Perception method, device and system

Abstract

According to the sensing method, device and system, a sensing node obtains sensing data of a first target, whether the first sensing data is sent or not is determined according to the confidence coefficient of the first sensing data, the first sensing data belongs to the sensing data of the first target, and the confidence coefficient is determined according to a first parameter; the first parameter comprises at least one of the following items: the beam width of the first beam, the measurement time delay for measuring the first target, the communication bandwidth for measuring the first target or the beam arrival angle for the first beam to arrive at the first target, and the first beam is used for sensing the beam of the first target. And the sensing node determines the sensing data reported to the sensing center according to the confidence coefficient, so that redundant data is reduced, and communication resources are saved. Meanwhile, the sensing node takes the confidence coefficient as a reference factor for reporting the sensing data or not, and reports the sensing data meeting the confidence coefficient condition to the sensing center, so that the sensing precision is improved.

Description

Perception method, device and system Technical Field

[0001] The present application relates to the field of communications, and in particular to a sensing method, device, and system. Background Art

[0002] Communication and perception integration refers to a new information processing technology that achieves the synergy between perception and communication functions through the sharing of software and hardware resources or information. This technology can effectively improve system spectrum efficiency, hardware efficiency, and information processing efficiency. Furthermore, the integration of communication and perception capabilities will be a trend in advanced wireless base stations and terminals. Enabling intelligent technologies in advanced wireless networks and acquiring perception information from the environment will become a key means.

[0003] At present, in the field of perception, there is a certain degree of spatial overlap in the perception areas of different devices, and most scenes of the perception environment may not change over time. There is a lot of redundancy between the data perceived by each device at each moment, and there are a large number of repeated reports, which wastes communication resources.

[0004] Therefore, how to reduce data redundancy and resource consumption in the perception process is an urgent problem to be solved.

[0005] Summary of the Invention

[0006] The present application provides a perception method, device and system that can reduce data redundancy and resource consumption during the perception process.

[0007] First, embodiments of the present application provide a sensing method. This method can be performed by a sensing node, or by a chip or circuit used in a sensing node, without limitation in this application. For ease of description, the following description uses the method performed by a sensing node as an example.

[0008] The method may include: obtaining perception data of a first target, determining whether to send the first perception data based on the confidence of the first perception data, wherein the first perception data belongs to the perception data of the first target, and the confidence is determined based on a first parameter, and the first parameter includes at least one of the following: the beam width of the first beam, the time delay for perceiving the first target, the signal bandwidth for perceiving the first target, or the beam arrival angle of the first beam reaching the first target, and the first beam is a beam used to perceive the first target.

[0009] In this method, the sensing node determines whether to report the first sensing data to the sensing center based on the confidence level, thereby reducing the redundancy of the reported data, compressing the amount of reported data, and saving communication resources.

[0010] In certain implementations of the first aspect, determining whether to send the first perception data based on the confidence of the first perception data includes: determining whether to send the first perception data based on the confidence of the first perception data and the confidence of the first data, where the first data belongs to local data of the first target.

[0011] In this approach, the sensing node compares the confidence level of the sensed data with the local data and decides whether to report the sensed data based on the comparison result. In other words, the sensing node reports the sensed data that is superior to the local data, further reducing data redundancy.

[0012] In certain implementations of the first aspect, when the confidence level of the first perception data is greater than or equal to the confidence level of the first data, the first perception data is sent, or,

[0013] When the ratio of the confidence level of the first perception data to the confidence level of the first data is greater than or equal to a first threshold, the first perception data is sent, or,

[0014] When the difference between the confidence level of the first perception data and the confidence level of the first data is greater than or equal to a second threshold, the first perception data is sent.

[0015] In certain implementations of the first aspect, first information is received, where the first information is used to indicate the first threshold or the second threshold.

[0016] In certain implementations of the first aspect, determining whether to send the first perception data according to the confidence of the first perception data includes: determining whether to send the first perception data according to the confidence of the first perception data and a first confidence threshold.

[0017] In certain implementations of the first aspect, second information is received, where the second information is used to indicate the first confidence threshold.

[0018] The above approach provides conditions for a sensing node to determine whether to report the first sensing data. That is, the sensing node reports sensing data that meets these conditions to the sensing center. In other words, when the confidence level of the sensing data is higher than that of the local data, or when the confidence level of the sensing data meets a confidence threshold, the sensing node may report the sensing data, thereby improving the accuracy of the reported data and, by extension, the perception accuracy.

[0019] It should be understood that the first threshold, the second threshold, or the first confidence threshold can be indicated, predefined, or configured, and this is not limited in the embodiments of the present application. It should also be understood that when the first threshold, the second threshold, or the first confidence threshold is indicated, it can be indicated in the same indication information or in multiple indication information, and this is not limited in the embodiments of the present application.

[0020] In some implementations of the first aspect, third information is received, where the third information is used to indicate location information of a first area, where the first area includes the first target.

[0021] In other words, the third information may indicate an area to be updated, and the area may be predefined.

[0022] In certain implementations of the first aspect, the first area includes at least one partition, the at least one partition corresponds one-to-one with at least one confidence threshold, the at least one confidence threshold includes a first confidence threshold, or the at least one partition corresponds one-to-one with at least one threshold, the at least one threshold includes a first threshold or a second threshold.

[0023] In other words, different partitions can correspond to different confidence thresholds, or different first thresholds, or different second thresholds. Different partitions may have different requirements for perception accuracy. The sensing node can determine the perception data to report based on the confidence thresholds or thresholds corresponding to different partitions, thereby matching the perception requirements of different partitions and increasing the flexibility of the sensing node in determining perception data.

[0024] Optionally, the confidence threshold, first threshold or second threshold corresponding to different partitions may also be the same.

[0025] In certain implementations of the first aspect, a perception map is obtained, where the perception map includes the first data.

[0026] Optionally, the perception map may be a gridded perception map or a point cloud perception map.

[0027] In certain implementations of the first aspect, K second targets are determined, and the K second targets correspond to K second perception data, where K is an integer greater than or equal to 1. It is determined whether to report the first perception data based on the confidence levels of the K second perception data and the confidence level of the first perception data.

[0028] In this approach, a sensing node can determine whether to report the first perception data based on its confidence level and the confidence level of the perception data of other targets. In other words, the sensing node can compare the first perception data with surrounding perception data and report the perception data that meets the requirements. This approach provides flexibility for data compression.

[0029] In certain implementations of the first aspect, the second parameter is a distance threshold, and there are K second targets within the distance threshold range, or the second parameter is the value of K, and the K second targets are the K targets closest to the first target in the perception map, and the perception map is used to indicate the first target and the K second targets.

[0030] That is, the sensing node may determine a certain amount of sensing data from nearby target points as comparison objects, or may determine a certain amount of sensing data that is closest to the target point as comparison objects.

[0031] In certain implementations of the first aspect, fourth information is received, where the fourth information is used to indicate the perception map.

[0032] In certain implementations of the first aspect, the confidence level and the first parameter satisfy the following relationship:

[0033]

[0034] Wherein, D is the confidence, c is the speed of light, t is the time delay for sensing the first target, φ is the beam arrival angle of the first beam reaching the first target, θ is the beam width of the first beam, and B is the signal bandwidth for sensing the first target.

[0035] Second, embodiments of the present application provide a sensing method. This method can be performed by a sensing center, or by a chip or circuit used in the sensing center, without limitation in this application. For ease of description, the following description uses the sensing center as an example.

[0036] The method may include: receiving first perception data, the first perception data is determined based on the confidence of the first perception data, the first perception data belongs to the perception data of the first target, the confidence is determined based on a first parameter, the first parameter includes at least one of the following: the beam width of the first beam, the delay for perceiving the first target, the signal bandwidth for perceiving the first target, or the beam arrival angle of the first beam reaching the first target, the first beam is a beam used to perceive the first target, the first data of the first target is updated to the first perception data, and the first data belongs to the local data of the first target.

[0037] In certain implementations of the second aspect, the confidence of the first perception data is greater than or equal to the confidence of the first data, or the ratio of the confidence of the first perception data to the confidence of the first data is greater than or equal to a first threshold, or the difference between the confidence of the first perception data and the confidence of the first data is greater than or equal to a second threshold, or the confidence of the first perception data is greater than or equal to the first confidence threshold.

[0038] In certain implementations of the second aspect, before receiving the first perception data, the method further includes: sending first information, where the first information is used to indicate the first threshold or the second threshold, or sending second information, where the second information is used to indicate the first confidence threshold.

[0039] In certain implementations of the second aspect, the method further includes: sending third information, where the third information is used to indicate location information of a first area, where the first area includes the first target.

[0040] In certain implementations of the second aspect, the first area includes at least one partition, the at least one partition corresponds one-to-one with at least one confidence threshold, the at least one confidence threshold includes a first confidence threshold, or the at least one partition corresponds one-to-one with at least one threshold, the at least one threshold includes a first threshold or a second threshold.

[0041] In certain implementations of the second aspect, a second parameter is sent, where the second parameter is a distance threshold, within which there are K second targets, the K second targets correspond to K second perception data, and K is an integer greater than or equal to 1; or, the second parameter is the value of K, the K second targets are the K targets closest to the first target in the perception map, the perception map is used to indicate the first target and the K second targets, and the first perception data is determined based on the confidence of the first perception data, including: the first perception data is determined based on the confidence of the K second perception data and the confidence of the first perception data.

[0042] In certain implementations of the second aspect, fourth information is sent, where the fourth information is also used to indicate the perception map.

[0043] In certain implementations of the second aspect, the confidence level and the first parameter satisfy the following relationship:

[0044]

[0045] Where D is the confidence, c is the speed of light, and t is the time delay of sensing the first target. is the beam arrival angle of the first beam reaching the first target, θ is the beam width of the first beam, and B is the signal bandwidth for sensing the first target.

[0046] It should be understood that the second aspect is an implementation method on the perception center side corresponding to the first aspect. The relevant explanations, supplements, possible implementation methods and descriptions of beneficial effects of the first aspect are also applicable to the second aspect and will not be repeated here.

[0047] On the third aspect, a communication device is provided, which can be used for the perception node of the first aspect. The communication device can be a perception node, or a device in the perception node (for example, a chip, or a chip system, or a circuit), or a device that can be used in combination with the perception node.

[0048] In one possible implementation, the communication device may include a module or unit corresponding to the method / operation / step / action described in the first aspect. The module or unit may be a hardware circuit, software, or a combination of hardware circuit and software.

[0049] In one possible implementation, the device includes a processing module, which is used to obtain perception data of a first target. The processing module is also used to determine whether to send the first perception data based on the confidence of the first perception data, where the first perception data belongs to the perception data of the first target, and the confidence is determined based on a first parameter, which includes at least one of the following: the beam width of the first beam, the delay for perceiving the first target, the signal bandwidth for perceiving the first target, or the beam arrival angle of the first beam reaching the first target, where the first beam is a beam used to perceive the first target.

[0050] In certain implementations of the third aspect, the processing module is used to determine whether to send the first perception data based on the confidence of the first perception data and the confidence of the first data, where the first data belongs to local data of the first target.

[0051] In certain implementations of the third aspect, the apparatus further includes a transceiver module configured to send the first perception data when the confidence level of the first perception data is greater than or equal to the confidence level of the first data, or

[0052] When the ratio of the confidence level of the first perception data to the confidence level of the first data is greater than or equal to a first threshold, the first perception data is sent, or,

[0053] When the difference between the confidence level of the first perception data and the confidence level of the first data is greater than or equal to a second threshold, the first perception data is sent.

[0054] In certain implementations of the third aspect, the transceiver module is further used to receive second information, where the second information is used to indicate the first threshold or the second threshold.

[0055] In certain implementations of the third aspect, the processing module is configured to determine whether to send the first perception data based on the confidence of the first perception data and a first confidence threshold.

[0056] In certain implementations of the third aspect, the apparatus further includes a transceiver module configured to receive second information, where the second information is configured to indicate the first confidence threshold.

[0057] In certain implementations of the third aspect,

[0058] The device further includes a transceiver module, which is used to receive third information, where the third information is used to indicate location information of a first area, where the first area includes the first target.

[0059] In certain implementations of the third aspect, the first area includes at least one partition, the at least one partition corresponds one-to-one with at least one confidence threshold, the at least one confidence threshold includes a first confidence threshold, or the at least one partition corresponds one-to-one with at least one threshold, the at least one threshold includes a first threshold or a second threshold.

[0060] In certain implementations of the third aspect, the processing module is also used to determine K second targets, where the K second targets correspond to K second perception data, where K is an integer greater than or equal to 1. The processing module is also used to determine whether to report the first perception data based on the confidence of the K second perception data and the confidence of the first perception data.

[0061] In certain implementations of the third aspect,

[0062] The device also includes a transceiver module, which is used to receive the second parameter.

[0063] The second parameter is a distance threshold, within which there are K second targets.

[0064] or,

[0065] The second parameter is the value of K, the K second targets are the K targets closest to the first target in the perception map, and the perception map is used to indicate the first target and the K second targets.

[0066] In certain implementations of the third aspect, the transceiver module is further used to receive fourth information, where the fourth information is used to indicate the perception map.

[0067] In certain implementations of the third aspect, the confidence level and the first parameter satisfy the following relationship:

[0068]

[0069] Wherein, D is the confidence, c is the speed of light, t is the time delay for perceiving the first target, φ is the beam arrival angle of the first beam reaching the first target, θ is the beam width of the first beam, and B is the signal bandwidth for perceiving the first target.

[0070] In a fourth aspect, a communication device is provided, which can be used in the perception center of the second aspect. The communication device can be a perception center, or a device in the perception center (for example, a chip, or a chip system, or a circuit), or a device that can be used in combination with the perception center.

[0071] In one possible implementation, the communication device may include a module or unit corresponding to the method / operation / step / action described in the second aspect. The module or unit may be a hardware circuit, software, or a combination of hardware circuit and software.

[0072] In one possible implementation, the communication device includes a transceiver module and a processing module. The transceiver module is used to receive first perception data, where the first perception data is determined based on the confidence of the first perception data. The first perception data belongs to the perception data of the first target. The confidence is determined based on a first parameter, and the first parameter includes at least one of the following: the beam width of the first beam, the delay for perceiving the first target, the signal bandwidth for perceiving the first target, or the beam arrival angle of the first beam reaching the first target. The first beam is a beam used to perceive the first target. The processing module is used to update the first data of the first target to the first perception data, where the first data belongs to the local data of the first target.

[0073] In certain implementations of the fourth aspect, the confidence of the first perception data is greater than or equal to the confidence of the first data, or the ratio of the confidence of the first perception data to the confidence of the first data is greater than or equal to a first threshold, or the difference between the confidence of the first perception data and the confidence of the first data is greater than or equal to a second threshold, or the confidence of the first perception data is greater than or equal to the first confidence threshold.

[0074] In certain implementations of the fourth aspect, the transceiver module is further used to send first information, where the first information is used to indicate the first threshold or the second threshold, or the transceiver module is further used to send second information, where the second information is used to indicate the first confidence threshold.

[0075] In certain implementations of the fourth aspect, the transceiver module is further used to send third information, where the third information is used to indicate location information of a first area, where the first area includes the first target.

[0076] In certain implementations of the fourth aspect, the first area includes at least one partition, the at least one partition corresponds one-to-one with at least one confidence threshold, the at least one confidence threshold includes a first confidence threshold, or the at least one partition corresponds one-to-one with at least one threshold, the at least one threshold includes a first threshold or a second threshold.

[0077] In certain implementations of the fourth aspect, the transceiver module is further configured to send a second parameter.

[0078] The second parameter is a distance threshold, within which there are K second targets, the K second targets correspond to K second perception data, where K is an integer greater than or equal to 1, and the first perception data is determined based on the confidence levels of the K second perception data and the confidence level of the first perception data;

[0079] or,

[0080] The second parameter is a value of K, the K second targets are K targets closest to the first target in the perception map, the perception map is used to indicate the first target and the K second targets, and the first perception data is determined based on the confidence level of the first perception data, including:

[0081] The first perception data is determined based on the confidence levels of the K second perception data and the confidence level of the first perception data.

[0082] In certain implementations of the fourth aspect, the confidence level and the first parameter satisfy the following relationship:

[0083]

[0084] Wherein, D is the confidence, c is the speed of light, t is the time delay for perceiving the first target, φ is the beam arrival angle of the first beam reaching the first target, θ is the beam width of the first beam, and B is the signal bandwidth for perceiving the first target.

[0085] It should be understood that the third aspect and the fourth aspect are the device-side implementation methods corresponding to the first aspect and the second aspect respectively. The relevant explanations, supplements, possible implementation methods and descriptions of the beneficial effects of the first aspect and the second aspect are also applicable to the third aspect and the fourth aspect and will not be repeated here.

[0086] In a fifth aspect, an embodiment of the present application provides a communication device, comprising an interface circuit and a processor, wherein the interface circuit is used to implement the function of the transceiver module in the third aspect, and the processor is used to implement the function of the processing module in the third aspect.

[0087] In a sixth aspect, an embodiment of the present application provides a communication device, comprising an interface circuit and a processor, wherein the interface circuit is used to implement the function of the transceiver module in the fourth aspect, and the processor is used to implement the function of the processing module in the fourth aspect.

[0088] In the seventh aspect, an embodiment of the present application provides a computer-readable medium storing a program for execution by a terminal device or an apparatus in a terminal device, the program including instructions for executing the method of the first aspect or the second aspect, or any possible manner in the first aspect or the second aspect, or all possible manners in the first aspect or the second aspect.

[0089] In an eighth aspect, an embodiment of the present application provides a computer-readable medium storing a program for execution by a network device or an apparatus in a network device, the program including instructions for executing the method of the first aspect or the second aspect, or any possible manner in the first aspect or the second aspect, or all possible manners in the first aspect or the second aspect.

[0090] In the ninth aspect, a computer program product storing computer-readable instructions is provided, which, when the computer-readable instructions are executed on a computer, causes the computer to execute the method of the first aspect, or any possible manner of the first aspect, or all possible manners of the first aspect.

[0091] In the tenth aspect, a computer program product storing computer-readable instructions is provided, which, when the computer-readable instructions are executed on a computer, enables the computer to execute the method of the above-mentioned second aspect, or any possible method of the second aspect, or all possible methods of the second aspect.

[0092] In the eleventh aspect, a communication system is provided, which includes a device having a method for implementing the above-mentioned first aspect, or any possible manner in the first aspect, or all possible manners in the first aspect, and various possible designed functions, and a device having the second aspect, or any possible manner in the second aspect, or all possible manners in the second aspect, and various possible designed functions.

[0093] In the twelfth aspect, a processor is provided, which is coupled to a memory and is used to execute the method of the above-mentioned first aspect, or any possible method of the first aspect, or all possible methods of the first aspect.

[0094] In one possible implementation, the memory is used to store computer instructions, and the processor executes the method of the above-mentioned first aspect, or any possible manner of the first aspect, or all possible manners of the first aspect by running the computer instructions.

[0095] In one possible implementation, the memory and the processor are integrated together.

[0096] In a thirteenth aspect, a processor is provided, coupled to a memory, for executing the method of the second aspect, or any possible manner of the second aspect, or all possible manners of the second aspect.

[0097] In one possible implementation, the memory is used to store computer instructions, and the processor executes the method of the above-mentioned second aspect, or any possible manner of the second aspect, or all possible manners of the second aspect by running the computer instructions.

[0098] In one possible implementation, the memory and the processor are integrated together.

[0099] In a fourteenth aspect, a chip system is provided, comprising a processor and a memory configured to execute computer programs or instructions stored in the memory, so that the chip system implements the method of any of the aforementioned first or second aspects, as well as any possible implementation of either aspect. The chip system may be composed of a chip alone, or may include a chip and other discrete components.

[0100] In the fifteenth aspect, a computer program product storing computer-readable instructions is provided, which, when the computer-readable instructions are run on a computer, enables the computer to execute the method of the above-mentioned first aspect, or any possible method of the first aspect, or all possible methods of the first aspect.

[0101] In the sixteenth aspect, a computer program product storing computer-readable instructions is provided, which, when the computer-readable instructions are run on a computer, enables the computer to execute the method of the above-mentioned second aspect, or any possible method of the second aspect, or all possible methods of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] FIG1 shows a schematic diagram of the architecture of a communication system applicable to an embodiment of the present application.

[0103] FIG2 shows a method of compressing data.

[0104] FIG3 shows a cumulative distribution function curve of bandwidth and perception distance error.

[0105] FIG4 shows a cumulative distribution function curve of beam arrival angle and perceived distance error.

[0106] FIG5 shows a schematic diagram of a perception method proposed in an embodiment of the present application.

[0107] FIG6 shows a perception map proposed in an embodiment of the present application.

[0108] FIG7 shows another perception map proposed in an embodiment of the present application.

[0109] FIG8 shows a method for calculating confidence proposed in an embodiment of the present application.

[0110] FIG9 shows a method for determining the confidence level of perception data proposed in an embodiment of the present application.

[0111] FIG10 shows another method for determining the confidence of perception data proposed in an embodiment of the present application.

[0112] FIG11 shows another method for determining the confidence of perception data proposed in an embodiment of the present application.

[0113] FIG12 shows another method for determining the confidence of perception data proposed in an embodiment of the present application.

[0114] FIG13 shows another method for determining the confidence of perception data proposed in an embodiment of the present application.

[0115] FIG14 shows a schematic diagram of a perception process proposed in an embodiment of the present application.

[0116] FIG15 shows a schematic block diagram of a communication device proposed in an embodiment of the present application.

[0117] FIG16 shows a schematic block diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0118] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0119] Figure 1 is a schematic diagram of the architecture of a communication system 1000 used in an embodiment of the present application. As shown in Figure 1 , the communication system includes a radio access network 100 and a core network 200. Optionally, the communication system 1000 may also include the Internet 300. The radio access network 100 may include at least one radio access network device (such as 110a and 110b in Figure 1 ) and at least one terminal (such as 120a-120j in Figure 1 ). The terminal is wirelessly connected to the radio access network device, and the radio access network device is wirelessly or wiredly connected to the core network. The core network device and the radio access network device may be independent, distinct physical devices, or the core network device's functions and the radio access network device's logical functions may be integrated into the same physical device, or a single physical device may integrate some of the core network device's functions and some of the radio access network device's functions. Terminals and radio access network devices may be interconnected via wired or wireless connections. Figure 1 is merely a schematic diagram. The communication system may also include other network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 1 .

[0120] Radio access network equipment can be called network equipment, which can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), the next generation NodeB (gNB) in the fifth generation (5G) mobile communication system, the next generation base station in the sixth generation (6G) mobile communication system, the base station in the mobile communication system evolved after 5G or the access node in the WiFi system, the network equipment in the non-terrestrial network (NTN) communication system, that is, it can be deployed on a high-altitude platform or satellite, etc.; it can also be a module or unit that performs part of the functions of the base station, for example, it can be a centralized unit (CU) or a distributed unit (DU). The CU here completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP); the DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete the functions of part of the physical layer or all of the physical layer. For the specific description of each of the above protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). The wireless access network device can be a macro base station (such as 110a in Figure 1), a micro base station or an indoor station (such as 110b in Figure 1), or a relay node or a donor node, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the wireless access network device. For the convenience of description, the following description takes the base station as an example of the wireless access network device.

[0121] A terminal may also be referred to as a terminal device, user equipment (UE), mobile station, mobile terminal, etc. Terminals can be widely used in various scenarios, such as customer-premises equipment (CPE), smart point of sale (POS), device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, etc. A terminal can be a mobile phone, tablet computer, computer with wireless transceiver function, wearable device, vehicle, drone, helicopter, airplane, ship, robot, robotic arm, smart home device, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal.

[0122] Base stations and terminals can be fixed or mobile. They can be deployed on land, indoors or outdoors, handheld or vehicle-mounted; on water; or on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of base stations and terminals.

[0123] The roles of base stations and terminals can be relative. For example, the helicopter or drone 120i in Figure 1 can be configured as a mobile base station. To terminals 120j accessing the wireless access network 100 via 120i, terminal 120i is a base station. However, to base station 110a, 120i is a terminal, meaning that communication between 110a and 120i occurs via a wireless air interface protocol. Of course, communication between 110a and 120i can also occur via a base station-to-base station interface protocol. In this case, 120i is also a base station relative to 110a. Therefore, base stations and terminals can be collectively referred to as communication devices. 110a and 110b in Figure 1 can be referred to as communication devices with base station functionality, while 120a-120j in Figure 1 can be referred to as communication devices with terminal functionality.

[0124] Communication between network devices and terminals, between network devices, and between terminals can be carried out through authorized spectrum, unauthorized spectrum, or both; communication can be carried out through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or spectrum below 6 GHz and spectrum above 6 GHz. The embodiments of the present application do not limit the spectrum resources used for wireless communication.

[0125] In the embodiments of the present application, the functions of the network device may also be performed by a module (such as a chip) in the network device, or by a control subsystem that includes the network device functions. The control subsystem that includes the network device functions here may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal may also be performed by a module (such as a chip or modem) in the terminal, or by a device that includes the terminal functions.

[0126] The technical solutions provided in the embodiments of this application can be applied to wireless communications between communication devices. Wireless communications between communication devices may include: wireless communications between network devices and terminals, wireless communications between network devices, and wireless communications between terminal devices. In the embodiments of this application, the term "wireless communications" may also be referred to as "communication," which may also be described as "data transmission," "information transmission," or "transmission."

[0127] Communication and perception integration refers to a new information processing technology that achieves the synergy between perception and communication functions based on software and hardware resource sharing or information sharing. During the perception process, the devices involved in perception may include a perception center and a perception node. The perception center can be the aforementioned network device or terminal, and the perception node can be the aforementioned network device or terminal. The network device can be an access network device or a core network device, which is not limited in this embodiment of the application.

[0128] For example, the perception center can be independent, for example, the perception center is a cloud with certain computing and data storage capabilities. In the 5G system network architecture, it can be an access and mobility management function (AMF) network element or a user plane function (UPF) network element, connected to the base station through a wired or wireless NG-C or NG-U, but this application is not limited to the 5G communication system. In this case, the perception center and the perception node (such as UE) may not communicate directly, and the data can be forwarded through the base station, such as uploaded to the perception center by the base station.

[0129] Alternatively, the perception center is a base station with certain computing and data storage capabilities. In the 5G system network architecture, base stations generally communicate with each other through the Xn interface, and the base stations are connected to the perception nodes (such as UE) through wired or wireless networks.

[0130] It should also be understood that with the development of technology, the UE may serve as the perception center and other UEs may serve as perception nodes, and the solution of this application may also be applicable.

[0131] In order to facilitate understanding of the solutions of the embodiments of the present application, the relevant concepts are explained.

[0132] 1. Communication and Perception Integration: Communication and perception integration refers to a new information processing technology that enables the synergy of perception and communication functions through the sharing of software and hardware resources or information. This technology can effectively improve system spectrum efficiency, hardware efficiency, and information processing efficiency. Alternatively, communication and perception integration can also refer to the unified design of communication and perception functions through joint air interface and protocol design, time-frequency and space resource reuse, and hardware device sharing. This enables wireless networks to achieve high-precision and refined perception functions while simultaneously providing high-quality communication interactions, thereby improving overall network performance and service capabilities.

[0133] In the integrated communication and perception landscape, perception capabilities focus on wireless signal perception. This involves analyzing direct, reflected, and scattered radio wave signals to gain awareness of target objects or environmental information (such as their attributes and status). This enables positioning, ranging, speed measurement, imaging, detection, identification, and environmental reconstruction, enabling perceptual exploration of the physical world. Advanced wireless base stations and terminals will increasingly possess both communication and perception capabilities. Enabling intelligent technologies within advanced wireless communication systems will require acquiring perceptual information from the environment. Advanced wireless base stations have the ability to detect the status of objects within their coverage area. For example, they can detect, locate, and identify key targets such as low-flying objects and traffic. Furthermore, advanced wireless base stations and terminals possess all-day, all-weather environmental awareness, which in turn feeds back into communication. Compared to cameras and lidar, these base stations are less susceptible to lighting and weather conditions.

[0134] 2. Point cloud: A point cloud is a data set of points in a certain coordinate system, which contains rich information, such as three-dimensional coordinates X, Y, Z, color, intensity value, time and other factors. Point clouds are generally acquired through three-dimensional imaging sensors, such as binocular cameras, three-dimensional scanners and depth image (red green blue-depth map, RGB-D) cameras. At present, the mainstream point cloud acquisition method is radar (LiDAR) laser detection and measurement, which is mainly used in autonomous driving, surveying and mapping and other fields. In recent years, the method of acquiring point clouds has gradually expanded to the field of electromagnetic waves (radar). For example, in single-station perception, using raw echoes to extract point clouds for environmental perception is one of the main technical paths for single-station perception.

[0135] 3. Octree: This is one of the foundational technologies for describing and compressing sensing data. Its basic concept is to recursively partition and represent space. As shown in Figure 2, the spatial range is evenly divided into eight subregions. Accordingly, a node in the tree is expanded into eight child nodes, each corresponding to a subregion. If and only if there is a data point in the subregion, the corresponding child node is 1. The octree shown in Figure 2 can be represented as: 1 00010000 00010000 10000001.

[0136] The perception accuracy of electromagnetic-based wireless base stations and terminals is affected by factors such as bandwidth, antenna array size, beamwidth, angle of arrival (AoA), and the roughness and material of the perceived object. Figure 3 shows the cumulative distribution function (CDF) curve of bandwidth and perceived distance error. It can be seen that the perceived distance error varies with different bandwidths. Figure 4 shows the CDF curve of beam angle of arrival and perceived distance error. It can be seen that the perceived distance error also varies with different AoA. These factors can lead to varying accuracy in the point cloud, voxel, and environment reconstruction results perceived by different sensing nodes. Furthermore, the perception results are highly correlated with the surrounding environment. Even for the same TRP, the perception accuracy can vary at different locations and times.

[0137] Furthermore, in multi-device joint sensing scenarios, the sensing areas of different devices overlap to a certain extent, and most environmental conditions do not change over time. This leads to significant redundancy between the data sensed by each device at each moment, resulting in duplicate data reporting and wasted communication resources. Using octrees to compress data is limited; even after compression, the data volume remains enormous. Further efforts are needed to exploit data redundancy to reduce the amount of reported data and minimize air interface resource consumption.

[0138] To address the above issues, the present application proposes a communication method that can reduce data redundancy, reduce resource consumption, and improve perception accuracy. As shown in Figure 5, the method may include the following steps:

[0139] Step 501: The sensing node obtains sensing data of a first target.

[0140] Among them, the first target can be a target to be perceived, and the target to be perceived can be dynamic, such as a vehicle in motion, and the perception target can also be static, such as a vehicle parked on the roadside, or it can be other targets that need to be perceived, such as roads, homes, buildings, etc. The embodiments of the present application do not limit this.

[0141] The perception data of the first target is the data obtained by the sensing node when perceiving the first target. This perception data can be geometric information or location information of the first target. For example, the perception data can be the distance between the first target and the sensing node. For example, when the perception target is a vehicle, the perception data can be the distance between the vehicle and the sensing node obtained through perception by the sensing node.

[0142] In one possible implementation, the first target may be indicated by a perception center. For example, the perception center sends information #A to the perception node, where the information #A indicates the first target. The perception node determines the first target based on the information #A. Information #A may indicate the first target in the following ways:

[0143] Method 1: Information #A can be the actual geographic location information of the first target. Information #A can also be other location information of the first target that can replace its geographic location information. For example, information #A can be the three-dimensional coordinates of the first target in a certain coordinate system. It can be understood that the coordinate system can be predefined or indicated by the perception center to the perception node. In other words, when the coordinate system of the perception center is consistent with that of the perception node, the perception center indicates the coordinates of the first target in the coordinate system to the perception node, and the perception node determines the first target based on the coordinates. Of course, the coordinate systems of the perception center and the perception node may also be inconsistent. In this case, the perception center and the perception node need to predefine the calculation method of the coordinates, such as the conversion method of the predefined coordinate 1 of target A in coordinate system 1 to the corresponding coordinate (such as coordinate 2) in coordinate system 2.

[0144] Method 2: Information #A (such as the third information) can be used to indicate the location information of the first area, which includes the first target. For example, the first area may include multiple targets to be perceived, and the first target belongs to the multiple targets to be perceived. Among them, information #A indicates the location information of the first area, which can be geographical location information indicating the first area, or coordinate information indicating the first area. Specifically, the method of indicating the coordinate information of the first area can refer to the method in which information #A indicates the coordinate information of the first target in Method 1, and will not be repeated here.

[0145] Optionally, information #A (such as the fourth information) can also be used to indicate a perception map. It should be understood that the so-called "map" can be a collection of data, and these data can be obtained by the perception center through perception. Alternatively, when a communication system includes multiple perception nodes, multiple perception nodes obtain and report to the perception center through perception. Alternatively, it can also be that the perception node obtained and reported to the perception center during the previous perception process, that is, these data can include historical data of the first target. In other words, the perception center sends a perception map to the perception node, and the data included in the perception map can be used as local data of the first target, and the first data belongs to the local data of the first target. The first data can be used by the perception node to determine whether to report the first perception data.

[0146] The perception map may be a gridded perception map. As shown in FIG6 , the perception map includes a plurality of data, and the data are distributed in a gridded manner. In other words, the data in the gridded perception map are evenly distributed.

[0147] The perception map can also be a point cloud perception map. As shown in Figure 7, the perception map includes multiple data and a center point. An example of the center point is point S in Figure 7. It should be understood that the center point can be the location of the target corresponding to a certain data in the perception map, or it can be a predefined geometric point. For example, the geometric point is a point in the perception map, which does not represent any perception target. This embodiment of the present application is not limited to this.

[0148] Step 502: The sensing node determines whether to send the first sensing data according to the confidence level of the first sensing data.

[0149] The confidence level is used to characterize the error between certain data and actual data. For example, the confidence level of the first sensed data is used to characterize the error between the first sensed data and the first actual data, where the first actual data is the actual data of the first target.

[0150] The confidence level can be determined based on a first parameter, which can include at least one of the following: beam width, measurement delay, bandwidth, or beam arrival angle. The beam width can be the width of the beam (i.e., the first beam) used by the sensing node to acquire the first target. The perception delay can be the delay for the sensing node to perceive the first target. For example, when the sensing node perceives the distance to the first target, the perception delay can be the time between the first beam being emitted from the sensing node and the sensing node receiving the feedback beam. The bandwidth can be the signal bandwidth for perceiving the first target. It should be understood that the first target can be an active target or a passive target, and this is not limited in the embodiments of the present application. When the first target is an active target, the bandwidth can be the bandwidth for communication between the sensing node and the first target, or the bandwidth of the sensing node, or the bandwidth used by the sensing node to send information to the first target. For example, this information can refer to the information transmitted by the sensing node to the target in the current communication and perception integration. The beam arrival angle can be the beam arrival angle of the first beam reaching the first target.

[0151] The relationship between each parameter and confidence can be simply described as follows: the greater the perception delay, the lower the confidence. The larger the beam arrival angle within a certain range (for example, 0°-90°), the lower the confidence. The larger the beamwidth, the greater the confidence. The larger the bandwidth, the greater the confidence.

[0152] One possible way to calculate confidence is as follows:

[0153]

[0154] Where D is the confidence level, c is the speed of light, t is the perception delay, φ is the beam arrival angle, θ is the beam width, and B is the bandwidth.

[0155] Optionally, the first parameter may also include a measured distance, which may be determined based on the measured time delay and the speed of light. As shown in FIG8 , d is the measured distance, d=t / 2*C. In other words, the measured distance and the measured time delay may represent each other.

[0156] It should be understood that the above calculation method is only an example of a confidence calculation method, and the embodiments of the present application are not limited thereto. For example, the above parameters can also satisfy the following relationship:

[0157]

[0158] or,

[0159]

[0160] It should be understood that there may be other equivalent or alternative methods for calculating D, which are not exhaustive here. Alternatively, other variables or constants may be introduced as reference factors in the calculation process, all of which are within the scope of protection of this application.

[0161] It should also be understood that the method for determining the confidence level may be predefined by the perception node and the perception center, or may be preconfigured, or may be indicated by the perception center to the perception node, and this embodiment of the present application does not limit this.

[0162] In one possible approach, the sensing node may determine whether to send the first sensing data based on the confidence level of the first sensing data and the confidence level of the first data, where the first data is local data of the first target. In other words, the first sensing data is data obtained by the sensing node when sensing the first target, and the first data is local data of the sensing node for the first target. The sensing node may determine whether to send the sensed data based on these two factors. For example, the sensing node may determine whether to send the first sensing data based on the following methods:

[0163] Method A: The sensing node determines whether the confidence level of the first sensing data is greater than or equal to the confidence level of the first data.

[0164] For example, the confidence of the first perception data is 5, and the confidence of the first data is 4. The perception node determines that the confidence of the first perception data is greater than the confidence of the first data, then determines that the first perception data can be sent, for example, to the perception center.

[0165] In this approach, sensing nodes do not report sensing data with a confidence level lower than that of local data, thus avoiding data redundancy, reducing the amount of data reported, and wasting resources. On the other hand, sensing nodes report sensing data with a confidence level greater than or equal to that of local data, which can improve the accuracy of sensing data.

[0166] Mode B: The sensing node determines whether the ratio of the confidence level of the first sensing data to the confidence level of the first data is greater than or equal to a first threshold.

[0167] For example, the first threshold is 1, the confidence of the first perception data is 8, the confidence of the first data is 4, and the ratio of the confidence of the first perception data to the confidence of the first data is 2. The perception node determines that the ratio of the confidence of the first perception data to the confidence of the first data is greater than the first threshold, then determines that the first perception data can be sent, for example, the first perception data can be sent to the perception center.

[0168] Among them, the first threshold can be predefined, configured, or indicated. For example, the first threshold can be indicated by information #B (such as the first information), and this embodiment of the present application does not limit this.

[0169] In this approach, sensing nodes do not report sensing data with a confidence ratio less than a first threshold, thus avoiding data redundancy, reducing the amount of data reported, and wasting resources. On the other hand, sensing nodes report sensing data with a confidence ratio greater than or equal to the first threshold, which can improve the accuracy of the sensing data.

[0170] Method C: The sensing node determines whether the difference between the confidence level of the first sensing data and the confidence level of the first data is greater than or equal to a second threshold.

[0171] For example, the second threshold is 2, the confidence of the first perception data is 7, the confidence of the first data is 3, and the difference between the confidence of the first perception data and the confidence of the first data is 4. The perception node determines that the difference between the confidence of the first perception data and the confidence of the first data is greater than the second threshold, then determines that the first perception data can be sent, for example, the first perception data can be sent to the perception center.

[0172] Among them, the second threshold can be predefined, configured, or indicated. For example, the second threshold can be indicated by information #B (such as the first information), and this embodiment of the present application does not limit this.

[0173] In this approach, the sensing node does not report sensing data with a confidence difference less than the second threshold, which can avoid data redundancy, reduce the amount of data reported, and avoid wasting resources. On the other hand, the sensing node reports sensing data with a confidence difference greater than or equal to the second threshold, which can improve the accuracy of the sensing data.

[0174] Mode D: The sensing node determines whether the confidence of the first sensing data is greater than or equal to a first confidence threshold.

[0175] For example, the confidence of the first perception data is 6, and the first confidence threshold is 5. The perception node determines that the confidence of the first perception data is greater than the first confidence threshold, and then determines that the first perception data can be sent, for example, to the perception center.

[0176] Among them, the first confidence threshold can be predefined, configured, or indicated. For example, the first confidence threshold can be indicated by information #B (such as the second information), and this embodiment of the present application does not limit this.

[0177] In this approach, sensing nodes do not report sensing data with a confidence level below the confidence threshold, thus avoiding data redundancy, reducing the amount of data reported, and wasting resources. On the other hand, sensing nodes report sensing data with a confidence level greater than or equal to the confidence threshold, which can improve the accuracy of the sensing data.

[0178] It should be understood that the above methods A, B, C, and D are only possible examples, and the embodiments of the present application are not limited thereto. For example, logarithmic operations can also be used to determine the numerical relationship between the confidence level of the first perception data and the confidence level of the first data.

[0179] The following describes in detail how the perception node judges data in combination with the different indication contents of information #A.

[0180] When the information #A in step 501 indicates a gridded perception map:

[0181] In one possible implementation, a perception node can determine perception data using the method shown in Figure 9. Specifically, information #A indicates a gridded perception map, which includes 16 data points with confidence levels. The data in the perception map shown in the figure represent the confidence levels corresponding to these 16 data points. After performing perception at a specific location using a specific perspective, the perception node obtains perception data for that local area, resulting in the corresponding 16 perception data points and the corresponding confidence levels for these 16 perception data points. After aligning the position coordinates, the confidence levels of the perception data are compared with those of the data in the perception map. For example, if the confidence level of the data in the first row and second column of the gridded perception map is 0.6, the confidence level of the perception data at the corresponding location (i.e., the confidence level of the first row and second column of the gridded perception data in the figure) is 0.7, which is greater than the confidence level of the corresponding location in the perception map. Therefore, the perception node determines that the perception data corresponding to this location can be reported. After the comparison of the 16 data points shown in the figure, only two data points remain, achieving data compression.

[0182] Another possible implementation is that the perception node can judge the perception data according to the method shown in Figure 10. Specifically, after the perception node perceives at a specific position using a specific perspective, it obtains the perception data of the local area, and obtains the corresponding 16 perception data, as well as the confidence corresponding to the 16 perception data. After the position coordinates are aligned, the confidence of the perception data is compared with the confidence threshold. The confidence threshold is issued by the perception center and takes a value of 0.6. For example, the perception node compares the confidence corresponding to the 16 perception data with the confidence threshold respectively. The perception data corresponding to the 7 positions shown in the figure are greater than or equal to the confidence threshold. The perception node determines that the perception data corresponding to the 7 positions can be reported, and data compression can also be achieved.

[0183] It should be understood that the confidence threshold or the confidence relationship is merely used as an example of a judgment method here, and the judgment method of the difference and ratio mentioned above is also applicable.

[0184] When the information #A in step 501 indicates a point cloud-aware map:

[0185] The perception node can determine K second targets, and the K second targets correspond to K second perception data, where K is an integer greater than or equal to 1. The perception node determines whether to report the first perception data based on the confidence of the K second perception data and the confidence of the first perception data. Furthermore, the perception node can determine the K second targets based on a second parameter. For example, the second parameter is a distance threshold, and there are K second targets within the distance threshold range; or, the second parameter is the value of K, and the K second targets are the K targets closest to the first target in the perception map. Optionally, the second parameter can be indicated, for example, by information #A (such as the fourth information). The second parameter can also be predefined, which is not limited in the embodiments of the present application.

[0186] In one possible implementation, as shown in FIG11 , the second parameter is a distance threshold R. With the first target as the center point, the confidence level of the perception data corresponding to the targets within a range R from the perception data corresponding to the first target (first perception data S) is compared. For example, the targets corresponding to these perception data may be points on a sphere within a range R from S. If the confidence level of the data with the lowest confidence level among these perception data is lower than the confidence level of the first perception data, the perception node determines that the first perception data can be reported. For example, in the figure, there are three targets within the range R, and the confidence levels of the corresponding perception data are 0.9, 0.2, and 1, respectively. The lowest confidence level is 0.2, and the confidence level of the first perception data is 0.5, which is greater than 0.2. Therefore, the perception node determines that the first perception data can be reported. If the lowest confidence level of these three points is still higher than the confidence level of the first perception data S, the perception data is not reported, thus achieving data compression. In one possible approach, the value of the distance threshold R may be determined by the perception center. Alternatively, the distance threshold may be predefined, which is not limited in the embodiments of the present application.

[0187] Another possible implementation, as shown in FIG12 , is that the second parameter is the value of K. For example, if the value of K is 3, the sensing node determines the three targets closest to the first target. For example, in the figure, the confidence levels of the sensing data corresponding to the remaining three targets other than the first sensing data are 0.2, 0.9, and 1, respectively. These three confidence levels can be obtained by querying the sensing node. If the one with the smallest confidence level is smaller than the confidence level of the first sensing data, the sensing node determines that the first sensing data can be reported. For example, if the confidence level of the first sensing data is 0.5, which is greater than the minimum confidence level of 0.2, the sensing node determines that the first sensing data can be reported. If the minimum confidence level of these three points is still greater than the confidence level of the first sensing data S, the sensing data will not be reported, thereby achieving data compression. In one possible manner, the value of K can be determined by the sensing center. Alternatively, the value of K can also be predefined, which is not limited in the embodiments of the present application.

[0188] It should be understood that the confidence relationship is only used as an example of a judgment method here, and the judgment methods of the difference, ratio, and confidence threshold mentioned above are also applicable.

[0189] When the information #A in step 501 indicates the first area:

[0190] The first area can be called the area to be updated. As shown in Figure 13, the first area includes four targets. After the perception node perceives at a specific position using a specific perspective, it obtains the perception data and confidence of the first area. For example, the confidence levels of the perception data corresponding to the four targets are 0.1, 0.7, 0.8 and 0.9, respectively, where the confidence level of the perception data corresponding to the first target (first perception data) is 0.9. After the position coordinates are aligned, the perception node can compare these confidence levels with the confidence threshold. For example, the confidence threshold can be issued by the perception center. For example, the perception center indicates to the perception node that the confidence threshold value is 0.75. Among the confidence levels of the perception data of the four targets, two confidence levels are greater than the confidence threshold. The perception node then determines that it can report the perception data of two of the four targets, namely, the perception data corresponding to confidence levels 0.9 and 0.8, respectively.

[0191] It should be understood that the confidence threshold is only used as an example of a judgment method here, and the judgment methods of the above-mentioned difference, ratio, and size relationship are also applicable.

[0192] Optionally, the first region may include at least one partition, the at least one partition having a one-to-one correspondence with at least one confidence threshold, the at least one confidence threshold including a first confidence threshold, or the at least one partition having a one-to-one correspondence with at least one threshold, the at least one threshold including a first threshold or a second threshold. In other words, the first region may be divided into blocks, different partitions may have different corresponding confidence thresholds, or different partitions may have different corresponding first thresholds or second thresholds. Specifically, the implementation process can refer to the above-mentioned relevant descriptions and will not be repeated here.

[0193] It should be understood that different partitions of the first area may correspond to different confidence thresholds or values, that is, different partitions of the first area may have different perception requirements. The perception nodes select the perception data to be reported to the perception center through different confidence thresholds or values, which can match the perception requirements of different partitions and further improve the accuracy of the perception data.

[0194] Optionally, after the sensing node determines that the first sensing data can be reported, the method may further include the following steps:

[0195] Step 503: The sensing node sends first sensing data to the sensing center, and correspondingly, the sensing center receives the first sensing data.

[0196] It should be understood that when a sensing node determines that multiple sensing data can be reported, for example, if the sensing node determines in step 502 that more than one data item is greater than the confidence threshold, the sensing node may report all of the data items. In other words, the sensing node reports at least one sensing data item to the sensing center, where the at least one sensing data item includes the first sensing data item.

[0197] Optionally, for the unreported perception data, the perception node may delete the perception data.

[0198] Optionally, after receiving the reported perception data, the perception center can update the perception map. The perception map can be a data map of a portion of the perception targets in the target environment. By updating the perception map, the target environment can be reconstructed. Furthermore, when there are multiple perception nodes in the perception system, the perception center can send incremental perception update data and revised environment reconstruction result data to each perception node to update its local map.

[0199] In order to clearly understand the implementation of the embodiments of the present application, a detailed process example is given below.

[0200] Step 1401: The perception center sends perception signaling to the perception node, and correspondingly, the perception node receives the perception signaling.

[0201] The perception signaling may be a signaling for the perception node to initiate a perception process. Alternatively, the perception signaling may be a signaling for the perception center to configure perception parameters for the perception node. For example, the perception parameters may be used to indicate communication resources. This embodiment of the present application is not limited to this.

[0202] Step 1402: The sensing node reports the identification information of the node and relevant information of the sensing capability to the sensing center. Correspondingly, the sensing center receives the identification information of the sensing node and relevant information of the sensing capability.

[0203] The identification information of the sensing node is used to identify the sensing node, and the identification information of the sensing node may be the identity information of the sensing node. The information related to the sensing capability is used to indicate the sensing capability of the sensing node. For example, the sensing capability may be the sensing range of the sensing node, or the number of sensing targets of the sensing node, etc., which is not limited in the embodiments of the present application.

[0204] Step 1403: The perception center sends the perception task and the perception map to the perception node. Correspondingly, the perception node receives the perception task and the perception map.

[0205] Optionally, the perception center may further send a confidence threshold to the perception node, and correspondingly, the perception node receives the confidence threshold.

[0206] The perception task may be a parameter to be perceived by the perception node. For example, the perception task may be to perceive the distance between the first target and the perception node. Alternatively, the perception task may be to perceive the size of the first target, etc., which is not limited in this embodiment of the present application. The perception map may refer to the description in step 501. Optionally, the perception map may be a point cloud perception map, a grid perception map, or regional location information, such as the location information of the first region. The first region may refer to the description in step 501 and will not be repeated here.

[0207] Step 1404: The sensing node obtains sensing data according to the sensing task.

[0208] Step 1405: The sensing node compresses the data.

[0209] Specifically, the way in which the perception node compresses data can refer to the way in which the perception node determines whether to send the first perception data in step 502, which will not be repeated here.

[0210] Step 1406: The sensing node reports the sensing data, and correspondingly, the sensing center receives the sensing data.

[0211] Step 1407: The perception center updates the perception map based on the received perception data.

[0212] Optionally, the process may also include:

[0213] Step 1408: The perception center sends the incremental update of the perception map to other perception nodes. Correspondingly, other perception nodes receive the incremental update of the perception map.

[0214] Corresponding to the different types of perception maps in step 1403, the incremental update of the perception map issued by the perception center in step 1408 can be an incremental update of the point cloud perception map, an incremental update of the grid perception map, or an incremental update of the first area.

[0215] In this method, sensing nodes assess perception data based on confidence levels and report the corresponding perception data that meets the confidence requirements. This achieves data compression, significantly reduces redundant data, and avoids resource waste. Furthermore, using confidence levels as a reference factor and reporting only the perception data that meets the confidence requirements to the perception center can improve the accuracy of perception and environment reconstruction.

[0216] The various embodiments described herein may be independent solutions or combined according to internal logic, and all of these solutions fall within the scope of protection of this application. It should be understood that the steps of the above embodiments are only for the purpose of clearly describing the technical solutions of the embodiments and do not limit the order in which the steps are executed.

[0217] The sensory data in this application can be used for target measurement and control. However, this application is not limited to this. For example, the sensory data can also be used for environmental reconstruction. The reconstructed environment can assist in communication channel modeling and then feed back to communication. The above is only an example of the application scenario of this application, and this application does not limit it.

[0218] In the embodiments provided in the present application, the methods provided in the embodiments of the present application are introduced from the perspective of interaction between various devices. In order to implement the various functions in the methods provided in the embodiments of the present application, the network device or terminal device may include a hardware structure and / or a software module to implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0219] The division of modules in the embodiments of the present application is illustrative and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of the present application may be integrated into a single processor, or may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules.

[0220] The communication device provided in the embodiment of the present application is described in detail below with reference to Figures 15 and 16. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, for matters not described in detail, reference can be made to the method embodiment above. For the sake of brevity, they will not be repeated here.

[0221] Consistent with the above concept, as shown in FIG15 , an embodiment of the present application provides a communication device 1500 for implementing the sensing node functionality described in the above method. For example, the device may be a software module or a system-on-chip. In the embodiment of the present application, the system-on-chip may be comprised of a chip or may include a chip and other discrete components. The device 1500 may include a processing unit 1510 and a communication unit 1520.

[0222] In the embodiment of the present application, the communication unit may also be referred to as a transceiver unit or a transceiver module, and may include a sending unit and / or a receiving unit, which are respectively used to execute the steps of sending and receiving the perception node in the above method embodiment.

[0223] A communication unit may also be referred to as a transceiver, transceiver, or transceiver device. A processing unit may also be referred to as a processor, processing board, processing module, or processing device. Optionally, the device in communication unit 1520 that implements the receiving function may be considered a receiving unit, and the device in communication unit 1520 that implements the transmitting function may be considered a transmitting unit. That is, communication unit 1520 includes both a receiving unit and a transmitting unit. A communication unit may also be referred to as a transceiver, transceiver, or interface circuit. A receiving unit may also be referred to as a receiver, receiver, or receiving circuit. A transmitting unit may also be referred to as a transmitter, transmitter, or transmitting circuit.

[0224] When the communication device 1500 performs the function of the sensing center in any of the processes shown in FIG. 5 to FIG. 14 in the above embodiments:

[0225] The communication unit is used to receive first perception data, where the first perception data is determined based on a confidence level of the first perception data. The first perception data belongs to perception data of a first target, and the confidence level is determined based on a first parameter. The first parameter includes at least one of the following: a beam width of a first beam, a time delay for perceiving the first target, a signal bandwidth for perceiving the first target, or a beam arrival angle of the first beam reaching the first target. The first beam is a beam used to perceive the first target.

[0226] The processing unit is used to update the first data of the first target to first perception data, where the first data belongs to local data of the first target.

[0227] For example, the communication unit may be configured to send awareness signaling.

[0228] The communication unit can also be used to configure perception tasks, thresholds, confidence thresholds, perception maps, etc.

[0229] The communication unit may be configured to receive the sensing data.

[0230] The processing unit (also called processing module) can be used to update the perception map, etc.

[0231] When the communication device 1500 performs the function of the sensing node in any of the processes shown in Embodiments 5 to 14 above:

[0232] The processing unit is used to obtain perception data of the first target.

[0233] The processing unit can also be used to determine whether to send the first perception data based on the confidence of the first perception data, where the first perception data belongs to the perception data of the first target, and the confidence is determined based on a first parameter. The first parameter includes at least one of the following: the beam width of the first beam, the time delay for perceiving the first target, the signal bandwidth for perceiving the first target, or the beam arrival angle of the first beam reaching the first target, where the first beam is a beam used to perceive the first target.

[0234] For example, the communication unit may be used to receive perception signaling, perception maps, thresholds, confidence thresholds, etc., and to send perception data.

[0235] The processing unit can be used to determine whether to send the first perception data.

[0236] The above are just examples. The processing unit 1510 and the communication unit 1520 can also perform other functions. For more detailed descriptions, please refer to the method embodiments shown in Figures 5 to 16 or the relevant descriptions in other method embodiments, which are not repeated here.

[0237] Figure 16 shows a communication device 1600 provided in an embodiment of the present application. The device shown in Figure 16 can be a hardware circuit implementation of the device shown in Figure 15. This communication device can be used in the flowchart shown above to perform the functions of the terminal device or network device in the above method embodiment. For ease of illustration, Figure 16 only shows the main components of the communication device.

[0238] The communication device 1600 may be a sensing node capable of implementing the functions of the sensing node in the method provided in the embodiment of the present application. The communication device 1600 may also be a device capable of supporting the sensing node in implementing the corresponding functions in the method provided in the embodiment of the present application. The communication device 1600 may be a chip system. In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices. For specific functions, please refer to the description in the above method embodiment.

[0239] The communication device 1600 includes one or more processors 1610, which are used to implement or support the communication device 1600 to implement the functions of the first terminal device or the second terminal device in the method provided in the embodiment of the present application. Please refer to the detailed description in the method example for details, which will not be repeated here. The processor 1610 can also be called a processing unit or a processing module, which can implement certain control functions. The processor 1610 can be a general-purpose processor or a dedicated processor. For example, it includes: a central processing unit, a baseband processor, an application processor, a modem processor, a graphics processor, an image signal processor, a digital signal processor, a video codec processor, a controller, and / or a neural network processor. The central processing unit can be used to control the communication device 1600, execute software programs and / or process data. Different processors can be independent devices or integrated into one or more processors, for example, integrated into one or more dedicated integrated circuits. It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0240] Optionally, the communication device 1600 includes one or more memories 1620 for storing instructions 1640, which can be executed on the processor 1610 so that the communication device 1600 performs the method described in the above method embodiment. The memory 1620 is coupled to the processor 1610. The coupling in the embodiment of the present application is an indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, for information exchange between devices, units or modules. The processor 1610 may operate in conjunction with the memory 1620. At least one of the at least one memory may be included in the processor. It should be noted that the memory 1620 is not required, so it is illustrated by a dotted line in Figure 16.

[0241] Optionally, data may also be stored in the memory 1620. The processor and memory may be provided separately or integrated together. In an embodiment of the present application, the memory 1620 may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or a volatile memory (volatile memory), such as a random-access memory (RAM). In an embodiment of the present application, the processor may also be a flash memory, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. In addition, the ASIC may be located in a network device or a terminal device. Of course, the processor and the storage medium may also exist in the network device or the terminal device as discrete components.

[0242] The memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiments of the present application can also be a circuit or any other device that can perform a storage function and is used to store program instructions and / or data.

[0243] Optionally, the communication device 1600 may include instructions 1630 (sometimes also referred to as code or program), which may be executed on the processor to enable the communication device 1600 to perform the method described in the above embodiment. The processor 1610 may store data.

[0244] Optionally, the communication device 1600 may further include a transceiver 1650 and an antenna 1660. The transceiver 1650 may be referred to as a transceiver unit, a transceiver module, a transceiver, a transceiver circuit, a transceiver, an input / output interface, etc., and is configured to implement the transceiver function of the communication device 1600 through the antenna 1660.

[0245] The processor 1610 and transceiver 1650 described in this application can be implemented on an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFID), a mixed-signal IC, an ASIC, a printed circuit board (PCB), or an electronic device. The communication device described herein can be a standalone device (e.g., a standalone integrated circuit, a mobile phone, etc.), or can be part of a larger device (e.g., a module that can be embedded in another device). For details, please refer to the aforementioned description of the terminal device and the network device, which will not be repeated here.

[0246] Optionally, the communication device 1600 may further include one or more of the following components: a wireless communication module, an audio module, an external memory interface, an internal memory, a universal serial bus (USB) interface, a power management module, an antenna, a speaker, a microphone, an input / output module, a sensor module, a motor, a camera, or a display screen, etc. It will be appreciated that in some embodiments, the communication device 1600 may include more or fewer components, or some components may be integrated or separated. These components may be implemented in hardware, software, or a combination of software and hardware.

[0247] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, optical storage, etc.) that contain computer-usable program code.

[0248] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each flow and / or box in the flow chart and / or block diagram, as well as the combination of the flow chart and / or box in the flow chart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more flow charts and / or one or more boxes in the block diagram.

[0249] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0250] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

[0251] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A perception method, characterized in that: include: Acquiring perception data of the first target; Determine whether to send the first perception data based on the confidence of the first perception data, where the first perception data belongs to the perception data of the first target, and the confidence is determined based on a first parameter, where the first parameter includes at least one of the following: the beam width of the first beam, the delay for perceiving the first target, the signal bandwidth for perceiving the first target, or the beam arrival angle of the first beam reaching the first target, where the first beam is a beam used to perceive the first target.

2. The method according to claim 1, characterized in that The determining, according to the confidence level of the first perception data, whether to send the first perception data includes: Determine whether to send the first perception data based on the confidence of the first perception data and the confidence of the first data, where the first data belongs to local data of the first target.

3. The method according to claim 2, characterized in that The method comprises: When the confidence level of the first perception data is greater than or equal to the confidence level of the first data, sending the first perception data, or, When the ratio of the confidence level of the first perception data to the confidence level of the first data is greater than or equal to a first threshold, sending the first perception data, or, When the difference between the confidence level of the first perception data and the confidence level of the first data is greater than or equal to a second threshold, the first perception data is sent.

4. The method according to claim 3, characterized in that The method further comprises: First information is received, where the first information is used to indicate the first threshold or the second threshold.

5. The method according to claim 1, wherein The determining, according to the confidence level of the first perception data, whether to send the first perception data includes: Determining whether to send the first perception data is based on the confidence of the first perception data and a first confidence threshold.

6. The method according to claim 5, characterized in that The method further comprises: Second information is received, where the second information is used to indicate the first confidence threshold.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Third information is received, where the third information is used to indicate location information of a first area, where the first area includes the first target.

8. The method according to claim 7, characterized in that The first area includes at least one partition, and the at least one partition corresponds one-to-one with at least one confidence threshold, and the at least one confidence threshold includes a first confidence threshold, or the at least one partition corresponds one-to-one with at least one threshold, and the at least one threshold includes a first threshold or a second threshold.

9. The method according to claim 1, characterized in that The method further comprises: Determine K second targets, where the K second targets correspond to K second perception data, and K is an integer greater than or equal to 1; Determining whether to send the first perception data according to the confidence level of the first perception data includes: Determine whether to report the first perception data according to the confidence levels of the K second perception data and the confidence level of the first perception data.

10. The method according to claim 9, characterized in that The method further comprises: Receive the second parameter, The second parameter is a distance threshold, within which there are K second targets. or, The second parameter is the value of K, the K second targets are the K targets closest to the first target in the perception map, and the perception map is used to indicate the first target and the K second targets.

11. The method according to claim 10, characterized in that The method further comprises: Fourth information is received, where the fourth information is used to indicate the perception map.

12. The method according to any one of claims 1 to 11, characterized in that The confidence level and the first parameter satisfy the following relationship: Wherein, D is the confidence, c is the speed of light, and t is the time delay of sensing the first target. is the beam arrival angle of the first beam reaching the first target, θ is the beam width of the first beam, and B is the signal bandwidth for sensing the first target.

13. A sensing method, characterized in that: include: receiving first perception data, where the first perception data is determined based on a confidence level of the first perception data, the first perception data being perception data of a first target, the confidence level being determined based on a first parameter, the first parameter including at least one of the following: a beam width of a first beam, a time delay for perceiving the first target, a signal bandwidth for perceiving the first target, or a beam arrival angle of the first beam to the first target, the first beam being a beam used to perceive the first target; The first data of the first target is updated to the first perception data, where the first data belongs to the local data of the first target.

14. The method according to claim 13, characterized in that The confidence of the first perception data is greater than or equal to the confidence of the first data, or the ratio of the confidence of the first perception data to the confidence of the first data is greater than or equal to a first threshold, or the difference between the confidence of the first perception data and the confidence of the first data is greater than or equal to a second threshold, or the confidence of the first perception data is greater than or equal to the first confidence threshold.

15. The method according to claim 14, characterized in that Before receiving the first perception data, the method further includes: sending first information, where the first information is used to indicate the first threshold or the second threshold, or, Second information is sent, where the second information is used to indicate the first confidence threshold.

16. The method according to any one of claims 13 to 15, characterized in that The method further comprises: Third information is sent, where the third information is used to indicate location information of a first area, where the first area includes the first target.

17. The method according to claim 16, characterized in that The first area includes at least one partition, and the at least one partition corresponds one-to-one with at least one confidence threshold, and the at least one confidence threshold includes a first confidence threshold, or the at least one partition corresponds one-to-one with at least one threshold, and the at least one threshold includes a first threshold or a second threshold.

18. The method according to claim 13, characterized in that The method further comprises: Sending a second parameter, where the second parameter is a distance threshold, there are K second targets within the distance threshold range, the K second targets correspond to K second perception data, and K is an integer greater than or equal to 1; or, The second parameter is the value of K, the K second targets are the K targets closest to the first target in the perception map, and the perception map is used to indicate the first target and the K second targets. The first perception data is determined according to the confidence level of the first perception data, including: The first perception data is determined according to the confidence levels of the K second perception data and the confidence level of the first perception data.

19. The method according to claim 18, characterized in that The method further comprises: Sending fourth information, where the fourth information is also used to indicate the perception map.

20. The method according to any one of claims 13 to 19, characterized in that The confidence level and the first parameter satisfy the following relationship: Wherein, D is the confidence, c is the speed of light, and t is the time delay of sensing the first target. is the beam arrival angle of the first beam reaching the first target, θ is the beam width of the first beam, and B is the signal bandwidth for sensing the first target.

21. A communication device, characterized in that: It includes a processing module, which is used to obtain perception data of a first target. The processing module is also used to determine whether to send the first perception data based on the confidence of the first perception data, wherein the first perception data belongs to the perception data of the first target, and the confidence is determined based on a first parameter, and the first parameter includes at least one of the following: the beam width of the first beam, the delay for perceiving the first target, the signal bandwidth for perceiving the first target, or the beam arrival angle of the first beam reaching the first target, and the first beam is a beam used to perceive the first target.

22. The device according to claim 21, characterized in that The processing module is used to determine whether to send the first perception data based on the confidence of the first perception data and the confidence of the first data, where the first data belongs to the local data of the first target.

23. The device according to claim 22, characterized in that The device further includes a transceiver module, configured to send the first perception data when the confidence level of the first perception data is greater than or equal to the confidence level of the first data, or When the ratio of the confidence level of the first perception data to the confidence level of the first data is greater than or equal to a first threshold, sending the first perception data, or, When the difference between the confidence level of the first perception data and the confidence level of the first data is greater than or equal to a second threshold, the first perception data is sent.

24. The device according to claim 23, characterized in that The transceiver module is further configured to receive second information, where the second information is configured to indicate the first threshold or the second threshold.

25. The device according to claim 21, characterized in that The processing module is used to determine whether to send the first perception data according to the confidence of the first perception data and a first confidence threshold.

26. The device according to claim 25, characterized in that The device further includes a transceiver module, configured to receive second information, where the second information is configured to indicate the first confidence threshold.

27. The device according to any one of claims 21 to 26, characterized in that The device further includes a transceiver module, wherein the transceiver module is configured to receive third information, where the third information is configured to indicate location information of a first area, where the first area includes the first target.

28. The device according to claim 27, characterized in that The first area includes at least one partition, and the at least one partition corresponds one-to-one with at least one confidence threshold, and the at least one confidence threshold includes a first confidence threshold, or the at least one partition corresponds one-to-one with at least one threshold, and the at least one threshold includes a first threshold or a second threshold.

29. The device according to claim 21, characterized in that The processing module is also used to determine K second targets, where the K second targets correspond to K second perception data, where K is an integer greater than or equal to 1. The processing module is also used to determine whether to report the first perception data based on the confidence of the K second perception data and the confidence of the first perception data.

30. The device according to claim 29, characterized in that The device further includes a transceiver module, the transceiver module being configured to receive a second parameter. The second parameter is a distance threshold, within which there are K second targets. or, The second parameter is the value of K, the K second targets are the K targets closest to the first target in the perception map, and the perception map is used to indicate the first target and the K second targets.

31. The device according to claim 29, characterized in that The transceiver module is further used to receive fourth information, where the fourth information is used to indicate the perception map.

32. The device according to any one of claims 21 to 31, characterized in that The confidence level and the first parameter satisfy the following relationship: Where, D is the confidence, c is the speed of light, and t is the time delay of sensing the first target. is the beam arrival angle of the first beam reaching the first target, θ is the beam width of the first beam, and B is the signal bandwidth for sensing the first target.

33. A communication device, characterized in that: It includes a transceiver module and a processing module, the transceiver module is used to receive first perception data, the first perception data is determined based on the confidence of the first perception data, the first perception data belongs to the perception data of the first target, the confidence is determined based on a first parameter, the first parameter includes at least one of the following: the beam width of the first beam, the delay for perceiving the first target, the signal bandwidth for perceiving the first target, or the beam arrival angle of the first beam reaching the first target, the first beam is a beam used to perceive the first target, the processing module is used to update the first data of the first target to the first perception data, and the first data belongs to the local data of the first target.

34. The device according to claim 33, characterized in that The confidence of the first perception data is greater than or equal to the confidence of the first data, or the ratio of the confidence of the first perception data to the confidence of the first data is greater than or equal to a first threshold, or the difference between the confidence of the first perception data and the confidence of the first data is greater than or equal to a second threshold, or the confidence of the first perception data is greater than or equal to the first confidence threshold.

35. The device according to claim 34, characterized in that The transceiver module is further configured to send first information, where the first information is used to indicate the first threshold or the second threshold; or the transceiver module is further configured to send second information, where the second information is used to indicate the first confidence threshold.

36. The device according to any one of claims 33 to 35, characterized in that The transceiver module is further configured to send third information, where the third information is configured to indicate location information of a first area, where the first area includes the first target.

37. The device according to claim 36, characterized in that The first area includes at least one partition, and the at least one partition corresponds one-to-one with at least one confidence threshold, and the at least one confidence threshold includes a first confidence threshold, or the at least one partition corresponds one-to-one with at least one threshold, and the at least one threshold includes a first threshold or a second threshold.

38. The device according to claim 33, characterized in that The transceiver module is further configured to send a second parameter. The second parameter is a distance threshold, there are K second targets within the distance threshold range, the K second targets correspond to K second perception data, and K is an integer greater than or equal to 1; or, The second parameter is the value of K, the K second targets are the K targets closest to the first target in the perception map, and the perception map is used to indicate the first target and the K second targets. The first perception data is determined according to the confidence level of the first perception data, including: The first perception data is determined according to the confidence levels of the K second perception data and the confidence level of the first perception data.

39. The device according to claim 38, characterized in that The transceiver module is further used to send fourth information, and the fourth information is further used to indicate the perception map.

40. The device according to any one of claims 33 to 39, characterized in that The confidence level and the first parameter satisfy the following relationship: Wherein, D is the confidence level, c is the speed of light, and t is the measurement delay of sensing the first target. is the beam arrival angle of the first beam reaching the first target, θ is the beam width of the first beam, and B is the signal bandwidth for sensing the first target.

41. A communication system, characterized in that The method comprises the communication device according to any one of claims 21 to 32, and / or the communication device according to any one of claims 33 to 40.

42. A communication device, characterized in that include: A processor, configured to cause the apparatus to perform the method according to any one of claims 1 to 21 by executing computer instructions or logic circuits stored in the memory.

43. The device according to claim 42, characterized in that The apparatus further comprises the memory.

44. The device according to claim 42 or 43, characterized in that The apparatus further includes a communication interface coupled to the processor. The communication interface is used to input and / or output information.

45. The device according to any one of claims 42 to 44, characterized in that The device is a chip.

46. ​​A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions. When the computer instructions are executed on a computer, the method according to any one of claims 1 to 21 is executed.

47. A computer program, characterized in that When the computer program is run on a computer, the method according to any one of claims 1 to 21 is performed.

48. A computer program product, characterized in that The method comprises computer instructions, and when the computer instructions are run on a computer, the method according to any one of claims 1 to 21 is executed.

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