and accuracy of the perception task.

图12为本公开实施例所提供的一种感知方法的流程示意图，该方法由第二节点执行，如图12所示，该感知方法可以包括以下步骤：FIG. 12 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a second node. As shown in FIG. 12 , the sensing method may include the following steps:

步骤1201、向第五节点发送第一请求。Step 1201: Send a first request to the fifth node.

步骤1202、接收第三节点发送的第一信息。Step 1202: Receive first information sent by a third node.

可选地，所述接收第三节点发送的所述第一信息，包括以下至少之一：Optionally, the receiving the first information sent by the third node includes at least one of the following:

接收所述第三节点直接发送的所述第一信息；receiving the first information directly sent by the third node;

接收所述第三节点通过第五节点发送的所述第一信息。The first information sent by the third node through the fifth node is received.

步骤1203、基于所述第一信息确定第一配置，所述第一配置用于配置所述终端设备的感知配置。Step 1203: determine a first configuration based on the first information, where the first configuration is used to configure a perception configuration of the terminal device.

步骤1204、向终端设备发送第一配置。Step 1204: Send the first configuration to the terminal device.

其中，关于步骤1201-1204的详细介绍可以参考前述实施例描述。For a detailed description of steps 1201 - 1204 , please refer to the description of the aforementioned embodiment.

图13为本公开实施例所提供的一种感知方法的流程示意图，该方法由终端设备执行，如图13所示，该感知方法可以包括以下步骤：FIG. 13 is a flow chart of a sensing method provided by an embodiment of the present disclosure. The method is executed by a terminal device. As shown in FIG. 13 , the sensing method may include the following steps:

步骤1301、接收第二节点发送的第一配置，所述第一配置用于配置所述终端设备的感知配置，所述第一配置为所述终端设备连接至第二节点后所使用的配置；Step 1301: Receive a first configuration sent by a second node, where the first configuration is used to configure a perception configuration of the terminal device, and the first configuration is a configuration used after the terminal device is connected to the second node;

步骤1302、基于所述第一配置执行感知任务。Step 1302: Execute a perception task based on the first configuration.

其中，关于步骤1301-1302的详细介绍可以参考前述实施例描述。For a detailed description of steps 1301 - 1302 , please refer to the description of the aforementioned embodiment.

综上所述，本公开实施例提供的感知方法之中，第一节点可以向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。由此可知，本公开实施例之中，节点之间可以传输用于确定终端设备的感知配置的感知上下文信息。基于此，当终端设备发生跨节点移动(即终端设备的服务节点发生变更时，例如由第一节点变更至第二节点时)，且该终端设备在上一个服务节点上正在进行感知时，该上一个服务节点(即第一节点)可以向新的节点(即第二节点)发送感知上下文信息，以便新的节点可以基于该感知上下文信息确定出终端设备的感知配置，由此终端设备可以基于新的节点确定的感知配置来继续进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。 In summary, in the perception method provided by the embodiment of the present disclosure, the first node can send the first information to the second node, and the first information includes perception context information, and the perception context information is the perception-related information of the terminal device. It can be seen that in the embodiment of the present disclosure, the perception context information used to determine the perception configuration of the terminal device can be transmitted between nodes. Based on this, when the terminal device moves across nodes (that is, when the service node of the terminal device changes, for example, when it changes from the first node to the second node), and the terminal device is performing perception on the previous service node, the previous service node (that is, the first node) can send perception context information to the new node (that is, the second node), so that the new node can determine the perception configuration of the terminal device based on the perception context information, so that the terminal device can continue to perceive based on the perception configuration determined by the new node, thereby achieving the continuity of the perception of the terminal device when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

图14为本公开实施例所提供的一种感知方法的交互流程示意图，如图14所示，该感知方法可以包括以下步骤：FIG14 is a schematic diagram of an interaction flow of a perception method provided by an embodiment of the present disclosure. As shown in FIG14 , the perception method may include the following steps:

步骤1400，gNB1(前述的第一节点)确定感知配置需求(即前述的感知任务)，所述“确定感知配置需求”可以是gNB1自己生成(此时任务第三节点(即SF)配置在gNB1中)或根据接收来自其他节点(例如SF或其他基站)的信息获得。In step 1400, gNB1 (the aforementioned first node) determines the perception configuration requirement (i.e., the aforementioned perception task), and the "determining the perception configuration requirement" can be generated by gNB1 itself (at this time, the task third node (i.e., SF) is configured in gNB1) or obtained based on information received from other nodes (e.g., SF or other base stations).

步骤1401，gNB1根据感知配置需求，为UE(即前述的终端设备)分配感知资源，并向UE发送感知资源配置。UE接收所述配置，并进行感知相关的操作，其中，UE使用的gNB1分配的感知资源。Step 1401, gNB1 allocates sensing resources to UE (i.e., the aforementioned terminal device) according to the sensing configuration requirements, and sends the sensing resource configuration to the UE. The UE receives the configuration and performs sensing-related operations, wherein the UE uses the sensing resources allocated by gNB1.

步骤1402，如果gNB1决定将UE切换至gNB2，gNB1(第一节点)向gNB2(即前述的第二节点)发送切换请求消息(即前述的第一消息)，所述切换请求消息中包括UE感知上下文(即前述的感知上下文信息)。Step 1402, if gNB1 decides to switch the UE to gNB2, gNB1 (the first node) sends a switching request message (i.e., the aforementioned first message) to gNB2 (i.e., the aforementioned second node), and the switching request message includes the UE perception context (i.e., the aforementioned perception context information).

步骤1403，gNB2根据UE感知上下文和/或小区资源情况(例如，使用情况和/或干扰情况)，为UE配置在gNB2下的感知资源，并将所述感知资源配置(即前述的第一配置)包括在切换请求确认的消息中。In step 1403, gNB2 configures the sensing resources under gNB2 for the UE according to the UE sensing context and/or cell resource conditions (for example, usage conditions and/or interference conditions), and includes the sensing resource configuration (i.e., the aforementioned first configuration) in the message of the handover request confirmation.

步骤1404，gNB1向UE发送切换命令，所述切换命令中包括感知资源配置，其中，所述感知资源配置为gNB2为UE分配的感知资源。UE开始使用gNB2分配的感知资源，继续执行感知相关的操作。Step 1404: gNB1 sends a handover command to the UE, wherein the handover command includes a sensing resource configuration, wherein the sensing resource configuration is the sensing resource allocated by gNB2 to the UE. The UE starts to use the sensing resource allocated by gNB2 and continues to perform sensing-related operations.

步骤1405，UE接入gNB2，并向gNB2发送切换完成消息。Step 1405, the UE accesses gNB2 and sends a switching completion message to gNB2.

步骤1406，gNB2向SF(即前述的第三节点)发送感知资源变更指示。Step 1406: gNB2 sends a perception resource change indication to SF (i.e., the third node mentioned above).

可选地，上述在步骤1402中还可以有另一种执行方式，即：gNB2只获得感知的控制节点(即前述的第三节点)相关的信息(即，没有获取感知配置需求信息，无法分配感知资源)，gNB2可以向SF请求获取感知配置需求，并基于请求确定感知上下文信息。Optionally, there may be another execution method in step 1402, namely: gNB2 only obtains information related to the perceived control node (i.e., the aforementioned third node) (i.e., the perception configuration requirement information is not obtained, and perception resources cannot be allocated), and gNB2 may request the SF to obtain the perception configuration requirement, and determine the perception context information based on the request.

图15为本公开实施例所提供的一种感知方法的交互流程示意图，如图15所示，该感知方法可以包括以下步骤：FIG. 15 is a schematic diagram of an interaction flow of a perception method provided by an embodiment of the present disclosure. As shown in FIG. 15 , the perception method may include the following steps:

步骤1500至步骤1501，与步骤1400至步骤1401一致，这里不再赘述。Step 1500 to step 1501 are consistent with step 1400 to step 1401 and will not be repeated here.

步骤1502至步骤1505，UE完成由gNB1切换到gNB2的过程。From step 1502 to step 1505, the UE completes the process of switching from gNB1 to gNB2.

步骤1506，gNB2(第二节点)向AMF(即前述的第五节点)发送路径转换请求消息。Step 1506, gNB2 (the second node) sends a path switching request message to AMF (i.e., the fifth node mentioned above).

步骤1507，AMF确定服务UE的基站或小区发生变化，AMF向SF发送服务小区变更指示，其中，所述服务小区变更指示中包括新的服务小区标识(CGI)和/或UE标识等。Step 1507: AMF determines that the base station or cell serving the UE has changed, and AMF sends a serving cell change indication to the SF, where the serving cell change indication includes a new serving cell identifier (CGI) and/or UE identifier, etc.

步骤1508，SF向gNB2发送UE感知上下文。包括:Step 1508: SF sends UE awareness context to gNB2. This includes:

步骤1508a,SF通过AMF向gNB2发送UE感知上下文。Step 1508a, SF sends UE awareness context to gNB2 via AMF.

步骤1508b，SF直接向gNB2发送UE感知上下文。Step 1508b, SF sends UE perception context directly to gNB2.

步骤1509，gNB2根据UE感知上下文为UE分配资源，向UE发送感知配置资源。Step 1509: gNB2 allocates resources to the UE based on the UE perception context and sends the perception configuration resources to the UE.

图16为本公开实施例所提供的一种通信装置的结构示意图，如图16所示，装置可以包括：FIG. 16 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure. As shown in FIG. 16 , the device may include:

收发模块，用于向第二节点发送第一信息，所述第一信息包括感知上下文信息，所述感知上下文信息为终端设备的感知相关的信息。The transceiver module is used to send first information to the second node, where the first information includes perception context information, and the perception context information is perception-related information of the terminal device.

综上所述，在本公开实施例提供的通信装置，第一节点可以向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。由此可知，本公开实施例之中，节点之间可以传输用于确定终端设备的感知配置的感知上下文信息。基于此，当终端设备发生跨节点移动(即终端设备的服务节点发生变更时，例如由第一节点变更至第二节点时)，且该终端设备在上一个服务节点上正在进行感知时，该上一个服务节点(即第一节点)可以向新的节点(即第二节点)发送感知上下文信息，以便新的节点可以基于该感知上下文信息确定出终端设备的感知配置，由此终端设备可以基于新的节点确定的感知配置来继续进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。In summary, in the communication device provided in the embodiment of the present disclosure, the first node can send the first information to the second node, and the first information includes perception context information, and the perception context information is the perception-related information of the terminal device. It can be seen that in the embodiment of the present disclosure, the perception context information used to determine the perception configuration of the terminal device can be transmitted between nodes. Based on this, when the terminal device moves across nodes (that is, when the service node of the terminal device changes, for example, when it changes from the first node to the second node), and the terminal device is performing perception on the previous service node, the previous service node (that is, the first node) can send perception context information to the new node (that is, the second node), so that the new node can determine the perception configuration of the terminal device based on the perception context information, so that the terminal device can continue to perceive based on the perception configuration determined by the new node, thereby achieving the continuity of the perception of the terminal device when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

可选地，在本公开的一个实施例之中，所述装置还用于：接收所述第二节点发送的第二信息，所述第二信息包括第一配置，所述第一配置用于配置所述终端设备的感知配置。Optionally, in an embodiment of the present disclosure, the apparatus is further used to: receive second information sent by the second node, the second information comprising a first configuration, and the first configuration is used to configure a perception configuration of the terminal device.

可选地，在本公开的一个实施例之中，所述装置还用于：向所述终端设备发送第三信息，所述第三信息包括所述第一配置。Optionally, in an embodiment of the present disclosure, the apparatus is further configured to: send third information to the terminal device, the third information The information includes the first configuration.

可选地，在本公开的一个实施例之中，第三信息还用于指示所述终端设备切换至第二节点，所述第一配置为所述终端设备在切换至第二节点后所使用的配置。Optionally, in an embodiment of the present disclosure, the third information is also used to instruct the terminal device to switch to the second node, and the first configuration is the configuration used by the terminal device after switching to the second node.

可选地，在本公开的一个实施例之中，所述感知上下文信息包括以下至少之一：Optionally, in an embodiment of the present disclosure, the perception context information includes at least one of the following:

感知类型；Perception type;

感知启动条件信息；Perceive the start-up condition information;

感知结束条件信息；Perceive end condition information;

第三节点的相关信息；Relevant information of the third node;

感知任务的任务标识；Task identification of the perception task;

感知任务；Perception tasks;

感知信号的传输需求信息；Transmission requirement information of sensing signals;

已配置的感知信号的信息；Information about configured sensing signals;

第四节点的相关信息。Information about the fourth node.

图17为本公开实施例所提供的一种通信装置的结构示意图，如图17所示，装置可以包括：FIG. 17 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure. As shown in FIG. 17 , the device may include:

可选地，在本公开的一个实施例之中，所述收发模块还用于：Optionally, in an embodiment of the present disclosure, the transceiver module is further used for:

接收第一节点发送的第三信息，所述第三信息包括所述第一配置。Third information sent by the first node is received, where the third information includes the first configuration.

可选地，在本公开的一个实施例之中，所述第三信息还用于指示所述终端设备切换至第二节点。Optionally, in an embodiment of the present disclosure, the third information is also used to instruct the terminal device to switch to the second node.

可选地，在本公开的一个实施例之中，所述装置还用于：Optionally, in one embodiment of the present disclosure, the device is further used for:

向第二节点发送第四信息，所述第四信息用于指示所述终端设备切换完成。Send fourth information to the second node, where the fourth information is used to indicate that the terminal device switching is completed.

图18为本公开实施例所提供的一种通信装置的结构示意图，如图18所示，装置可以包括：FIG. 18 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure. As shown in FIG. 18 , the device may include:

综上所述，在本公开实施例提供的通信装置，第一节点可以向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。由此可知，本公开实施例之中，节点之间可以传输用于确定终端设备的感知配置的感知上下文信息。基于此，当终端设备发生跨节点移动(即终端设备的服务节点发生变更时，例如由第一节点变更至第二节点时)，且该终端设备在上一个服务节点上正在进行感知时，该上一个服务节点(即第一节点)可以向新的节点(即第二节点)发送感知上下文信息，以便新的节点可以基于该感知上下文信息确定出终端设备的感知配置，由此终端设备可以基于新的节点确定的感知配置来继续进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。 In summary, in the communication device provided in the embodiment of the present disclosure, the first node can send the first information to the second node, and the first information includes perception context information, and the perception context information is the perception-related information of the terminal device. It can be seen that in the embodiment of the present disclosure, the perception context information used to determine the perception configuration of the terminal device can be transmitted between nodes. Based on this, when the terminal device moves across nodes (that is, when the service node of the terminal device changes, for example, when it changes from the first node to the second node), and the terminal device is performing perception on the previous service node, the previous service node (that is, the first node) can send perception context information to the new node (that is, the second node), so that the new node can determine the perception configuration of the terminal device based on the perception context information, so that the terminal device can continue to perceive based on the perception configuration determined by the new node, thereby achieving the continuity of the perception of the terminal device when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

通过所述第五节点向所述第二节点发送所述第一信息。The first information is sent to the second node through the fifth node.

直接向所述第二节点发送所述第一信息。The first information is directly sent to the second node.

图19为本公开实施例所提供的一种通信装置的结构示意图，如图19所示，装置可以包括：FIG. 19 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure. As shown in FIG. 19 , the device may include:

综上所述，在本公开实施例提供的通信装置，第一节点可以向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。由此可知，本公开实施例之中，节点之间可以传输用于确定终端设备的感知配置的感知上下文信息。基于此，当终端设备发生跨节点移动(即终端设备的服务节点发生变更时，例如由第一节点变更至第二节点时)，且该终端设备在上一个服务节点上正在进行感知时，该上一个服务节点(即第一节点)可以向新的节点(即第二节点)发送感知上下文信息，以便新的节点可以基于该感知上下文信息确定出终端设备的感知配置，由此终端设备可以基于新的节点确定的感知配置来继续进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。In summary, in the communication device provided in the embodiment of the present disclosure, the first node can send the first information to the second node, and the first information includes perception context information, and the perception context information is the perception-related information of the terminal device. It can be seen that in the embodiment of the present disclosure, the perception context information used to determine the perception configuration of the terminal device can be transmitted between nodes. Based on this, when the terminal device moves across nodes (that is, when the service node of the terminal device changes, for example, when it changes from the first node to the second node), and the terminal device is performing perception on the previous service node, the previous service node (that is, the first node) can send the perception context information to the new node (that is, the second node), so that the new node can determine the perception configuration of the terminal device based on the perception context information, so that the terminal device can continue to perceive based on the perception configuration determined by the new node, thereby achieving the continuity of the perception of the terminal device when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

可选地，在本公开的一个实施例之中，所述收发模块还用于：接收第一节点发送的所述第一信息。Optionally, in an embodiment of the present disclosure, the transceiver module is further used to: receive the first information sent by the first node.

可选地，在本公开的一个实施例之中，所述装置还用于：基于所述第一信息确定第一配置，所述第一配置用于配置所述终端设备的感知配置。Optionally, in an embodiment of the present disclosure, the apparatus is further used to: determine a first configuration based on the first information, the first configuration being used to configure a perception configuration of the terminal device.

可选地，在本公开的一个实施例之中，所述装置还用于：向所述第三节点发送第二请求，所述第二请求包括感知任务的任务标识和/或终端设备的标识；接收所述第三节点发送的终端设备的感知任务；基于所述感知任务确定第一配置。Optionally, in one embodiment of the present disclosure, the device is also used to: send a second request to the third node, the second request including a task identifier of the perception task and/or an identifier of the terminal device; receive the perception task of the terminal device sent by the third node; and determine a first configuration based on the perception task.

可选地，在本公开的一个实施例之中，所述装置还用于：直接基于所述第一信息中的感知上下文信息确定所述第一配置。Optionally, in an embodiment of the present disclosure, the apparatus is further configured to: determine the first configuration directly based on the perceived context information in the first information.

可选地，在本公开的一个实施例之中，所述装置还用于：向所述第一节点发送第二信息，所述第二信息包括所述第一配置。Optionally, in an embodiment of the present disclosure, the apparatus is further used to: send second information to the first node, where the second information includes the first configuration.

可选地，在本公开的一个实施例之中，所述装置还用于：接收终端设备发送的第四信息，所述第四信息用于指示所述终端设备切换完成。Optionally, in an embodiment of the present disclosure, the apparatus is further used to: receive fourth information sent by the terminal device, wherein the fourth information is used to indicate that the switching of the terminal device is completed.

可选地，在本公开的一个实施例之中，所述装置还用于：向所述终端设备发送所述第一配置。Optionally, in an embodiment of the present disclosure, the apparatus is further used to: send the first configuration to the terminal device.

向第三节点发送资源变更指示。A resource change indication is sent to the third node.

可选地，在本公开的一个实施例之中，所述装置还用于：接收第三节点发送的所述第一信息。Optionally, in an embodiment of the present disclosure, the device is further used to: receive the first information sent by a third node.

可选地，在本公开的一个实施例之中，所述装置还用于：向第五节点发送第一请求，所述第一请求用于请求所述第一信息，所述第一请求用于指示所述终端设备的服务节点和/或服务小区发生变更；所述第一请求包括变更后的服务节点的节点标识、变更后的服务小区的小区标识、终端设备的设备标识中的至少之一。Optionally, in one embodiment of the present disclosure, the device is also used to: send a first request to a fifth node, the first request is used to request the first information, the first request is used to indicate that a service node and/or service cell of the terminal device has changed; the first request includes at least one of a node identifier of a changed service node, a cell identifier of a changed service cell, and a device identifier of the terminal device.

可选地，在本公开的一个实施例之中，所述装置还用于：接收所述第三节点通过第五节点发送的所述第一信息。Optionally, in an embodiment of the present disclosure, the device is further used to: receive the first information sent by the third node through the fifth node.

可选地，在本公开的一个实施例之中，所述装置还用于：基于所述第一信息确定第一配置，所述第一配置用于配置所述终端设备的感知配置；向所述终端设备发送所述第一配置。Optionally, in an embodiment of the present disclosure, the apparatus is further used to: determine a first configuration based on the first information, the first configuration being used to configure a perception configuration of the terminal device; and send the first configuration to the terminal device.

图20为本公开实施例所提供的一种通信装置的结构示意图，如图20所示，装置可以包括：FIG. 20 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure. As shown in FIG. 20 , the device may include:

所述收发模块，还用于基于所述第一配置执行感知任务。The transceiver module is also used to perform a perception task based on the first configuration.

综上所述，在本公开实施例提供的通信装置，第一节点可以向第二节点发送第一信息，该第一信息包括感知上下文信息，该感知上下文信息为终端设备的感知相关的信息。由此可知，本公开实施例之中，节点之间可以传输用于确定终端设备的感知配置的感知上下文信息。基于此，当终端设备发生跨节点移动(即终端设备的服务节点发生变更时，例如由第一节点变更至第二节点时)，且该终端设备在上一个服务节点上正在进行感知时，该上一个服务节点(即第一节点)可以向新的节点(即第二节点)发送感知上下文信息，以便新的节点可以基于该感知上下文信息确定出终端设备的感知配置，由此终端设备可以基于新的节点确定的感知配置来继续进行感知，从而实现了跨节点移动时终端设备感知的连续性，确保了感知任务的稳定执行和准确性。In summary, in the communication device provided in the embodiment of the present disclosure, the first node can send first information to the second node, and the first information includes perception context information, and the perception context information is information related to the perception of the terminal device. Perception context information used to determine the perception configuration of the terminal device can be transmitted between nodes. Based on this, when the terminal device moves across nodes (i.e., when the service node of the terminal device changes, for example, when it changes from the first node to the second node), and the terminal device is performing perception on the previous service node, the previous service node (i.e., the first node) can send perception context information to the new node (i.e., the second node), so that the new node can determine the perception configuration of the terminal device based on the perception context information, and the terminal device can continue to perceive based on the perception configuration determined by the new node, thereby achieving the continuity of the terminal device's perception when moving across nodes, and ensuring the stable execution and accuracy of the perception task.

图21为本公开实施例所提供的一种感知系统的结构示意图，如图21所示，系统可以包括：FIG. 21 is a schematic diagram of the structure of a perception system provided by an embodiment of the present disclosure. As shown in FIG. 21 , the system may include:

第一节点，用于执行如图3-图4任一实施例所述的方法；A first node, used to execute the method described in any of the embodiments shown in Figures 3 and 4;

第二节点，用于执行如图8-图11任一所述的方法；A second node, used to execute the method described in any one of Figures 8 to 11;

终端设备，用于执行如图5-图6任一实施例所述的方法。The terminal device is used to execute the method described in any of the embodiments of FIG. 5-FIG 6.

图22为本公开实施例所提供的一种感知系统的结构示意图，如图22所示，系统可以包括：FIG. 22 is a schematic diagram of the structure of a perception system provided by an embodiment of the present disclosure. As shown in FIG. 22 , the system may include:

第三节点，用于执行如图7实施例所述的方法；A third node, used to execute the method described in the embodiment shown in FIG7 ;

第二节点，用于执行如图12实施例所述的方法；A second node, used to execute the method described in the embodiment shown in FIG12;

终端设备，用于执行如图13实施例所述的方法。The terminal device is used to execute the method described in the embodiment of FIG13 .

请参见图23，图23是本申请实施例提供的一种通信装置2300的结构示意图。通信装置2300可以是网络设备，也可以是终端设备，也可以是支持网络设备实现上述方法的芯片、芯片系统、或处理器等，还可以是支持终端设备实现上述方法的芯片、芯片系统、或处理器等。该装置可用于实现上述方法实施例中描述的方法，具体可以参见上述方法实施例中的说明。Please refer to Figure 23, which is a schematic diagram of the structure of a communication device 2300 provided in an embodiment of the present application. The communication device 2300 can be a network device, or a terminal device, or a chip, a chip system, or a processor that supports the network device to implement the above method, or a chip, a chip system, or a processor that supports the terminal device to implement the above method. The device can be used to implement the method described in the above method embodiment, and the details can be referred to the description in the above method embodiment.

通信装置2300可以包括一个或多个处理器2301。处理器2301可以是通用处理器或者专用处理器等。例如可以是基带处理器或中央处理器。基带处理器可以用于对通信协议以及通信数据进行处理，中央处理器可以用于对通信装置(如，基站、基带芯片，终端设备、终端设备芯片，DU或CU等)进行控制，执行计算机程序，处理计算机程序的数据。The communication device 2300 may include one or more processors 2301. The processor 2301 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process the communication protocol and communication data, and the central processing unit may be used to control the communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute a computer program, and process the data of the computer program.

可选地，通信装置2300中还可以包括一个或多个存储器2302，其上可以存有计算机程序2304，处理器2301执行所述计算机程序2304，以使得通信装置2300执行上述方法实施例中描述的方法。可选地，所述存储器2302中还可以存储有数据。通信装置2300和存储器2302可以单独设置，也可以集成在一起。Optionally, the communication device 2300 may further include one or more memories 2302, on which a computer program 2304 may be stored, and the processor 2301 executes the computer program 2304 so that the communication device 2300 performs the method described in the above method embodiment. Optionally, data may also be stored in the memory 2302. The communication device 2300 and the memory 2302 may be provided separately or integrated together.

可选地，通信装置2300还可以包括收发器2305、天线2306。收发器2305可以称为收发单元、收发机、或收发电路等，用于实现收发功能。收发器2305可以包括接收器和发送器，接收器可以称为接收机或接收电路等，用于实现接收功能；发送器可以称为发送机或发送电路等，用于实现发送功能。Optionally, the communication device 2300 may further include a transceiver 2305 and an antenna 2306. The transceiver 2305 may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., for implementing a transceiver function. The transceiver 2305 may include a receiver and a transmitter, the receiver may be referred to as a receiver or a receiving circuit, etc., for implementing a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, etc., for implementing a transmitting function.

可选地，通信装置2300中还可以包括一个或多个接口电路2306。接口电路2306用于接收代码指令并传输至处理器2301。处理器2301运行所述代码指令以使通信装置2300执行上述方法实施例中描述的方法。Optionally, the communication device 2300 may further include one or more interface circuits 2306. The interface circuit 2306 is used to receive code instructions and transmit them to the processor 2301. The processor 2301 runs the code instructions to enable the communication device 2300 to perform the method described in the above method embodiment.

在一种实现方式中，处理器2301中可以包括用于实现接收和发送功能的收发器。例如该收发器可以是收发电路，或者是接口，或者是接口电路。用于实现接收和发送功能的收发电路、接口或接口电路可以是分开的，也可以集成在一起。上述收发电路、接口或接口电路可以用于代码/数据的读写，或者，上述收发电路、接口或接口电路可以用于信号的传输或传递。In one implementation, the processor 2301 may include a transceiver for implementing the receiving and sending functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and sending functions may be separate or integrated. The above-mentioned transceiver circuit, interface, or interface circuit may be used for reading and writing code/data, or the above-mentioned transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

在一种实现方式中，处理器2301可以存有计算机程序2303，计算机程序2303在处理器2301上运行，可使得通信装置2300执行上述方法实施例中描述的方法。计算机程序2303可能固化在处理器2301中，该种情况下，处理器2301可能由硬件实现。In one implementation, the processor 2301 may store a computer program 2303, which runs on the processor 2301 and enables the communication device 2300 to perform the method described in the above method embodiment. The computer program 2303 may be fixed in the processor 2301, in which case the processor 2301 may be implemented by hardware.

在一种实现方式中，通信装置2300可以包括电路，所述电路可以实现前述方法实施例中发送或接收或者通信的功能。本申请中描述的处理器和收发器可实现在集成电路(integrated circuit，IC)、模拟IC、射频集成电路RFIC、混合信号IC、专用集成电路(application specific integrated circuit，ASIC)、印刷电路板(printed circuit board，PCB)、电子设备等上。该处理器和收发器也可以用各种IC工艺技术来制造，例如互补金属氧化物半导体(complementary metal oxide semiconductor，CMOS)、N型金属氧化物半导体(nMetal-oxide-semiconductor，NMOS)、P型金属氧化物半导体(positive channel metal oxide semiconductor，PMOS)、双极结型晶体管(bipolar junction transistor，BJT)、双极CMOS(BiCMOS)、硅锗(SiGe)、砷化镓(GaAs)等。In one implementation, the communication device 2300 may include a circuit that can implement the functions of sending or receiving or communicating in the aforementioned method embodiments. The processor and transceiver described in the present application can be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit RFIC, a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (nMetal-oxide-semiconductor, NMOS), and P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (bipolar junction transistor, BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

以上实施例描述中的通信装置可以是网络设备或者终端设备，但本申请中描述的通信装置的范围并不限于此，而且通信装置的结构可以不受图23的限制。通信装置可以是独立的设备或者可以是较大设备的一部分。例如所述通信装置可以是：(1)独立的集成电路IC，或芯片，或，芯片系统或子系统；(2)具有一个或多个IC的集合，可选地，该IC集合也可以包括用于存储数据，计算机程序的存储部件；(3)ASIC，例如调制解调器(Modem)；(4)可嵌入在其他设备内的模块；(5)接收机、终端设备、智能终端设备、蜂窝电话、无线设备、手持机、移动单元、车载设备、网络设备、云设备、人工智能设备等等；(6)其他等等。The communication device described in the above embodiments may be a network device or a terminal device, but the scope of the communication device described in the present application is not limited thereto, and the structure of the communication device may not be limited by FIG. 23. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: (1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the IC collection may also include a storage component for storing data or computer programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

对于通信装置可以是芯片或芯片系统的情况，可参见图24所示的芯片的结构示意图。图24所示的芯片包括处理器2401和接口2402。可选地，处理器2401的数量可以是一个或多个，接口2402的数量可以是多个。For the case where the communication device can be a chip or a chip system, please refer to the schematic diagram of the chip structure shown in Figure 24. The chip shown in Figure 24 includes a processor 2401 and an interface 2402. Optionally, the number of processors 2401 can be one or more, and the number of interfaces 2402 can be multiple.

可选地，芯片还包括存储器2403，存储器2403用于存储必要的计算机程序和数据。Optionally, the chip further includes a memory 2403, and the memory 2403 is used to store necessary computer programs and data.

本领域技术人员还可以了解到本申请实施例列出的各种说明性逻辑块(illustrative logical block)和步骤(step)可以通过电子硬件、电脑软件，或两者的结合进行实现。这样的功能是通过硬件还是软件来实现取决于特定的应用和整个系统的设计要求。本领域技术人员可以对于每种特定的应用，可以使用各种方法实现所述的功能，但这种实现不应被理解为超出本申请实施例保护的范围。Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

本申请还提供一种可读存储介质，其上存储有指令，该指令被计算机执行时实现上述任一方法实施例的功能。The present application also provides a readable storage medium having instructions stored thereon, which implement the functions of any of the above method embodiments when executed by a computer.

本申请还提供一种计算机程序产品，该计算机程序产品被计算机执行时实现上述任一方法实施例的功能。The present application also provides a computer program product, which implements the functions of any of the above method embodiments when executed by a computer.

在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机程序。在计算机上加载和执行所述计算机程序时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机程序可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机程序可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD))、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

本领域普通技术人员可以理解：本申请中涉及的第一、第二等各种数字编号仅为描述方便进行的区分，并不用来限制本申请实施例的范围。A person skilled in the art may understand that the various numerical numbers such as first and second involved in the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

本申请中的至少一个还可以描述为一个或多个，多个可以是两个、三个、四个或者更多个，本申请不做限制。在本申请实施例中，对于一种技术特征，通过“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”等区分该种技术特征中的技术特征，该“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”描述的技术特征间无先后顺序或者大小顺序。At least one in the present application can also be described as one or more, and a plurality can be two, three, four or more, which is not limited in the present application. In the embodiments of the present application, for a technical feature, the technical features in the technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", etc., and there is no order of precedence or size between the technical features described by the "first", "second", "third", "A", "B", "C" and "D".

本申请中各表所示的对应关系可以被配置，也可以是预定义的。各表中的信号的取值仅仅是举例，可以配置为其他值，本申请并不限定。在配置信息与各参数的对应关系时，并不一定要求必须配置各表中示意出的所有对应关系。例如，本申请中的表格中，某些行示出的对应关系也可以不配置。又例如，可以基于上述表格做适当的变形调整，例如，拆分，合并等等。上述各表中标题示出参数的名称也可以采用通信装置可理解的其他名称，其参数的取值或表示方式也可以通信装置可理解的其他取值或表示方式。上述各表在实现时，也可以采用其他的数据结构，例如可以采用数组、队列、容器、栈、线性表、指针、链表、树、图、结构体、类、堆、散列表或哈希表等。 The corresponding relationships shown in each table in the present application can be configured or predefined. The values of the signals in each table are only examples and can be configured to other values, which are not limited by the present application. When configuring the corresponding relationship between the configuration information and each parameter, it is not necessarily required to configure all the corresponding relationships illustrated in each table. For example, in the table in the present application, the corresponding relationships shown in some rows may not be configured. For another example, appropriate deformation adjustments can be made based on the above table, such as splitting, merging, etc. The names of the parameters shown in the titles of the above tables can also use other names that can be understood by the communication device, and the values or representations of the parameters can also be other values or representations that can be understood by the communication device. When implementing the above tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables or hash tables.

本申请中的预定义可以理解为定义、预先定义、存储、预存储、预协商、预配置、固化、或预烧制。The predefined in the present application may be understood as defined, predefined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。 The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A sensing method, characterized in that the method is executed by a first node, and the method comprises:

First information is sent to the second node, where the first information includes perception context information, and the perception context information is perception-related information of the terminal device.

The method according to claim 1, characterized in that the method further comprises:

Receive second information sent by the second node, where the second information includes a first configuration, and the first configuration is used to configure a perception configuration of the terminal device.

The method according to claim 2, characterized in that the method further comprises:

Send third information to the terminal device, where the third information includes the first configuration.

The method as claimed in claim 3 is characterized in that the third information is also used to instruct the terminal device to switch to the second node, and the first configuration is the configuration used by the terminal device after switching to the second node.

The method according to any one of claims 2 to 4, wherein the perceived context information includes at least one of the following:

Perception type;

Perceive the start-up condition information;

Perceive end condition information;

Related information of a third node, where the third node is a node used to generate a sensing task to be performed by the terminal device;

Task identification of the perception task;

Perception tasks;

Transmission requirement information of sensing signals;

Information of configured perception signals; the configured perception signals include: the perception signals configured by the first node;

Related information of a fourth node, where the fourth node is a node for collecting perception measurement results.

A sensing method, characterized in that the method is executed by a terminal device, and the method comprises:

A first configuration is received, where the first configuration is used to configure a perception configuration of the terminal device, and the first configuration is a configuration used after the terminal device is connected to a second node.

The method of claim 6, wherein receiving the first configuration comprises:

Third information sent by the first node is received, where the third information includes the first configuration.

The method according to claim 6 is characterized in that the third information is also used to instruct the terminal device to switch to the second node.

The method according to claim 7 or 8, characterized in that the method further comprises:

Send fourth information to the second node, where the fourth information is used to indicate that the terminal device switching is completed.

The method according to claim 6, characterized in that the method further comprises:

A perception task is performed based on the first configuration.

A sensing method, characterized in that the method is executed by a third node, and the method comprises:

Receiving a cell change indication, where the cell change indication is used to indicate that a serving node and/or a serving cell of the terminal device has changed;

The first information is sent to a second node, where the second node is a service node of the terminal device. The first information includes perception context information, where the perception context information is perception-related information of the terminal device.

The method according to claim 11, wherein sending the first information to the second node comprises:

The first information is sent to the second node through the fifth node.

A sensing method, characterized in that the method is executed by a second node, and the method comprises:

First information is received, where the first information includes perception context information, and the perception context information is information related to perception of a terminal device.

The method of claim 13, wherein receiving the first information comprises:

The first information sent by the first node is received.

The method according to claim 14, characterized in that the method further comprises:

A first configuration is determined based on the first information, where the first configuration is used to configure a perception configuration of the terminal device.

The method of claim 15, wherein determining the first configuration based on the first information comprises:

Sending a second request to the third node, where the second request includes a task identifier of the sensing task and/or an identifier of the terminal device;

Receiving the sensing task of the terminal device sent by the third node;

A first configuration is determined based on the perception task.

The first configuration is determined directly based on the perceived context information in the first information.

The method according to claim 15, characterized in that the method further comprises:

Second information is sent to the first node, where the second information includes the first configuration.

The method according to claim 18, characterized in that the method further comprises:

Receive fourth information sent by the terminal device, where the fourth information is used to indicate that the node switching of the terminal device is completed.

Send the first configuration to the terminal device.

The method according to any one of claims 14 to 20, characterized in that the method further comprises:

A resource change indication is sent to the third node.

The method of claim 13, wherein receiving the first information comprises:

Receive the first information sent by the third node.

The method according to claim 22, characterized in that before the receiving the first information sent by the third node, the method further comprises:

A first request is sent to the fifth node, where the first request is used to indicate that the service node and/or service cell of the terminal device has changed; the first request includes at least one of the node identifier of the changed service node, the cell identifier of the changed service cell, and the device identifier of the terminal device.

The method according to claim 25, wherein the receiving the first information sent by the third node comprises:

The first information sent by the third node through the fifth node is received.

The method according to any one of claims 21 to 24, characterized in that the method further comprises:

Determine a first configuration based on the first information, where the first configuration is used to configure a perception configuration of the terminal device;

Send the first configuration to the terminal device.

A sensing system, characterized by comprising:

A first node, configured to execute the method according to any one of claims 1 to 5;

A second node, configured to execute the method according to any one of claims 13 to 21;

A terminal device, used to execute the method according to any one of claims 6 to 10.

A sensing system, characterized by comprising:

A third node, configured to execute the method according to any one of claims 11 or 12;

A second node, configured to execute the method according to any one of claims 13, 22-25;

A terminal device, configured to execute the method according to claim 6 or 10.

A communication device, comprising:

The transceiver module is used to send first information to the second node, where the first information includes perception context information, and the perception context information is perception-related information of the terminal device.

A communication device, comprising:

The transceiver module is used to receive a first configuration, where the first configuration is used to configure a perception configuration of the terminal device, and the first configuration is a configuration used after the terminal device is connected to the second node.

A communication device, comprising:

A transceiver module, used to receive a cell change indication, where the cell change indication is used to indicate that a serving node and/or a serving cell of the terminal device has changed;

The transceiver module is also used to send first information to a second node, where the second node is a service node of the terminal device. The first information includes perception context information, which is perception-related information of the terminal device.

A communication device, comprising:

The transceiver module is used to receive first information, where the first information includes perception context information, and the perception context information is information related to perception of the terminal device.

A communication device, characterized in that the device comprises a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory so that the device performs the method described in any one of claims 1 to 5, claims 6 to 10, claims 11 to 12, and claims 13 to 25.

A communication device, comprising: a processor and an interface circuit, wherein

The interface circuit is used to obtain code instructions and transmit them to the processor;

The processor is configured to execute the code instructions to perform the method according to any one of claims 1 to 5, claims 6 to 10, claims 11 to 12, and claims 13 to 25.

A computer-readable storage medium for storing instructions, which, when executed, enables the method according to any one of claims 1 to 5, claims 6 to 10, claims 11 to 12, and claims 13 to 25 to be implemented.