WO2025194392A1

WO2025194392A1 - Sensing control node, method and computer readable medium for integrated sensing and communication

Info

Publication number: WO2025194392A1
Application number: PCT/CN2024/082787
Authority: WO
Inventors: Jin Yang; Gang Wang
Original assignee: NEC Corp
Current assignee: NEC Corp
Priority date: 2024-03-20
Filing date: 2024-03-20
Publication date: 2025-09-25
Anticipated expiration: 2026-09-20

Abstract

Embodiments of the present disclosure relate to sensing control node, method and computer readable medium for ISAC. A sensing control node obtains first information of candidate sensing nodes. The sensing control node determines, based on the first information, sensing nodes among the candidate sensing nodes to perform a sensing procedure. The sensing control node also determines, based on the first information, a combined sensing mode for the sensing nodes. In turn, the sensing control node transmits an indication of the combined sensing mode to the sensing nodes.

Description

SENSING CONTROL NODE, METHOD AND COMPUTER READABLE MEDIUM FOR INTEGRATED SENSING AND COMMUNICATION

TECHNICAL FIELD

Embodiments of the present disclosure generally relate to the field of telecommunication, and in particular, to a sensing control node, method and computer readable medium for Integrated Sensing and Communication (ISAC) .

BACKGROUND

ISAC is listed as a new key feature of six scenarios in the sixth generation (6G) system. In the early stage of ISAC discussion in the Third Generation Partnership Project (3GPP) , it may aim to build communication based sensing system.

Based on six sensing nodes defined in ISAC study, two or more of the sensing modes may be combined and operated among sensing nodes, and relevant management procedure and resource schemes should be discussed and defined.

SUMMARY

In general, example embodiments of the present disclosure provide a sensing control node, method and computer readable medium for ISAC.

In a first aspect, there is provided a sensing control node. The sensing control node comprises a processor. The processor is configured to cause the sensing control node to: obtain first information of candidate sensing nodes; determine, based on the first information, sensing nodes among the candidate sensing nodes to perform a sensing procedure; determine, based on the first information, a combined sensing mode for the sensing nodes; and transmit an indication of the combined sensing mode to the sensing nodes.

In a second aspect, there is provided a method for ISAC. The method comprises: obtaining first information of candidate sensing nodes; determining, based on the first information, sensing nodes among the candidate sensing nodes to perform a sensing procedure; determining, based on the first information, a combined sensing mode for the sensing nodes; and transmitting an indication of the combined sensing mode to the sensing nodes.

In a third aspect, there is provided a computer readable medium having instructions stored thereon. The instructions, when executed on at least one processor of a device, cause the device to perform the method according to the second aspect.

It is to be understood that the summary section is not intended to identify key or essential features of embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become easily comprehensible through the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

Through the more detailed description of some embodiments of the present disclosure in the accompanying drawings, the above and other objects, features and advantages of the present disclosure will become more apparent, wherein:

Figs. 1A, 1B and 1C illustrate an example communication network in which embodiments of the present disclosure can be implemented, respectively;

Fig. 2 illustrates another example sensing network in which embodiments of the present disclosure can be implemented;

Figs. 3 to 6 illustrate a signaling chart illustrating an example process for ISAC in accordance with some embodiments of the present disclosure, respectively;

Fig. 7 illustrates an example of determining a combined sensing mode in accordance with some embodiments of the present disclosure;

Figs. 8 and 9 illustrate a signaling chart illustrating an example process for ISAC in accordance with some embodiments of the present disclosure, respectively;

Fig. 10 illustrates an example of determining a switching for the sensing nodes in accordance with some embodiments of the present disclosure;

Figs. 11 to 14 illustrate a signaling chart illustrating an example process for ISAC in accordance with some embodiments of the present disclosure, respectively;

Fig. 15 is a simplified block diagram of a device that is suitable for implementing embodiments of the present disclosure.

Throughout the drawings, the same or similar reference numerals represent the same or similar element.

DETAILED DESCRIPTION

Principle of the present disclosure will now be described with reference to some example embodiments. It is to be understood that these embodiments are described only for the purpose of illustration and help those skilled in the art to understand and implement the present disclosure, without suggesting any limitations as to the scope of the disclosure. The disclosure described herein can be implemented in various manners other than the ones described below.

In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skills in the art to which this disclosure belongs.

As used herein, the term “terminal device” refers to any device having wireless or wired communication capabilities. Examples of the terminal device include, but not limited to, user equipment (UE) , personal computers, desktops, mobile phones, cellular phones, smart phones, personal digital assistants (PDAs) , portable computers, tablets, wearable devices, internet of things (IoT) devices, Ultra-reliable and Low Latency Communications (URLLC) devices, Internet of Everything (IoE) devices, machine type communication (MTC) devices, device on vehicle for V2X communication where X means pedestrian, vehicle, or infrastructure/network, devices for Integrated Access and Backhaul (IAB) , Small Data Transmission (SDT) , mobility, Multicast and Broadcast Services (MBS) , positioning, dynamic/flexible duplex in commercial networks, reduced capability (RedCap) , Space borne vehicles or Air borne vehicles in Non-terrestrial networks (NTN) including Satellites and High Altitude Platforms (HAPs) encompassing Unmanned Aircraft Systems (UAS) , eXtended Reality (XR) devices including different types of realities such as Augmented Reality (AR) , Mixed Reality (MR) and Virtual Reality (VR) , the unmanned aerial vehicle (UAV) commonly known as a drone which is an aircraft without any human pilot, devices on high speed train (HST) , or image capture devices such as digital cameras, sensors, gaming devices, music storage and playback appliances, or Internet appliances enabling wireless or wired Internet access and browsing and the like. The ‘terminal device’ can further has ‘multicast/broadcast’ feature, to support public safety and mission critical, V2X applications, transparent IPv4/IPv6 multicast delivery, IPTV, smart TV, radio services, software delivery over wireless, group communications and IoT applications. It may also incorporate one or multiple Subscriber Identity Module (SIM) as known as Multi-SIM. The term “terminal device” can be used interchangeably with a UE, a mobile station, a subscriber station, a mobile terminal, a user terminal or a wireless device.

The term “network device” refers to a device which is capable of providing or hosting a cell or coverage where terminal devices can communicate. Examples of a network device include, but not limited to, a Node B (NodeB or NB) , an evolved NodeB (eNodeB or eNB) , a next generation NodeB (gNB) , a transmission reception point (TRP) , a remote radio unit (RRU) , a radio head (RH) , a remote radio head (RRH) , an IAB node, a low power node such as a femto node, a pico node, a reconfigurable intelligent surface (RIS) , Network-controlled Repeaters, and the like.

The terminal device or the network device may have Artificial intelligence (AI) or Machine learning capability. It generally includes a model which has been trained from numerous collected data for a specific function, and can be used to predict some information.

The terminal or the network device may work on several frequency ranges, e.g. FR1 (410 MHz –7125 MHz) , FR2 (24.25GHz to 71GHz) , frequency band larger than 100GHz as well as Tera Hertz (THz) . It can further work on licensed/unlicensed/shared spectrum. The terminal device may have more than one connection with the network devices under Multi-Radio Dual Connectivity (MR-DC) application scenario. The terminal device or the network device can work on full duplex, flexible duplex and cross division duplex modes.

The network device may have the function of network energy saving, Self-Organizing Networks (SON) /Minimization of Drive Tests (MDT) . The terminal may have the function of power saving.

The embodiments of the present disclosure may be performed in test equipment, e.g. signal generator, signal analyzer, spectrum analyzer, network analyzer, test terminal device, test network device, channel emulator

The embodiments of the present disclosure may be performed according to any generation communication protocols either currently known or to be developed in the future. Examples of the communication protocols include, but not limited to, the first generation (1G) , the second generation (2G) , 2.5G, 2.75G, the third generation (3G) , the fourth generation (4G) , 4.5G, the fifth generation (5G) communication protocols, 5.5G, 5G-Advanced networks, or the 6G networks.

As used herein, the singular forms ‘a’ , ‘an’ and ‘the’ are intended to include the plural forms as well, unless the context clearly indicates otherwise. The term ‘includes’ and its variants are to be read as open terms that mean ‘includes, but is not limited to. ’ The term ‘based on’ is to be read as ‘at least in part based on. ’ The term ‘some embodiments’ and ‘an embodiment’ are to be read as ‘at least some embodiments. ’ The term ‘another embodiment’ is to be read as ‘at least one other embodiment. ’ The terms ‘first, ’ ‘second, ’ and the like may refer to different or same objects. Other definitions, explicit and implicit, may be included below.

In some examples, values, procedures, or apparatus are referred to as ‘best, ’ ‘lowest, ’ ‘highest, ’ ‘minimum, ’ ‘maximum, ’ or the like. It will be appreciated that such descriptions are intended to indicate that a selection among many used functional alternatives can be made, and such selections need not be better, smaller, higher, or otherwise preferable to other selections.

Fig. 1A illustrates a schematic diagram of an example communication network 100A in which embodiments of the present disclosure can be implemented. As shown in Fig. 1A, the communication network 100A may include a terminal device 110, a terminal device 120, a network device 130, an Access and Mobility management Function (AMF) 140 and a Sensing Function (SF) 150.

It is to be understood that the number of devices in Fig. 1A is given for the purpose of illustration without suggesting any limitations to the present disclosure. The communication network 100A may include any suitable number of devices adapted for implementing embodiments of the present disclosure.

In some embodiments, the terminal device 110 may comprise at least one of a sensing module and a communication module. For example, as shown in Fig. 1A, the terminal device 110 comprises a Uu sensing module 110-11, a sidelink sensing module 110-12 and a communication module 110-2.

In some embodiments, the Uu sensing module 110-11 may be configured to perform a Uu sensing function based on the network assistance or control, and the Uu sensing function may comprise at least one of a downlink sensing function and an uplink sensing function. The sidelink sensing module 110-12 may be configured to perform a sidelink sensing function.

Similarly, in some embodiments, the terminal device 120 may comprise at least one of a sensing module and a communication module. For example, as shown in Fig. 1A, the terminal device 120 comprises a Uu sensing module 120-11, a sidelink sensing module 120-12 and a communication module 120-2.

In some embodiments, the network device 130 may comprise at least one of a sensing module and a communication module. For example, as shown in Fig. 1A, the network device 130 comprises a sensing module 130-1 and a communication module 130-2.

In some embodiments, the network device 130 may be implemented as a gNB in NR.

In some embodiments, the AMF 140 may be a node in a core network. The AMF 140 may provide matching information about the network device 130 or the terminal device 110 according to sensing service requirement.

In some embodiments, the SF 150 may comprise no interface with the network device 130. Thus, the SF 150 indirectly exchanges information with the network device 130 through the AMF 140.

Alternatively, in some embodiments, the SF 150 may comprise an interface with the network device 130. Thus, the SF 150 directly exchanges information with the network device 130.

The communications in the communication network 100A may conform to any suitable standards including, but not limited to, Global System for Mobile Communications (GSM) , LTE, LTE-Evolution, LTE-Advanced (LTE-A) , Wideband Code Division Multiple Access (WCDMA) , Code Division Multiple Access (CDMA) , GSM EDGE Radio Access Network (GERAN) , Machine Type Communication (MTC) and the like. Furthermore, the communications may be performed according to any generation communication protocols either currently known or to be developed in the future. Examples of the communication protocols include, but not limited to, the first generation (1G) , the second generation (2G) , 2.5G, 2.75G, the third generation (3G) , the fourth generation (4G) , 4.5G, the fifth generation (5G) , the sixth generation (6G) communication protocols.

In some embodiments, the communications in the communication network 100A may comprise ISAC. The communication network with ISAC may structure sharing hardware architectures, channel characteristics and signal processing, and integrate types of sensing information, such as sensory data from the environment and radar based sensing information, and communication information to achieve higher resource efficiency and provide more intelligent and integrated network solutions. The ISAC network can be applied to more extensive scenarios, including smart home, smart manufacturing, environmental monitoring, and so on.

In some embodiments, the network device 130 may comprise at least one of the following:

· an interface between the network device 130 and the terminal device 110, or

· an interface between the sensing module 130-1 and the communication module 130-2.

In some embodiments, the terminal device 110 may comprise at least one of the following:

· the interface between the network device 130 and the terminal device 110,

· the interface between the terminal device 120 and the terminal device 110,

· an interface between the Uu sensing module 110-11 and the communication module 110-2,

· an interface between the sidelink sensing module 110-12 and the communication module 110-2, or

· an interface between the Uu sensing module 110-11 and the sidelink sensing module 110-12.

In some embodiments, the terminal device 120 may comprise at least one of the following:

· the interface between the terminal device 120 and the terminal device 110,

· an interface between the Uu sensing module 120-11 and the communication module 120-2,

· an interface between the sidelink sensing module 120-12 and the communication module 120-2, or

· an interface between the Uu sensing module 120-11 and the sidelink sensing module 120-12.

In embodiments where the network device 130 is a gNB, the interface between the network device 130 and the terminal device 110 may be a Uu interface. In some embodiments, between the network device 130 and the terminal device 110, sidelink sensing related information may be exchanged on the Uu interface.

In some embodiments, Uu sensing procedure may be performed between the network device 130 and the terminal device 110, and Uu sensing function related information may be exchanged, e.g., between the sensing module 130-1 of the network device 130 and the Uu sensing module 110-11 of the terminal device 110.

In some embodiments, the interface between the terminal device 110 and the terminal device 120 may be a Unified Air Interface, such as PC5 interface. In such embodiments, between the terminal device 110 and the terminal device 120, a sidelink sensing procedure may be performed and sidelink sensing function related information may be exchanged on the PC5 interface, i.e., between the sidelink sensing module 110-12 of the terminal device 110 and the sidelink sensing module 120-12 of the terminal device 120.

Fig. 1B illustrates a schematic diagram of another example communication network 100B in which embodiments of the present disclosure can be implemented. The example communication network 100B is similar to the example communication network 100A. The example communication network 100B is different from the example communication network 100A mainly in that in the example communication network 100B, the network device 130 does not comprise the sensing module 130-1 but comprises a sensing control module 130-3. In addition, the example communication network 100B further comprises a sensing transmission reception point (TRP) 160 and a sensing TRP 170.

· an interface between the sensing control module 130-3 and the communication module 130-2,

· an interface between the network device 130 and the sensing TRP 160, or

· an interface between the network device 130 and the sensing TRP 170.

In some embodiments, the sensing control module 130-3 of the network device 130 may be configured to perform sensing management and control. The sensing control module 130-3 may be also configured to generate a sensing control signal and transmit the sensing control signal to at least one of the sensing TRP 160 or the sensing TRP 170.

In some embodiments, the sensing TRP 160 may comprise a sensing module 160-1. The sensing module 160-1 may be configured to transmit, receive or measure a sensing signal based on the sensing control signal received from the network device 130.

In some embodiments, the sensing TRP 160 may comprise at least one of the following:

· the interface between the sensing TRP 160 and the network device 130, or

· an interface between the sensing TRP 160 and the terminal device 110.

In some embodiments, the interface between the sensing TRP 160 and the terminal device 110 may be a Uu interface. In other words, the interface may be transparent from the perspective of the terminal device 110. Alternatively, the interface may be a new interface for the sensing TRP 160.

Similarly, the sensing TRP 170 may comprise a sensing module 170-1. The sensing module 170-1 may be configured to transmit, receive or measure a sensing signal based on the sensing control signal received from the network device 130.

In some embodiments, the sensing TRP 170 may comprise at least one of the following:

· the interface between the sensing TRP 170 and the network device 130, or

· an interface between the sensing TRP 170 and the terminal device 110.

In some embodiments, the interface between the sensing TRP 170 and the terminal device 110 may be a Uu interface. In other words, the interface may be transparent from the perspective of the terminal device 110. Alternatively, the interface may be a new interface for the sensing TRP 170.

· the interface between the network device 130 and the terminal device 110,

· the interface between the terminal device 120 and the terminal device 110,

· the interface between the Uu sensing module 110-11 and the communication module 110-2,

· the interface between the Uu sensing module 110-12 and the communication module 110-2,

· the interface between the Uu sensing module 110-11 and the sidelink sensing module 110-12,

· the interface between the sensing TRP 160 and the terminal device 110, or

· the interface between the sensing TRP 170 and the terminal device 110.

Fig. 1C illustrates a schematic diagram of a further example communication network 100C in which embodiments of the present disclosure can be implemented. The example communication network 100C is similar to the example communication network 100B. The example communication network 100C is different from the example communication network 100B in that in the example communication network 100C, the network device 130 does not comprise the sensing control module 130-3. Each of the sensing module 160-1 of the sensing TRP 160 and the sensing module 170-1 of the sensing TRP 170 performs sensing management and control.

As described above, based on six sensing nodes defined in ISAC study, two or more of the sensing modes may be combined and operated among sensing nodes.

According to sensing service requirement, sensing control node may determine to use different sensing modes among sensing nodes to obtain a sensing result, and between any two sensing nodes, combined sensing modes may be assigned with shared sensing resource, which may significantly reduce the sensing resources overhead. Relevant management procedure and resource schemes should be discussed and defined.

In view of the above, embodiments of the present disclosure provide a solution for ISAC. In this solution, a sensing control node obtains first information of candidate sensing nodes. The sensing control node determines, based on the first information, sensing nodes among the candidate sensing nodes to perform a sensing procedure. The sensing control node also determines, based on the first information, a combined sensing mode for the sensing nodes. In turn, the sensing control node transmits an indication of the combined sensing mode to the sensing nodes. With this solution, the combined sensing mode may be assigned with at least one shared sensing resource, which may significantly reduce overhead of sensing resources.

Hereinafter, principle of the present disclosure will be described with reference to Figs. 2 to 15.

Fig. 2 illustrates a schematic diagram of an example sensing network 200 in which embodiments of the present disclosure can be implemented.

As shown in Fig. 2, the sensing network 200 may comprise a sensing control node 210, a sensing node 220 and a sensing node 230.

In some embodiments, the sensing control node 210 may be implemented as one of the following: the SF 150 in Fig. 1A, the network device 130 in Fig. 1A, 1B or 1C, the AMF 140 in Fig. 1A, or the sensing TRP 160 or 170 in Fig. 1B or 1C.

In some embodiments, each of the sensing node 220 and the sensing node 230 has sensing function, i.e., sensing signal transmission and/or receiving capability.

In some embodiments, at least one of the sensing node 220 and the sensing node 230 may be implemented as a network node. For example, the network node may comprise one of the following: the network device 130 in Fig. 1A, 1B or 1C, or the sensing TRP 160 or 170 in Fig. 1B or 1C.

Alternatively, in some embodiments, at least one of the sensing node 220 and the sensing node 230 may be implemented as a terminal device. For example, the terminal device may comprise one of the following: the terminal device 110 in Fig. 1A, 1B or 1C, or the terminal device 120 in Fig. 1A.

It is to be understood that the number of the sensing nodes in Fig. 2 is given for the purpose of illustration without suggesting any limitations to the present disclosure. The sensing network 200 may include any suitable number of sensing nodes adapted for implementing embodiments of the present disclosure.

Fig. 3 illustrates a signaling chart illustrating an example process 300 for ISAC in accordance with some embodiments of the present disclosure. For the purpose of discussion, the process 300 will be described with reference to Fig. 2. The process 300 may involve the sensing control node 210 and at least one of the sensing node 220 and the sensing node 230.

As shown in Fig. 3, the sensing control node 210 obtains 310 first information of candidate sensing nodes.

For example, the candidate sensing nodes may comprise at least the sensing node 220 and the sensing node 230. In this regard, the sensing node 220 and the sensing node 230 may be referred to as a candidate sensing node 220 and a candidate sensing node 230, respectively. The sensing control node 210 may obtain first information of the candidate sensing nodes 220 and 230.

The sensing control node 210 determines 320, based on the first information, sensing nodes among the candidate sensing nodes to perform a sensing procedure.

For example, based on the first information of the candidate sensing nodes 220 and 230, the sensing control node 210 may select at least one of the candidate sensing nodes 220 and 230 as a sensing node.

In some embodiments, the sensing control node 210 may determine a primary sensing node and at least one assistant sensing node.

The sensing control node 210 also determines 330, based on the first information of the candidate sensing nodes 220 and 230, a combined sensing mode for the sensing nodes.

In turn, the sensing control node 210 transmits 340 an indication of the combined sensing mode to the sensing nodes. For example, if the sensing control node 210 selects the candidate sensing nodes 220 and 230 as the sensing nodes, the sensing control node 210 may transmit an indication of the combined sensing mode to the sensing nodes 220 and 230.

In some embodiments, optionally, the sensing control node 210 may determine at least one sensing resource and indicate the at least one sensing resource to the sensing nodes.

With the process 300, the combined sensing mode may be assigned with at least one shared sensing resource, which may significantly reduce overhead of sensing resources. In other words, using the combined sensing mode may benefit sensing resource efficiency and sensing result accuracy.

In some embodiments, the first information of candidate sensing nodes may comprise at least one of the following: identities of the candidate sensing nodes, positions of the candidate sensing nodes, velocities of the candidate sensing nodes, power capabilities of the candidate sensing nodes, power statuses of the candidate sensing nodes, sensing capabilities of the candidate sensing nodes, at least one available sensing resource or resource set of the candidate sensing nodes, or current sensing statuses of the candidate sensing nodes.

In some embodiments, the sensing capabilities of the candidate sensing nodes may comprise at least one of the following: sensing modes supported by the candidate sensing nodes, sensing signal transmission capabilities of the candidate sensing nodes, sensing signal receiving capabilities of the candidate sensing nodes, or maximum sensing signal transmission powers of the candidate sensing nodes.

In some embodiments, the current sensing statuses of the candidate sensing nodes may indicate at least one of the following: whether the candidate sensing nodes are performing a further sensing procedure, at least one available sensing resource or resource set which is being used by the candidate sensing nodes, at least one sensing mode which is being used by the candidate sensing nodes, or at least one combined sensing mode which is being used by the candidate sensing nodes.

In some embodiments, the combined sensing mode may be a combination of at least two of the following: a first sensing mode, a second sensing mode, a third sensing mode, a fourth sensing mode, a fifth sensing mode or a sixth sensing mode. Hereinafter, to distinguish from the combined sensing mode, each of the first sensing mode, the second sensing mode, the third sensing mode, the fourth sensing mode, the fifth sensing mode and the sixth sensing mode may be referred to as a basic sensing mode.

In some embodiments, in the first sensing mode, a first sensing signal is transmitted by a first network node and received or measured by the first network node itself. For example, the first network node may comprise the network device 130 in Fig. 1A, 1B or 1C, or the sensing TRP 160 or 170 in Fig. 1B or 1C.

In some embodiments, in the second sensing mode, the first sensing signal is transmitted by the first network node and received or measured by a first terminal device. For example, the first network node may comprise the network device 130 in Fig. 1A, 1B or 1C, or the sensing TRP 160 or 170 in Fig. 1B or 1C. The first terminal device may comprise the terminal device 110 in Fig. 1A, 1B or 1C, or the terminal device 120 in Fig. 1A.

In some embodiments, in the third sensing mode, the first sensing signal is transmitted by the first network node and received or measured by a second network node.

For example, in the third sensing mode, the first network node may comprise the network device 130 in Fig. 1A, 1B or 1C, and the second network node may comprise the sensing TRP 160 or 170 in Fig. 1B or 1C. Alternatively, the first network node may comprise the sensing TRP 160 or 170 in Fig. 1B or 1C, and the second network node may comprise the network device 130 in Fig. 1A, 1B or 1C.

For another example, in the third sensing mode, the first network node may comprise the network device 130 in Fig. 1A, 1B or 1C, and the second network node may comprise a further network device which is not shown in Fig. 1A, 1B or 1C.

For a further example, in the third sensing mode, the first network node may comprise the sensing TRP 160 in Fig. 1B or 1C, and the second network node may comprise the sensing TRP 170 in Fig. 1B or 1C.

In some embodiments, in the fourth sensing mode, a second sensing signal is transmitted by the first terminal device and received or measured by the first terminal device itself. The first terminal device may comprise the terminal device 110 in Fig. 1A, 1B or 1C, or the terminal device 120 in Fig. 1A.

In some embodiments, in the fifth sensing mode, the second sensing signal is transmitted by the first terminal device and received or measured by the first network node. For example, the first network node may comprise the network device 130 in Fig. 1A, 1B or 1C, or the sensing TRP 160 or 170 in Fig. 1B or 1C. The first terminal device may comprise the terminal device 110 in Fig. 1A, 1B or 1C, or the terminal device 120 in Fig. 1A.

In some embodiments, in the sixth sensing mode, the second sensing signal is transmitted by the first terminal device and received or measured by a second terminal device. For example, the first terminal device may comprise the terminal device 110 in Fig. 1A, 1B or 1C, and the second terminal device may comprise the terminal device 120 in Fig. 1A. Alternatively, the first terminal device may comprise the terminal device 120 in Fig. 1A, and the second terminal device may comprise the terminal device 110 in Fig. 1A, 1B or 1C.

In some embodiments, the combined sensing mode may comprise a combination of the first sensing mode and the third sensing mode. In such embodiments, the combined sensing mode may be referred to as a combined sensing mode #1.

Alternatively, in some embodiments, the combined sensing mode may comprise a combination of the first sensing mode and the second sensing mode. In such embodiments, the combined sensing mode may be referred to as a combined sensing mode #2.

Alternatively, in some embodiments, the combined sensing mode may comprise a combination of the first sensing mode, the second sensing mode and the third sensing mode. In such embodiments, the combined sensing mode may be referred to as a combined sensing mode #3.

Alternatively, in some embodiments, the combined sensing mode may comprise a combination of the second sensing mode and the third sensing mode. In such embodiments, the combined sensing mode may be referred to as a combined sensing mode #4.

Alternatively, in some embodiments, the combined sensing mode may comprise a combination of the fourth sensing mode and the fifth sensing mode. In such embodiments, the combined sensing mode may be referred to as a combined sensing mode #5.

Alternatively, in some embodiments, the combined sensing mode may comprise a combination of the fourth sensing mode and a sixth sensing mode. In such embodiments, the combined sensing mode may be referred to as a combined sensing mode #6.

Alternatively, in some embodiments, the combined sensing mode may comprise a combination of the fourth sensing mode, the fifth sensing mode and the sixth sensing mode. In such embodiments, the combined sensing mode may be referred to as a combined sensing mode #7.

Alternatively, in some embodiments, the combined sensing mode may comprise a combination of the fourth sensing mode and the fifth sensing mode. In such embodiments, the combined sensing mode may be referred to as a combined sensing mode #8.

In some embodiments, with a combined sensing mode, there are one type of transmission (Tx) node of a sensing signal and more than one types of receiving (Rx) nodes of the sensing signal, as shown in Table 1.

Table 1

In some embodiments, the sensing control node 210 may obtain the first information of candidate sensing nodes based on at least one of the following: the sensing procedure, or a communication procedure. For example, the communication procedure may comprise a positioning procedure.

Alternatively or additionally, in some embodiments, the sensing control node 210 may obtain the first information of candidate sensing nodes from the candidate sensing nodes or a further sensing control node.

Fig. 4 illustrates a signaling chart illustrating an example process 400 for ISAC in accordance with some embodiments of the present disclosure. The process 400 may considered as an example implementation of the process 300. For the purpose of discussion, the process 400 will be described with reference to Fig. 2. The process 400 may involve the sensing control node 210 as well as the sensing node 220 and the sensing node 230.

Generally, in the process 400, the sensing control node 210 may be implemented as the network device 130 in Fig. 1A, 1B or 1C.

As shown in Fig. 4, at 410, a sensing service is initiated.

Based on sensing service requirement, the sensing control node 210 transmits 420, to the candidate sensing nodes 220 and 230, a requirement message of the first information of the candidate sensing nodes 220 and 230.

Then, the sensing control node 210 obtains 430, from the candidate sensing nodes 220 and 230, a response signal carrying the first information of the candidate sensing nodes 220 and 230.

The sensing control node 210 determines 440, based on the first information, sensing nodes among the candidate sensing nodes 220 and 230 to perform a sensing procedure.

For example, based on the first information of the candidate sensing nodes 220 and 230, the sensing control node 210 may select the candidate sensing nodes 220 and 230 as the sensing nodes.

Based on the first information of the candidate sensing nodes 220 and 230 and the sensing service requirement, the sensing control node 210 determines 450, a combined sensing mode for the sensing nodes.

In turn, the sensing control node 210 transmits 460 an indication of the combined sensing mode to the sensing nodes. For example, if the sensing control node 210 selects the candidate sensing nodes 220 and 230 as the sensing nodes, the sensing control node 210 may transmit an indication of the combined sensing mode to the sensing nodes 220 and 230.

Then, at 470, a sensing signal is transmitted, received and measured among the sensing nodes. Alternatively, the sensing signal is transmitted, received and measured among the sensing nodes and the sensing control node.

It shall be noted that in the process 400, the sensing control node 210 obtains the first information, and then determines the sensing nodes and the combined sensing mode.

Fig. 5 illustrates a signaling chart illustrating an example process 500 for ISAC in accordance with some embodiments of the present disclosure. The process 500 may considered as an example implementation of the process 300. For the purpose of discussion, the process 500 will be described with reference to Fig. 1A. The process 500 may involve the SF 150, the network device 130 as well as the terminal devices 110 and 120 in Fig. 1A.

Generally, in the process 500, based on sensing service requirement, the SF 150 acts as the sensing control node 210, initiates a sensing service, and determines 510 sensing nodes for a sensing procedure. The network device 130 as well as the terminal devices 110 and 120 are determined as sensing nodes. The network device 130 is determined as a primary sensing node for the sensing procedure. The terminal devices 110 and 120 are determined as assistant sensing nodes for the sensing procedure.

The terminal devices 110 and 120 may report the first information of the terminal devices 110 and 120 to the network device 130 periodically. The network device 130 receives 520 the first information of the terminal devices 110 and 120 from the terminal devices 110 and 120.

The SF 150 may transmit 525, to the network device 130, a requirement message of first information of the sensing nodes (i.e., the network device 130 as well as the terminal devices 110 and 120) . In response, the SF 150 obtains 530, from the network device 130, the first information of the network device 130 as well as the terminal devices 110 and 120.

The SF 150 determines 540 a combined sensing mode for the network device 130 and the terminal devices 110 and 120.

In turn, the SF 150 transmits 550 an indication of the combined sensing mode to the network device 130.

At 560, according to the indication, sensing signal transmission, receiving and measurement are performed among the network device 130 as well as the terminal devices 110 and 120.

It shall be noted that in the process 500, the SF 150 determines the sensing nodes first, then obtains the first information, and determines the combined sensing mode.

Fig. 6 illustrates a signaling chart illustrating an example process 600 for ISAC in accordance with some embodiments of the present disclosure. The process 600 may considered as an example implementation of the process 300. For the purpose of discussion, the process 600 will be described with reference to Figs. 1A and 1B. The process 600 may involve the network device 130, the terminal devices 110 and 120 in Fig. 1A, as well as the sensing TRP 160 or 170 in Fig. 1C.

Generally, in the process 600, based on sensing service requirement, the sensing TRP 160 acts as the sensing control node 210.

The sensing TRP 160 transmits 610 the sensing service requirement to the network device 130.

Upon receiving the sensing service requirement, the network device 130 transmits 620 first information of candidate sensing nodes. For example, the first information of candidate sensing nodes may comprise first information of several terminal devices.

Based on the first information of several terminal devices, the sensing TRP 160 selects 630 the terminal device 110 and the terminal device 120 as sensing nodes for a sensing procedure. The sensing TRP 160 also determines the sensing TRP 160 itself as a sensing node for the sensing procedure.

The sensing TRP 160 determines a combined sensing mode for the sensing TRP 160 as well as the terminal devices 110 and 120.

In turn, the sensing TRP 160 transmits 640 an indication of the combined sensing mode to the terminal devices 110 and 120.

At 650, according to the indication, sensing signal transmission, receiving and measurement are performed among the sensing TRP 160 as well as the terminal devices 110 and 120.

It shall be noted that in the process 600, the network device 130 provides the first information, but the network device 130 is not involved in the sensing procedure. Sensing signal transmission and detection can be performed by the sensing control node (i.e., the sensing TRP 160) .

In some embodiments, the sensing control node 210 may determine the combined sensing mode based on the first information by determining the combined sensing mode based on a position based rule. In such embodiments, the sensing control node 210 may determine the combined sensing mode based on at least one of the following:

· positions of the sensing nodes,

· relative positions among the sensing nodes, or

· a relative position between one of the sensing nodes and a sensing target.

For example, the sensing control node 210 may determine the combined sensing mode based on determining whether the positions of the sensing nodes are within a given range. For example, the given range may be a range around a sensing target.

For another example, the sensing control node 210 may determine the combined sensing mode based on determining that whether the relative positions among the sensing nodes are within a given range.

For a further example, the sensing control node 210 may determine the combined sensing mode based on determining whether the relative position between one of the sensing nodes and the sensing target is within a given range.

Alternatively or additionally, in some embodiments, the sensing control node 210 may determine the combined sensing mode based on the first information by determining the combined sensing mode based on an angle based rule. In such embodiments, the sensing control node 210 may determine the combined sensing mode based on at least one of the following:

· angles among the sensing nodes, or

· an angle between one of the sensing nodes and the sensing target.

For example, the sensing control node 210 may determine the combined sensing mode based on determining whether the angles among the sensing nodes satisfy a given angle relationship.

For another example, the sensing control node 210 may determine the combined sensing mode based on determining whether the angle between one of the sensing nodes and the sensing target satisfies a given angle relationship.

Alternatively or additionally, in some embodiments, the sensing control node 210 may determine the combined sensing mode based on the first information by determining the combined sensing mode based on prediction based on trajectories of the sensing nodes.

For example, the sensing control node 210 may determine the combined sensing mode based on determining whether the sensing nodes may satisfy position/angle rules in future.

Alternatively or additionally, in some embodiments, the sensing control node 210 may determine the combined sensing mode based on the first information by determining the combined sensing mode based on at least one sensing resource or resource set of the sensing nodes available to support the combined sensing mode.

Alternatively or additionally, in some embodiments, the sensing control node 210 may determine the combined sensing mode based on the first information by determining the combined sensing mode based on sensing modes supported by the sensing nodes. The sensing modes supported by the sensing nodes may comprise at least one of the first, second, third, fourth, fifth or sixth sensing node.

Fig. 7 illustrates an example 700 of determining a combined sensing mode in accordance with some embodiments of the present disclosure. The example 700 may involve the terminal device 110 and the terminal device 120 in Fig. 1A, the sensing TRP 160 in Fig. 1B or 1C, as well as a terminal device 180 and a sensing target 190 which are not shown in Fig. 1A, 1B or 1C.

In the example 700, the combined sensing mode is determined based on the first information.

Specifically, the sensing control node 210 selects the sensing TRP 160 and the terminal device 110 as sensing nodes for a sensing service with a given sensing target 190.

The sensing control node 210 determines the combined sensing mode #2 as the combined sensing mode. In the combined sensing mode #2, the sensing TRP 160 transmits a sensing signal, and measures an echo signal of the sensing signal. The terminal device 110 detects a reflected signal of the sensing signal.

The sensing control node 210 determines the combined sensing mode based on positions of the sensing nodes. The sensing TRP 160 and the terminal device 110 are within a given range around the sensing target 190. The terminal device 120 is not assigned as it is out of the given range.

In addition, the sensing control node 210 determines the combined sensing mode based on angle based rule. The terminal device 180 is not selected as a sensing node for this sensing procedure as the angle among the terminal device 180, the sensing target 190 and the sensing TRP 160 is out of a range of the reflected signal of the sensing signal although the terminal device 180 is within the given range around the sensing target 190.

Consider another example of determining a combined sensing mode in accordance with some embodiments of the present disclosure. In this example, the combined sensing mode is determined based on the first information. The sensing nodes comprise the terminal device 110 and the terminal device 120 in Fig. 1A.

The sensing control node 210 determines the combined sensing mode #6 as the combined sensing mode for the sensing nodes.

In the combined sensing mode #6, the terminal device 110 transmits a sensing signal, and measures an echo signal of the sensing signal. The terminal device 120 detects a reflected signal of the sensing signal from the terminal device 110.

The sensing control node 210 determines the combined sensing mode based on sensing modes supported by the sensing nodes. For example, the terminal device 110 supports the fourth sensing mode and the sixth sensing mode. The terminal device 120 only supports the sixth sensing mode. The terminal device 120 cannot detect an echo signal.

The sensing control node 210 also determines the combined sensing mode based on at least one sensing resource set or sensing resource which is used by sensing node and is available to support the combined sensing mode. For example, a sensing transmission resource set of the terminal device 110 is a sensing receiving resource set of the terminal device 120. That is, the sensing signal transmitted by the terminal device 110 can be measured by the terminal device 120.

In some embodiments, to indicate the combined sensing mode to the sensing nodes, the sensing control node 210 may transmit a higher layer signaling or physical layer control information. For example, the sensing control node 210 may transmit a radio resource control (RRC) message, medium access control control element (MAC CE) , downlink control information (DCI) , or sidelink control information (SCI) comprising the indication of the combined sensing mode.

In some embodiments, the indication of the combined sensing mode may be performed through multiple independent indications of relevant basic sensing modes. That is, if a combined sensing mode comprises a combination of a basic sensing mode A and a basic sensing mode B, the indication of the combined sensing mode is executed through at least one of the following: indication of the basic sensing mode A to a sensing node A, or indication of the basic sensing mode B for a sensing node B. Based on the indications of relevant basic sensing modes, less complexity for sensing nodes is needed.

It shall be noted that the basic sensing mode A or basic sensing mode B may need no indication. For example, if the sensing control node is sensing signal Tx node with the first basic sensing mode or the fourth basic sensing mode 4 (i.e., mono-sensing) , the first basic sensing mode or the fourth basic sensing mode 4 may need no indication.

In some embodiments, the combined sensing mode may be assigned and performed transparent for a sensing node.

In some embodiments, the sensing control node 210 may transmit the indication of the combined sensing mode to the sensing nodes by at least one of the following:

· transmitting a first indication of the first sensing mode to the first network node;

· transmitting a second indication of the second sensing mode to the first network node and/or the first terminal device;

· transmitting a third indication of the third sensing mode to the first network node and/or the second network node;

· transmitting a fourth indication of the fourth sensing mode to the first terminal device;

· transmitting a fifth indication of the fifth sensing mode to the first terminal device and/or the first network node; or

· transmitting a sixth indication of the sixth sensing mode to the first terminal device and/or the second network node.

In some embodiments, if the combined sensing mode comprises a combination of the first sensing mode and the third sensing mode, the sensing control node 210 may transmit at least one of the following: the first indication of the first sensing mode to the first network node; or the third indication of the third sensing mode to the first network node and/or the second network node. For example, the sensing control node 210 may transmit the first indication of the first sensing mode and the third indication of the third sensing mode to the first network node, and the first network node may forward the third indication of the third sensing mode to the second network node. Alternatively, the first network node may act as the sensing control node 210 and transmit a sensing signal. Thus, the first network node does not need the first indication of the first sensing mode and the third indication of the third sensing mode. The first network node may transmit the third indication of the third sensing mode to the second network node only.

In some embodiments, if the combined sensing mode comprises a combination of the first sensing mode and the second sensing mode, the sensing control node 210 may transmit at least one of the following: the first indication of the first sensing mode to the first network node; or the second indication of the second sensing mode to the first network node and/or the first terminal device. For example, the sensing control node 210 may transmit the second indication of the second sensing mode to the first network node and the first network node may forward the second indication of the second sensing mode to the first terminal device. Alternatively, the first network node may act as the sensing control node 210 and transmit a sensing signal. Thus, the first network node does not need the first indication of the first sensing mode and the second indication of the second sensing mode. The first network node may transmit the second indication of the second sensing mode to the first terminal device only.

In some embodiments, if the combined sensing mode comprises a combination of the first sensing mode, the second sensing mode and the third sensing mode, the sensing control node 210 may transmit at least one of the following: the first indication of the first sensing mode to the first network node; the second indication of the second sensing mode to the first network node and/or the first terminal device; or the third indication of the third sensing mode to the first network node and/or the second network node.

In some embodiments, if the combined sensing mode comprises a combination of the second sensing mode and the third sensing mode, the sensing control node 210 may transmit at least one of the following: the second indication of the second sensing mode to the first network node and/or the first terminal device; or the third indication of the third sensing mode to the first network node and/or the second network node.

In some embodiments, if the combined sensing mode comprises a combination of the fourth sensing mode and the fifth sensing mode, the sensing control node 210 may transmit at least one of the following: the fourth indication of the fourth sensing mode to the first terminal device; or the fifth indication of the fifth sensing mode to the first terminal device and/or the first network node.

In some embodiments, if the combined sensing mode comprises a combination of the fourth sensing mode and the sixth sensing mode, the sensing control node 210 may transmit at least one of the following: the fourth indication of the fourth sensing mode to the first terminal device; or the sixth indication of the sixth sensing mode to the first terminal device and/or the second network node.

In some embodiments, if the combined sensing mode comprises a combination of the fourth sensing mode, the fifth sensing mode and the sixth sensing mode, the sensing control node 210 may transmit at least one of the following: the fourth indication of the fourth sensing mode to the first terminal device; the fifth indication of the fifth sensing mode to the first terminal device and/or the first network node; or the sixth indication of the sixth sensing mode to the first terminal device and/or the second network node.

In some embodiments, if the combined sensing mode comprises a combination of the fifth sensing mode and the sixth sensing mode, the sensing control node 210 may transmit at least one of the following: the fifth indication of the fifth sensing mode to the first terminal device and/or the first network node; or the sixth indication of the sixth sensing mode to the first terminal device and/or the second network node.

In some embodiments, the indication of the combined sensing mode may be a group common indication for all sensing nodes involved in the combined sensing mode. In such embodiments, the sensing control node 210 may determine the sensing nodes to be comprised in a sensing group. Then, the sensing control node 210 may transmit the indication of the combined sensing mode to the sensing group. With the group based indication, less indicating overhead or latency is needed.

In some embodiments, the indication of the combined sensing mode may be transmitted from the sensing control node 210 to the sensing nodes. Alternatively, the indication of the combined sensing mode may be transmitted from the primary sensing node to assistant sensing nodes.

Fig. 8 illustrates a signaling chart illustrating an example process 800 for ISAC in accordance with some embodiments of the present disclosure. The process 800 may considered as an example implementation of the process 300. For the purpose of discussion, the process 800 will be described with reference to Fig. 2. The process 800 may involve the SF 150 in Fig. 1A, the network device 130 and the terminal device 110 in Fig. 1A, 1B or 1C.

Generally, in the process 800, the sensing control node 210 may be implemented as the SF 150 in Fig. 1A, the sensing node 220 may be implemented as the network device 130 in Fig. 1A, 1B or 1C, and the sensing node 220 may be implemented as the terminal device 110 in Fig. 1A, 1B or 1C.

At 810, the SF 150 obtains first information of the network device 130 and the terminal device 110, and determines the combined sensing mode #2 for the network device 130 and the terminal device 110. The combined sensing mode #2 comprises a combination of the first basic sensing mode and the second basic sensing mode.

The SF 150 indicates the combined sensing mode #2 for the network device 130 and the terminal device 110 through independent basic sensing mode indication for each of the sensing nodes. Specifically, the SF 150 transmits 820, to the network device 130, a first indication of the first basic sensing mode and relevant sensing resource allocation for the network device 130. The SF 150 transmits 830, to the terminal device 110, a second indication of the second basic sensing mode and relevant sensing resource allocation for the network device 130, i.e., the sensing resource on which the terminal device 110 should measure the sensing signal transmitted from the network device 130.

According to the first indication of the first basic sensing mode from the SF 150, the network device 130 transmits 840 a sensing signal on the assigned sensing resource. Then, the network device 130 detects 850 and measures an echo signal of the sensing signal. That is, the network device 130 performs the first basic sensing mode.

Optionally, the network device 130 may report 860 a sensing measurement result to the SF 150.

According to the second indication of the second basic sensing mode from the SF 150, the terminal device 110 receives, detects and measures, at 870, the sensing signal transmitted by the network device 130 on the assigned sensing resource. That is, the terminal device 110 performs the second basic sensing mode.

Optionally, the terminal device 110 may report 880 a sensing measurement result to the SF 150.

Fig. 9 illustrates a signaling chart illustrating an example process 900 for ISAC in accordance with some embodiments of the present disclosure. The process 900 may considered as an example implementation of the process 300. For the purpose of discussion, the process 900 will be described with reference to Fig. 2. The process 900 may involve the network device 130 in Fig. 1A, 1B or 1C, the terminal device 110 in Fig. 1A, 1B or 1C, the terminal device 120 in Fig. 1A, and the sensing TRP in Fig. 1B or 1C.

Generally, in the process 900, the sensing control node 210 may be implemented as the network device 130, the sensing nodes may be implemented as the terminal device 110 in Fig. 1A, 1B or 1C, the terminal device 120 in Fig. 1A, and the sensing TRP 160 in Fig. 1B or 1C.

At 910, the network device 130 obtains first information of the sensing nodes (i.e., the sensing TRP 160 as well as the terminal devices 110 and 120) , and determines the combined sensing mode #4 for the sensing nodes. The combined sensing mode #4 comprises a combination of the second sensing mode and the third sensing mode.

The network device 130 determines the sensing TRP 160 as well as the terminal devices 110 and 120 as a sensing group.

The network device 130 transmits 920 the indication of the combined sensing mode #4 to the sensing group. In other words, the network device 130 indicates the combined sensing mode #4 for all the sensing nodes through an indication for the sensing group. For example, the network device 130 may transmit DCI for the sensing group. The DCI indicates the combined sensing mode #4, and relevant sensing resource allocation.

In addition, the sensing TRP 160 is indicated as the primary sensing node which transmits 930 a sensing signal on the assigned sensing resource. That is, the sensing TRP 160 performs the third basic sensing mode.

At 940, the network device 130 receives, detects and measures the sensing signal transmitted by the sensing TRP 160.

The terminal devices 110 and 120 are indicated as assistant sensing nodes. At 950, the terminal devices 110 and 120 receive, detect and measure the sensing signal transmitted by the sensing TRP 160. That is, the terminal devices 110 and 120 perform the second basic sensing mode.

The terminal devices 110 and 120 reports 960 a sensing measurement result to the network device 130.

Then, network device 130 determines 970 a sensing report based on its measurement and the sensing measurement report from the terminal devices 110 and 120.

In some embodiments, the sensing control node 210 may determine a switching for the sensing nodes. Such embodiments may provide flexible sensing mode determining according to sensing node or sensing target status.

In some embodiments, the switching may comprise at least one of the following:

· switching from the sensing mode to the combined sensing mode;

· switching from the combined sensing mode to the sensing mode;

· switching from the sensing mode to a further sensing mode; or

· switching from the combined sensing mode to a further combined sensing mode.

In some embodiments, the sensing control node 210 may determine the combined sensing mode, the sensing mode, the further sensing mode or the further combined sensing mode to be switched to based on the embodiments as described above.

In some embodiments, the sensing control node 210 may indicate the combined sensing mode, the sensing mode, the further sensing mode or the further combined sensing mode to be switched to based on the embodiments as described above.

In some embodiments, the sensing control node 210 may determine the switching for the sensing nodes based on at least one of the following events:

· update of the first information,

· update of a position of a sensing target,

· change of the sensing target, or

· a sensing measurement result exceeding a threshold.

For example, the sensing control node 210 may determine the switching for the sensing nodes based on update or change of positions of the sensing nodes.

For example, if the sensing control node 210 may determine the switching for the sensing nodes based on update of the position of the sensing target, the position of the sensing target may be determined in the sensing procedure.

For example, if the sensing control node 210 may determine the switching for the sensing nodes based on the sensing measurement result exceeding the threshold, the sensing measurement result may comprise at least one of the following: measurement of a sensing signal, measurement of an echo signal of the sensing signal, or measurement of a reflected signal of the sensing signal. Alternatively, the sensing measurement result may comprise at least one of the following: receiving power, reference signal receiving power (RSRP) , received signal strength indication (RSSI) , or reference signal received quality (RSRQ) .

Hereinafter, an example of determining a switching for the sensing nodes will be described with reference to Figs. 10 to 13.

Fig. 10 illustrates an example 1000 of determining a switching for the sensing nodes in accordance with some embodiments of the present disclosure. The example 1000 may involve the network device 130 in Fig. 1A, 1B or 1C, the sensing TRPs 160 and 170 in Fig. 1B or 1C, as well as a sensing target 195 which are not shown in Fig. 1A, 1B or 1C.

In the example 1000, the sensing control node 210 may be implemented as the network device 130 in Fig. 1A, 1B or 1C. The network device 130 determines the sensing TRPs 160 and 170 in Fig. 1B or 1C as the sensing nodes. The network device 130 also determines a combined sensing mode for a given sensing target 195 which is not shown in Fig. 1A, 1B or 1C. Positions of the sensing target 195 are different at time t1, t2 and t3.

Fig. 11 illustrates a signaling chart illustrating an example process 1100 for ISAC in accordance with some embodiments of the present disclosure. Specifically, Fig. 11 illustrates a signaling chart for time t1. For the purpose of discussion, the process 1100 will be described with reference to Fig. 10. The process 1100 may involve the network device 130, the sensing TRPs 160 and 170, as well as the sensing target 195 in Fig. 10.

At 1110, first information of the sensing TRPs 160 and 170 are periodically reported to the network device 130. The first information includes position of TRPs 160 and 170, and current sensing status.

At 1120, a sensing service is initiated.

At 1130, based on the first information of the sensing TRPs 160 and 170 as well as information of the sensing target 195 (such as position information of the sensing target 195) , the network device 130 determines the sensing TRP 160 as a sensing node at time t1. In addition, the network device 130 determines the first basic sensing node for the sensing TRP 160.

At 1140, the network device 130 transmits an indication of the first basic sensing node to the sensing TRP 160.

At 1150, the sensing TRP 160 transmits a sensing signal and detects an echo signal of the sensing signal.

At 1160, the sensing TRP 160 transmits a sensing measurement result to the network device 130.

Fig. 12 illustrates a signaling chart illustrating an example process 1200 for ISAC in accordance with some embodiments of the present disclosure. Specifically, Fig. 12 illustrates a signaling chart for time t2. For the purpose of discussion, the process 1200 will be described with reference to Fig. 10. The process 1200 may involve the network device 130, the sensing TRPs 160 and 170, as well as the sensing target 195 in Fig. 10.

At 1210, first information of the sensing TRPs 160 and 170 are periodically reported to the network device 130.

At 1215, the sensing TRP 160 transmits a sensing measurement result to the network device 130.

At 1220, the network device 130 performs update of position information of the sensing target 195.

At 1225, based on update of position information of the sensing target 195 (i.e., movement of the sensing target 195) , the network device 130 determines the sensing TRPs 160 and 170 as sensing nodes at time t2.

In addition, based on update of position information of the sensing target 195, the network device 130 determines the combined sensing mode #1 for the sensing TRPs 160 and 170 at time t2. In other words, based on update of position information of the sensing target 195, the network device 130 determines a switching for the sensing TRPs 160 and 170. The switching comprises: for the sensing TRP 160, switching from the first basic sensing mode to the combined sensing mode #1; for the sensing TRP 170, starting the combined sensing mode #1 for the sensing target 195.

Both the sensing TRP 160 and the sensing TRP 170 are indicated to switch the sensing mode.

At 1230, the network device 130 indicates the combined sensing mode #1 to the sensing TRP 170, and sensing resources of the sensing TRPs 160 and 170. The sensing resource for the sensing TRP 160 is indicated to TRP 170 for receiving the sensing signal form TRP 160, and the sensing resource for the sensing TRP 170 is for transmitting sensing signal by TRP 170. The combined sensing mode #1 comprises a combination of the first basic sensing mode and the third basic sensing mode.

At 1235, the network device 130 indicates the combined sensing mode #1 to the sensing TRP 160, and sensing resources of the sensing TRP 170. The sensing resource for the sensing TRP 170 is indicated to TRP 160 for receiving the sensing signal form TRP 170.

At 1240, the sensing TRP 160 transmits a sensing signal.

At 1245, the sensing TRP 170 transmits a sensing signal.

At 1250, the sensing TRP 160 detects and measures the echo signal of the sensing signal transmitted by the sensing TRP 160. In addition, the sensing TRP 160 detects and measures the reflected signal of the sensing signal transmitted by the sensing TRP 170.

At 1255, the sensing TRP 170 detects and measures the echo signal of the sensing signal transmitted by the sensing TRP 170. In addition, the sensing TRP 170 detects and measures the reflected signal of the sensing signal transmitted by the sensing TRP 160.

At 1260, the sensing TRP 170 transmits a sensing measurement result to the network device 130.

At 1265, the sensing TRP 160 transmits a sensing measurement result to the network device 130.

Fig. 13 illustrates a signaling chart illustrating an example process 1300 for ISAC in accordance with some embodiments of the present disclosure. Specifically, Fig. 13 illustrates a signaling chart for time t3. For the purpose of discussion, the process 1300 will be described with reference to Fig. 10. The process 1300 may involve the network device 130, the sensing TRPs 160 and 170, as well as the sensing target 195 in Fig. 10.

At 1310, first information of the sensing TRPs 160 and 170 are periodically reported to the network device 130.

At 1320, the sensing TRP 160 transmits a sensing measurement result to the network device 130.

At 1330, the sensing TRP 170 transmits a sensing measurement result to the network device 130.

At 1340, according to the sensing measurement report from the sensing TRP 160, e.g., if the RSRP of the echo signal is lower than a threshold, the network device 130 determines the sensing TRP 170 as a sensing node at time t3 and determines a switching for the sensing TRPs 160 and 170. The switching comprises: for the sensing TRP 160, ending the sensing procedure for the sensing target 195; for the sensing TRP 170, switching from the combined mode #1 to the first basic sensing mode.

At 1350, the network device 130 indicates to the sensing TRP 170 to switch from the combined mode #1 to the first basic sensing mode.

At 1360, the network device 130 indicates to the sensing TRP 160 to end the sensing procedure for the sensing target 195.

At 1370, the sensing TRP 170 transmit a sensing signal and measures an echo signal of the sensing signal.

At 1380, the sensing TRP 170 transmits a sensing measurement result to the network device 130.

It shall be noted that in the processes 1100, 1200 and 1300, the position information of the sensing target 195 is determined by the network device 130 based on sensing measurement report from the sensing TRP 160 and/or the sensing TRP 170.

Hereinafter, another example of determining a switching for the sensing nodes will be described with reference to Fig. 14.

Fig. 14 illustrates a signaling chart illustrating an example process 1400 for ISAC in accordance with some embodiments of the present disclosure. The process 1400 may considered as an example implementation of the process 300. For the purpose of discussion, the process 1400 will be described with reference to Figs. 1A and 1B. The process 1400 may involve the terminal device 110 in Fig. 1A or 1B, the terminal device 120 in Fig. 1A, and the sensing TRP 160 in Fig. 1B.

Generally, in the process 1400, the sensing control node 210 may be implemented as the sensing TRP 160, and the sensing nodes may be implemented as the terminal devices 110 and 120.

At 1410, the sensing TRP 160 obtains the first information of the terminal devices 110 and 120.

At 1415, based on the first information, the sensing TRP 160 determines the terminal devices 110 and 120 as the sensing nodes and determines the combined sensing mode #6 for the terminal devices 110 and 120. The combined sensing mode #6 comprises a combination of the fourth sensing mode and the sixth sensing mode.

At 1420, the sensing TRP 160 transmits an indication of the combined sensing mode #6 to the terminal devices 110 and 120.

According to the indication of the combined sensing mode #6, the terminal device 110 transmits 1425 a sensing signal, and detects and measures 1430 an echo signal of the sensing signal.

According to the indication of the combined sensing mode #6, the terminal device 120 detects and measures 1435 the sensing signal from the terminal device 110. The terminal device 120 obtains a sensing measurement result.

When measurement of the sensing signal is lower than an RSSI threshold at 1440, the terminal device 120 triggers 1445 a request to the sensing TRP 160 to reconfigure the sensing procedure.

According to the request, the sensing TRP 160 reevaluates the first information of the terminal devices 110 and 120, and information of a sensing target, and determines 1450 updated sensing nodes and sensing mode.

The sensing TRP 160 indicates 1455 reconfiguration of the sensing procedure to the terminal device 120. For example, the sensing TRP 160 may indicate the terminal device 120 to stop the sensing procedure. Alternatively, the sensing TRP 160 may indicate the terminal device 120 with the first basic sensing mode.

Fig. 15 is a simplified block diagram of a device 1500 that is suitable for implementing embodiments of the present disclosure. The device 1500 can be considered as a further example embodiment of the first device. Accordingly, the device 1500 can be implemented at or as at least a part of the first device.

As shown, the device 1500 includes a processor 1510, a memory 1520 coupled to the processor 1510, a suitable transceiver 1540 coupled to the processor 1510, and a communication interface coupled to the transceiver 1540. The memory 1510 stores at least a part of a program 1530. The transceiver 1540 may be for bidirectional communications or a unidirectional communication based on requirements. The transceiver 1540 may include at least one of a transmitter 1542 and a receiver 1544. The transmitter 1542 and the receiver 1544 may be functional modules or physical entities. The transceiver 1540 has at least one antenna to facilitate communication, though in practice an Access Node mentioned in this application may have several ones. The communication interface may represent any interface that is necessary for communication with other network elements, such as X2/Xn interface for bidirectional communications between eNBs/gNBs, S1/NG interface for communication between a Mobility Management Entity (MME) /Access and Mobility Management Function (AMF) /SGW/UPF and the eNB/gNB, Un interface for communication between the eNB/gNB and a relay node (RN) , or Uu interface for communication between the eNB/gNB and a terminal device.

The components included in the apparatuses and/or devices of the present disclosure may be implemented in various manners, including software, hardware, firmware, or any combination thereof. In one embodiment, one or more units may be implemented using software and/or firmware, for example, machine-executable instructions stored on the storage medium. In addition to or instead of machine-executable instructions, parts or all of the units in the apparatuses and/or devices may be implemented, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs) , Application-specific Integrated Circuits (ASICs) , Application-specific Standard Products (ASSPs) , System-on-a-chip systems (SOCs) , Complex Programmable Logic Devices (CPLDs) , and the like.

Claims

A sensing control node, comprising:

a processor configured to cause the sensing control node to:

obtain first information of candidate sensing nodes;

determine, based on the first information, sensing nodes among the candidate sensing nodes to perform a sensing procedure;

determine, based on the first information, a combined sensing mode for the sensing nodes; and

transmit an indication of the combined sensing mode to the sensing nodes.
The sensing control node of claim 1, wherein the combined sensing mode is a combination of at least two of the following:

a first sensing mode, wherein in the first sensing mode, a first sensing signal is transmitted by a first network node and received or measured by the first network node itself;

a second sensing mode, wherein in the second sensing mode, the first sensing signal is transmitted by the first network node and received or measured by a first terminal device;

a third sensing mode, wherein in the third sensing mode, the first sensing signal is transmitted by the first network node and received or measured by a second network node;

a fourth sensing mode, wherein in the fourth sensing mode, a second sensing signal is transmitted by the first terminal device and received or measured by the first terminal device itself;

a fifth sensing mode, wherein in the fifth sensing mode, the second sensing signal is transmitted by the first terminal device and received or measured by the first network node; or

a sixth sensing mode, wherein in the sixth sensing mode, the second sensing signal is transmitted by the first terminal device and received or measured by a second terminal device.
The sensing control node of claim 2, wherein the combined sensing mode comprises one of the following:

a combination of the first sensing mode and the third sensing mode;

a combination of the first sensing mode and the second sensing mode;

a combination of the first sensing mode, the second sensing mode and the third sensing mode;

a combination of the second sensing mode and the third sensing mode;

a combination of the fourth sensing mode and the fifth sensing mode;

a combination of the fourth sensing mode and a sixth sensing mode;

a combination of the fourth sensing mode, the fifth sensing mode and the sixth sensing mode; or

a combination of the fourth sensing mode and the fifth sensing mode.
The sensing control node of claim 1, wherein the sensing control node is caused to obtain the first information of candidate sensing nodes based on at least one of the following: the sensing procedure, or a communication procedure; and/or

wherein the sensing control node is caused to obtain the first information of candidate sensing nodes from the candidate sensing nodes or a further sensing control node.
The sensing control node of claim 1, wherein the first information of candidate sensing nodes comprises at least one of the following:

identities of the candidate sensing nodes,

positions of the candidate sensing nodes,

velocities of the candidate sensing nodes,

power capabilities of the candidate sensing nodes,

power statuses of the candidate sensing nodes,

sensing capabilities of the candidate sensing nodes,

at least one available sensing resource or resource set of the candidate sensing nodes, or

current sensing statuses of the candidate sensing nodes.
The sensing control node of claim 5, wherein the sensing capabilities of the candidate sensing nodes comprise at least one of the following:

sensing modes supported by the candidate sensing nodes,

sensing signal transmission capabilities of the candidate sensing nodes,

sensing signal receiving capabilities of the candidate sensing nodes, or

maximum sensing signal transmission powers of the candidate sensing nodes.
The sensing control node of claim 5, wherein the current sensing statuses of the candidate sensing nodes indicate at least one of the following:

whether the candidate sensing nodes are performing a further sensing procedure,

at least one available sensing resource or resource set which is being used by the candidate sensing nodes,

at least one sensing mode which is being used by the candidate sensing nodes, or

at least one combined sensing mode which is being used by the candidate sensing nodes.
The sensing control node of claim 1, wherein the sensing nodes comprise at least one of the following:

a network device,

a sensing transmission reception point (TRP) , or

a terminal device.
The sensing control node of claim 1, wherein the sensing nodes comprise a primary sensing node and at least one assistant sensing node.
The sensing control node of claim 1, wherein the sensing control node comprises one of the following:

a sensing function (SF) ,

a network device,

an access and mobility management function (AMF) , or

a sensing transmission reception point (TRP) .
The sensing control node of claim 1, wherein the sensing control node is caused to determine the combined sensing mode based on the first information by:

determining the combined sensing mode based on at least one of the following:

positions of the sensing nodes,

relative positions among the sensing nodes,

a relative position between one of the sensing nodes and a sensing target,

angles among the sensing nodes,

an angle between one of the sensing nodes and the sensing target,

prediction based on trajectories of the sensing nodes,

at least one sensing resource or resource set of the sensing nodes available to support the combined sensing mode, or

sensing modes supported by the sensing nodes.
The sensing control node of claim 3, wherein the sensing control node is caused to transmit the indication of the combined sensing mode to the sensing nodes by at least one of the following:

transmitting a first indication of the first sensing mode to the first network node;

transmitting a second indication of the second sensing mode to the first network node and/or the first terminal device;

transmitting a third indication of the third sensing mode to the first network node and/or the second network node;

transmitting a fourth indication of the fourth sensing mode to the first terminal device;

transmitting a fifth indication of the fifth sensing mode to the first terminal device and/or the first network node; or

transmitting a sixth indication of the sixth sensing mode to the first terminal device and/or the second network node.
The sensing control node of claim 1, wherein the sensing control node is further caused to determine the sensing nodes to be comprised in a sensing group; and

wherein the sensing control node is caused to transmit the indication of the combined sensing mode to the sensing nodes by:

transmitting the indication of the combined sensing mode to the sensing group.
The sensing control node of claim 3, wherein the sensing control node is further caused to determine a switching for the sensing nodes, the switching comprises at least one of the following:

switching from the sensing mode to the combined sensing mode;

switching from the combined sensing mode to the sensing mode;

switching from the sensing mode to a further sensing mode; or

switching from the combined sensing mode to a further combined sensing mode.
The sensing control node of claim 14, wherein the sensing control node is caused to determine the switching for the sensing nodes based on at least one of the following events:

update of the first information,

update of a position of a sensing target,

change of the sensing target, or

a sensing measurement result exceeding a threshold.
A method for communications, comprising:

obtaining first information of candidate sensing nodes;

determining, based on the first information, sensing nodes among the candidate sensing nodes to perform a sensing procedure;

determining, based on the first information, a combined sensing mode for the sensing nodes; and

transmitting an indication of the combined sensing mode to the sensing nodes.
A computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor of a device, causing the device to carry out the method according to claim 16.