Sensing data feedback method and device

Abstract

The invention relates to the technical field of communication, in particular to a sensing data feedback method and device, and aims to reduce the feedback overhead of sensing data. The method comprises the following steps: a first communication device receives first indication information from a second communication device, wherein the first indication information indicates an environment geometric structure in a first sensing area and a scanned area on the environment geometric structure; according to the first indication information, compressing sensing data points corresponding to the sensing geometric structure in the first sensing area to obtain compressed data, wherein the compression mode or the compression level of the sensing data point is determined according to at least one of whether the sensing geometric structure is matched with the environmental geometric structure or not or whether the sensing data point is matched with a scanned area on the environmental geometric structure or not; and transmitting the compressed data to the second communication device.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular, to a method and device for sensing data feedback. Background Art

[0002] With the continuous advancement of technologies such as wireless communications, autonomous driving, and artificial intelligence, a large amount of perception data is generated in communication systems. For example, in an environmental reconstruction scenario, a terminal device can scan objects in the environment, obtain perception data, and upload it to a network device, which can reconstruct a complete environmental map based on the perception data reported by the terminal device.

[0003] Faced with a large amount of perception data, how to compress the perception data and reduce the feedback overhead of the perception data is an issue that deserves attention. Summary of the invention

[0004] The present application provides a method and device for perceptual data feedback, which compresses the perceptual data according to the correlation between the perceptual data, in order to reduce the feedback overhead of the perceptual data.

[0005] In a first aspect, an embodiment of the present application provides a perception data feedback method, which can be executed by a first communication device, and the method includes: receiving first indication information from a second communication device, the first indication information indicating an environmental geometry within a first perception area and a scanned area on the environmental geometry; compressing perception data points corresponding to the perception geometry within the first perception area according to the first indication information to obtain compressed data, wherein a compression method or compression level of the perception data points is determined according to at least one of whether the perception geometry matches the environmental geometry, or whether the perception data points match the scanned area on the environmental geometry; and sending the compressed data to the second communication device.

[0006] In the above-mentioned perception data feedback method, the first communication device and the second communication device are different communication devices. The first communication device (or the second communication device) can be a terminal device, a component of a terminal device (such as a processor, a chip, or a chip system, etc.), or a device used in conjunction with a terminal device. It can also be a network device, a component of a network device (such as a processor, a chip, or a chip system, etc.), or a device used in conjunction with a network device.

[0007] Through the above method, the first communication device can determine the compression method or compression level of the perception data points corresponding to the perception geometric structure (such as a plane, a curved surface, etc.) based on the correlation between the perception data points corresponding to the perception geometric structure and the environmental geometric structure indicated by the second communication device and the scanned area on the environmental geometric structure. It supports compression of perception data points corresponding to different perception geometric structures at different levels or in different ways to obtain higher compression efficiency, and can further improve the compression performance of the perception data and reduce the feedback overhead of the perception data while ensuring the feedback performance of the perception data.

[0008] In one possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression level is a first compression level; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, the compression level is a second compression level; if the perceived geometry does not match the environmental geometry, the compression level is a third compression level; wherein the first compression level is greater than the second compression level and the second compression level is greater than or equal to the third compression level.

[0009] Exemplarily: the first compression level is greater than the second compression level, and the second compression level is greater than or equal to the third compression level can be: the number of quantization bits corresponding to the first compression level is less than the number of quantization bits corresponding to the second compression level, and the number of quantization bits corresponding to the second compression level is less than or equal to the number of quantization bits corresponding to the third compression level.

[0010] In a possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression level is the first compression level; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, or the perceived geometry does not match the environmental geometry, the compression level is the second compression level.

[0011] Through the above design, the higher the correlation between the perception data points corresponding to the perception geometric structure and the environmental geometric structure indicated by the second communication device and the scanned area on the environmental geometric structure, the higher the compression level can be used by the first communication device to compress the perception data points corresponding to the perception geometric structure, thereby improving the compression performance of the perception data and reducing the feedback overhead of the perception data while ensuring the feedback performance of the perception data.

[0012] In a possible design, if the perceived geometry matches the environment geometry, and the perceived data points match the scanned area on the environment geometry, the compression method is the first compression method; if the perceived geometry matches the environment geometry, and the perceived data points do not match the scanned area on the environment geometry, the compression method is the second compression method; if the perceived geometry does not match the environment geometry, the compression method is the third compression method. Optionally, the compression benefit of the first compression method (such as the proportion of data volume reduced by compression) is greater than the compression benefit of the second compression method, and the compression benefit of the second compression method is greater than or equal to the compression benefit of the third compression method.

[0013] In a possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression method is the first compression method; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, or the perceived geometry does not match the environmental geometry, the compression method is the second compression method.

[0014] Through the above design, the first communication device can select different compression methods for compression based on the correlation between the perception data points corresponding to the perception geometric structure and the environmental geometric structure indicated by the second communication device and the scanned area on the environmental geometric structure. For example, compression methods corresponding to different compression benefits can be selected, which can improve the compression performance of the perception data and reduce the feedback overhead of the perception data while ensuring the feedback performance of the perception data.

[0015] In one possible design, the first indication information also indicates the density of perceived data points of the scanned area on the environmental geometry, and / or the number of perceived data points of the scanned area on the environmental geometry; the compression method or compression level is determined based on at least one of whether the perceived geometry matches the environmental geometry, whether the perceived data points match the scanned area on the environmental geometry, the density of perceived data points of the scanned area on the environmental geometry, or the number of perceived data points of the scanned area on the environmental geometry.

[0016] As an example: taking compression level as an example, if the perceived geometry matches the environmental geometry, the perceived data points match the scanned area on the environmental geometry, and the density of perceived data points in the scanned area on the environmental geometry is greater than or equal to a first threshold, the compression level may be compression level A; if the perceived geometry matches the environmental geometry, the perceived data points match the scanned area on the environmental geometry, and the density of perceived data points in the scanned area on the environmental geometry is less than the first threshold, the compression level may be compression level B; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, the compression level may be compression level C; if the perceived geometry does not match the environmental geometry, the compression level may be compression level D, wherein compression level A is greater than compression level B, compression level B is greater than compression level C, and compression level C is greater than or equal to compression level D.

[0017] Through the above design, when determining the compression level of the perception data points corresponding to the perception geometric structure, the density and / or number of the perception data points in the scanned area on the second communication device side can also be considered to perform fine-grained compression methods or compression level divisions, which is conducive to further compressing the perception data points corresponding to the repeatedly scanned perception geometric structure and reducing the transmission amount of perception data.

[0018] In one possible design, the environmental geometric structure is an environmental plane, and the perception geometric structure is a perception plane; the perception plane corresponds to multiple perception data points, and according to first indication information, the perception data points corresponding to the perception geometric structure in the first perception area are compressed to obtain compressed data, including: generating second indication information, the second indication information indicates the position information and the perception plane of the multiple perception data points, wherein the position information of any perception data point is determined based on two-dimensional data in the three-dimensional data of the perception data point.

[0019] Through the above design, the receiving end can restore the perception data point based on the position information (two-dimensional data) and the perception plane of the perception data point indicated by the first indication information, thereby further reducing the amount of compressed data obtained.

[0020] In one possible design, the method includes: determining the residuals corresponding to the multiple perception data points based on the three-dimensional data of the multiple perception data points and the three-dimensional data of the multiple restoration points corresponding to the multiple perception data points, wherein the three-dimensional data of the multiple restoration points corresponding to the multiple perception data points are determined based on the position information and the perception plane of the multiple perception data points; compressing the residuals corresponding to the multiple perception data points according to the compression method or compression level to obtain compressed data.

[0021] Through the above design, the residual between the perception data point and the restoration point can also be sent to further improve the restoration performance of the perception data point.

[0022] In one possible design, if the perceived geometry does not match the environment geometry, the compressed data further includes parameters of the perceived geometry or key perceived data points, wherein the key perceived data points are used to determine the perceived geometry.

[0023] The above design is helpful for the second communication device to determine the perceived geometric structure and decompress the perceived data points corresponding to the perceived geometric structure based on the perceived geometric structure.

[0024] In a possible design, whether the perceived geometric structure matches the environmental geometric structure is determined based on whether the distance between the perceived geometric structure and the environmental geometric structure is less than or equal to a distance threshold.

[0025] Through the above design, it is supported to quickly determine whether the perceived geometric structure matches the environmental geometric structure based on the distance between the perceived geometric structure and the environmental geometric structure.

[0026] In one possible design, the method also includes: receiving third indication information from the second communication device, the third indication information indicating at least one of the first compression level, the second compression level, or the third compression level.

[0027] The above design is helpful for the second communication device to adjust the compression level (such as the quantization accuracy corresponding to the compression, etc.) on the first communication device side according to the performance requirements of the perceived data.

[0028] In one possible design, the method also includes: receiving fourth indication information from the second communication device, the fourth indication information indicating at least one of the first compression method, the second compression method, or the third compression method.

[0029] The above design is helpful for the second communication device to adjust the compression method adopted by the first communication device according to the performance requirements of the perceived data.

[0030] In one possible design, there are multiple perception geometric structures within the first perception area. Before sending compressed data to the second communication device, the method also includes: dividing the multiple perception geometric structures into at least two levels according to at least one of whether each perception geometric structure in the multiple perception geometric structures matches the environmental geometric structure, or whether the perception data point corresponding to the perception geometric structure matches the scanned area on the environmental geometric structure, wherein the at least two levels include a first level and a second level, and the compressed data transmission priority of the first level is higher than the compressed data transmission priority of the second level.

[0031] Through the above design, compressed data can be transmitted in layers, and in scenarios such as resource constraints, the perception data required by the second communication device can be sent with priority.

[0032] In one possible design, the first indication information also indicates the density of perceived data points of the scanned area on the environmental geometry structure, and / or the number of perceived data points of the scanned area on the environmental geometry structure; and the multiple perceived geometric structures are divided into at least two levels according to at least one of whether each of the multiple perceived geometric structures matches the environmental geometry structure, or whether the perceived data points corresponding to the perceived geometric structures match the scanned area on the environmental geometry structure, including: dividing the multiple perceived geometric structures into at least two levels according to at least one of whether each of the multiple perceived geometric structures matches the environmental geometry structure, whether the perceived data points corresponding to the perceived geometric structures match the scanned area on the environmental geometry structure, the density of perceived data points of the scanned area on the environmental geometry structure, or the number of perceived data points of the scanned area on the environmental geometry structure.

[0033] Through the above design, the density and / or data of the perception data points in the scanned area on the environmental geometry can be further considered, and the compressed data can be transmitted in layers. In scenarios such as resource constraints, the perception data required by the second communication device can be sent with priority.

[0034] In one possible design, before sending compressed data corresponding to a second level of perceptual geometric structures among multiple perceptual geometric structures to a second communication device, the method further includes: determining that fifth indication information is received from the second communication device, the fifth indication information indicating to continue transmitting the compressed data.

[0035] Through the above design, compressed data can be transmitted in layers according to the instructions of the second communication device side, which facilitates the second communication device to adjust the compressed data sent by the first communication device in scenarios such as resource constraints.

[0036] In a second aspect, an embodiment of the present application provides a perception data feedback method, which can be executed by a second communication device, and the method includes: sending first indication information to a first communication device, the first indication information indicating an environmental geometry within a first perception area and a scanned area on the environmental geometry; receiving compressed data from the first communication device, wherein a compression method or compression level corresponding to the compressed data is determined based on at least one of whether the perception geometry corresponding to the compressed data matches the environmental geometry, or whether the perception data point corresponding to the perception geometry matches the scanned area on the environmental geometry.

[0037] In one possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression level is a first compression level; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, the compression level is a second compression level; if the perceived geometry does not match the environmental geometry, the compression level is a third compression level; wherein the first compression level is greater than the second compression level and the second compression level is greater than or equal to the third compression level.

[0038] Exemplary: the first compression level is greater than the second compression level, and the second compression level is greater than or equal to the third compression level, including: the number of quantization bits corresponding to the first compression level is less than the number of quantization bits corresponding to the second compression level, and the number of quantization bits corresponding to the second compression level is less than or equal to the number of quantization bits corresponding to the third compression level.

[0039] In one possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression method is the first compression method; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, the compression method is the second compression method; if the perceived geometry does not match the environmental geometry, the compression method is the third compression method.

[0040] In one possible design, the environmental geometry is an environmental plane, the perception geometry is a perception plane, the perception plane corresponds to a plurality of perception data points, and the compressed data further includes second indication information, the second indication information being used to indicate position information and the perception plane in which the plurality of perception data points are located, wherein the position information of any perception data point is determined based on two-dimensional data in the three-dimensional data of the perception data point.

[0041] In one possible design, compressed data is determined by compressing residuals corresponding to multiple perception data points according to a compression method or a compression level, wherein the residuals corresponding to the multiple perception data points are determined based on three-dimensional data of the multiple perception data points and three-dimensional data of multiple restoration points corresponding to the multiple perception data points, and the three-dimensional data of the restoration point corresponding to any perception data point is determined based on the position information and the perception plane of the perception data point.

[0042] In one possible design, if the perceived geometry does not match the ambient geometry, the compressed data further includes parameters or key data points of the perceived geometry, wherein the key data points are used to determine the perceived geometry.

[0043] In one possible design, the method also includes: sending third indication information to the first communication device, the third indication information indicating at least one of the first compression level, the second compression level, or the third compression level.

[0044] In one possible design, the method also includes: sending fourth indication information to the first communication device, the fourth indication information indicating at least one of the first compression method, the second compression method, or the third compression method.

[0045] In one possible design, there are multiple perceptual geometric structures within the first perceptual area, and receiving compressed data from the first communication device includes: receiving compressed data of a first level from the first communication device, the compressed data of the first level including compressed data corresponding to the perceptual geometric structure of the first level among the multiple perceptual geometric structures; receiving compressed data of a second level from the first communication device, the compressed data of the second level including compressed data corresponding to the perceptual geometric structure of the second level among the multiple perceptual geometric structures; wherein the multiple perceptual geometric structures are divided into at least two levels by the first communication device, and the at least two levels include a first level and a second level.

[0046] In one possible design, before receiving the second-layer compressed data from the first communication device, the method also includes: sending fifth indication information to the first communication device, where the fifth indication information is used to indicate to continue transmitting the compressed data.

[0047] In a possible design, the first indication information further indicates the density of the perception data points of the scanned area on the environmental geometric structure and / or the number of the perception data points of the scanned area on the environmental geometric structure.

[0048] In a third aspect, an embodiment of the present application provides a communication device, which has the function of implementing the method of the first aspect or the second aspect, and the function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, such as an interface unit and a processing unit.

[0049] In one possible design, the device may be a chip or an integrated circuit.

[0050] In one possible design, the device includes a memory and a processor, the memory is used to store instructions executed by the processor, and when the instructions are executed by the processor, the device can execute the method of the first aspect or the second aspect.

[0051] In a fourth aspect, an embodiment of the present application provides a communication device, which includes an interface circuit and a processor, and the processor and the interface circuit are coupled to each other. The processor is used to implement the method of the first aspect or the second aspect through a logic circuit or an execution instruction. The interface circuit is used to receive a signal from other communication devices outside the communication device and transmit it to the processor or send a signal from the processor to other communication devices outside the communication device. It is understandable that the interface circuit can be a transceiver or a transceiver or a transceiver or an input-output interface.

[0052] Optionally, the communication device may further include a memory for storing instructions executed by the processor or storing input data required by the processor to execute the instructions or storing data generated after the processor executes the instructions. The memory may be a physically independent unit or may be coupled to the processor, or the processor may include the memory (i.e., the processor and the memory are integrated together).

[0053] In a possible implementation, the communication device is a chip.

[0054] In a fifth aspect, an embodiment of the present application provides a communication system, which includes a first communication device and a second communication device, wherein the first communication device is used to implement the method of the first aspect; the second communication device is used to implement the method of the second aspect.

[0055] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program or instructions are stored. When the computer program or instructions are executed by a processor, the method of the first aspect or the second aspect mentioned above can be implemented.

[0056] In the seventh aspect, the embodiments of the present application further provide a computer program product, including a computer program or instructions, which, when executed by a processor, can implement the method of the first or second aspect described above.

[0057] In the eighth aspect, an embodiment of the present application also provides a chip system, which includes a processor, the processor is used to couple with a memory, the memory is used to store programs or instructions, and when the program or instructions are executed by the processor, the method of the first or second aspect mentioned above can be implemented.

[0058] The technical effects that can be achieved in the second to eighth aspects mentioned above can refer to the technical effects that can be achieved in the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0060] Figure 2A schematic diagram of an environment reconstruction scenario provided in an embodiment of the present application;

[0061] Figure 3 This is one of the schematic diagrams of the perception data feedback method provided in an embodiment of the present application;

[0062] Figure 4 A schematic diagram of three-dimensional coordinates provided in an embodiment of the present application;

[0063] Figure 5 A schematic diagram of the sensing area provided in the embodiment of the present application;

[0064] Figure 6 A schematic diagram of the Y-axis coordinate distribution probability of the perception data points provided in the embodiment of the present application;

[0065] Figure 7 One of the 2D indication diagrams provided in the embodiment of the present application;

[0066] Figure 8 The second 2D indication diagram provided in the embodiment of the present application;

[0067] Fig. 9 The third 2D indication diagram provided in the embodiment of the present application;

[0068] Fig.10 A schematic diagram of residual determination provided in an embodiment of the present application;

[0069] Fig.11 A schematic diagram of data content provided for an embodiment of the present application;

[0070] Fig.12 A second schematic diagram of the perception data feedback method provided in an embodiment of the present application;

[0071] Fig.13 A schematic diagram of hierarchical data transmission provided in an embodiment of the present application;

[0072] Fig.14 The third schematic diagram of the perception data feedback method provided in the embodiment of the present application;

[0073] Fig.15 A schematic diagram of a simulation environment provided in an embodiment of the present application;

[0074] Fig.16A One of the simulation schematic diagrams provided in the embodiment of the present application;

[0075] Fig. 16B The second simulation schematic diagram provided for the embodiment of the present application;

[0076] Fig.17A The third simulation schematic diagram provided for the embodiment of the present application;

[0077] Fig. 17BThe fourth simulation diagram provided for the embodiment of the present application;

[0078] Fig.18 One of the structural schematic diagrams of the communication device provided in the embodiment of the present application;

[0079] Fig.19 The second structural diagram of the communication device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0080] The technical solution of the embodiment of the present application can be applied to various communication systems, such as: long term evolution (LTE) system, evolved LTE (LTE-advanced, LTE-A) system, universal mobile telecommunications system (UMTS), and fifth generation (5th generation, 5G) mobile communication system, beyond 5G (B5G) mobile communication system, or communication system evolved after 5G, etc. The communication system can also be a device-to-device (D2D) network, a WiFi network, a machine-to-machine (M2M) network, an Internet of Things (IoT) network or other networks.

[0081] The architecture of the communication system used in the embodiments of the present application can be as follows: Figure 1 As shown, the communication system 1000 includes a radio access network (RAN) 100 and a core network (CN) 200. Optionally, the communication system 1000 may also include the Internet 300. The RAN 100 includes at least one network device (such as Figure 1 110a and 110b in, collectively referred to as 110) and at least one terminal device (such as Figure 1 RAN 100 may also include other RAN nodes, such as wireless relay equipment and / or wireless backhaul equipment ( Figure 1 The terminal device 120 is connected to the network device 110 in a wireless manner. The network device 110 is connected to the core network 200 in a wireless or wired manner. The core network device in the core network 200 and the network device 110 in the RAN 100 may be different physical devices, or may be the same physical device that integrates the core network logical functions and the radio access network logical functions.

[0082] RAN 100 may be a cellular system related to the third generation partnership project (3GPP), for example, 4G, 5G, or an evolution system after 5G (for example, a 6G mobile communication system). RAN 100 may also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (cloud radio access network, CRAN), or a WiFi system. RAN 100 may also be a communication system that integrates two or more of the above systems.

[0083] The apparatus provided in the embodiment of the present application may be applied to the network device 110 or to the terminal device 120. It is understandable that: Figure 1 Only one possible communication system architecture to which the embodiments of the present application can be applied is shown. In other possible scenarios, the communication system architecture may also include other devices.

[0084] The network device 110 is a node in a radio access network (RAN), which can also be called an access network device or a RAN node (or device). The network device 110 is used to help terminal devices achieve wireless access. The multiple network devices 110 in the communication system 1000 can be nodes of the same type or different types. In some scenarios, the roles of the network device 110 and the terminal device 120 are relative, for example, Figure 1 The network element 120i may be a helicopter or a drone, which may be configured as a mobile base station. For the terminal devices 120j that access the RAN 100 through the network element 120i, the network element 120i is a base station; but for the base station 110a, the network element 120i is a terminal device. The network device 110 and the terminal device 120 are sometimes referred to as communication devices, for example Figure 1 The network elements 110a and 110b may be understood as communication devices having base station functions, and the network elements 120a-120j may be understood as communication devices having terminal equipment functions.

[0085] In one possible scenario, the network device may be a base station, an evolved NodeB (eNodeB), a transmitting and receiving point (TRP), a transmitting point (TP), a next generation NodeB (gNB), a base station in a future mobile communication system, a satellite, or an access point (AP) in a WiFi system, an integrated access and backhaul (IAB) node, a mobile switching center, or a network device in a non-terrestrial network (NTN) communication system, that is, it can be deployed on a high altitude platform or satellite, etc. The network device may be a macro base station (such as Figure 1 110a in), micro base stations or indoor stations (such as Figure 1 110b in the example), a relay node or a donor node, or a wireless controller in a CRAN scenario. The network device may also be a device that functions as a base station in device-to-device (D2D) communication, Internet of Vehicles communication, drone communication, and machine communication. Optionally, the network device may also be a server, a wearable device, a vehicle or an onboard device, etc. For example, the access network device in the vehicle to everything (V2X) technology may be a road side unit (RSU).

[0086] In another possible scenario, multiple network devices collaborate to assist the terminal device in achieving wireless access, and different network devices respectively implement part of the functions of the base station. For example, the network device may be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU may be set separately, or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). It is understandable that the network device may be a CU node, a DU node, or a device including a CU node and a DU node. In addition, the CU may be divided into a network device in the access network RAN, or the CU may be divided into a network device in the core network CN, without limitation here.

[0087] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, CU, CU-CP, CU-UP, DU and RU are described as examples in this application. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0088] In the embodiments of the present application, the form of the network device is not limited. The device for realizing the function of the network device can be the network device; or it can be a device that can support the network device to realize the function, such as a chip system. The device can be installed in the network device or used in conjunction with the network device.

[0089] The terminal device 120, which may also be referred to as a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), etc., may be a device for providing voice or data connectivity to a user, an IoT device, or a station (STA) in a WiFi system. For example, the terminal device includes a handheld device with a wireless connection function, a vehicle-mounted device, etc. At present, terminal devices can be: mobile phones, tablet computers, laptops, PDAs, mobile internet devices (MID), wearable devices (such as smart watches, smart bracelets, pedometers, smart glasses, etc.), vehicle-mounted devices (such as cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed trains, etc.), satellite terminals, virtual reality (VR) devices, augmented reality (AR) devices, smart point of sale (POS) machines, customer-premises equipment (CPE), wireless terminals in industrial control, smart home devices (such as refrigerators, TVs, air conditioners, electric meters, etc.), smart robots, robotic arms, workshop equipment, wireless terminals in unmanned driving, wireless terminals in telemedicine, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, or wireless terminals in smart homes, flight equipment (such as smart robots, hot air balloons, drones, airplanes), etc. The terminal device can also be other devices with terminal functions, for example, the terminal device can also be a device that serves as a terminal function in D2D communication.

[0090] The embodiments of the present application do not limit the device form of the terminal device. The device for realizing the function of the terminal device can be the terminal device; it can also be a device that can support the terminal device to realize the function, such as a chip system. The device can be installed in the terminal device or used in combination with the terminal device. In the embodiments of the present application, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0091] based on Figure 1 The communication system architecture shown in Figure 2 An example of an environment reconstruction scenario applicable to the embodiment of the present application is shown. Figure 2Taking a network device and multiple terminal devices (terminal device 1-terminal device 3) as an example, multiple terminal devices can scan objects in the environment respectively, obtain perception data (also called imaging data, point cloud data) and upload it to the network device. The network device can perform information fusion and environmental map construction based on the perception data collected by multiple terminal devices. Since the perception data obtained by multiple terminal devices may overlap, in an embodiment of the present application, it is possible to consider using the correlation of the perception data obtained by multiple terminal devices to improve the compression performance of the perception data and reduce the feedback overhead of the perception data. Based on this, the present application provides a perception data feedback method and device, in order to reduce the feedback overhead of the perception data. The following is a detailed description of the embodiments of the present application in conjunction with the accompanying drawings.

[0092] In addition, it should be understood that the ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority or importance of multiple objects. For example, the first communication device and the second communication device do not indicate that the priorities or importance of the two messages are different.

[0093] In the embodiments of the present application, the number of nouns, unless otherwise specified, means "singular noun or plural noun", that is, "one or more". "At least one" means one or more, and "plural" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " is generally used to indicate that the associated objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or plural.

[0094] The perception data feedback method provided in the embodiment of the present application can be performed by a first communication device and a second communication device, wherein the first communication device and the second communication device are different communication devices, and the first communication device (or the second communication device) can refer to a terminal device, a component of a terminal device (such as a processor, a chip, or a chip system, etc.), or a device used in conjunction with a terminal device, and can also refer to a network device, a component of a network device (such as a processor, a chip, or a chip system, etc.), or a device used in conjunction with a network device. The first communication device can act as a transmitter of the perception data to compress the perception data, and the second communication device can act as a receiver to decompress and restore the perception data.

[0095] Exemplarily: the first communication device may be a terminal device, the second communication device may be a network device, the terminal device may obtain the perception data, compress it and send it to the second communication device, and the network device may decompress and restore the perception data.

[0096] Figure 3 A schematic diagram of a perception data feedback method provided in an embodiment of the present application, the method comprising:

[0097] S301: The second communication device sends first indication information to the first communication device, and correspondingly, the first communication device receives the first indication information.

[0098] The first indication information indicates the environment geometry within the first sensing area and the scanned area on the environment geometry.

[0099] In an embodiment of the present application, the first communication device may be used as a sensing device or a scanning device to scan a certain sensing area (such as the first sensing area) to obtain sensing data; or the first communication device may also obtain sensing data from other communication devices, which is not limited in the present application. Exemplary: the sensing data obtained by the first communication device may be a set of sensing data points (also referred to as data points), each sensing data point may correspond to a point in space, and may include at least one-dimensional data obtained by scanning the point. For example, the three-dimensional (3D) coordinates of the point (where each dimension of coordinates may correspond to one-dimensional data), may also include one or more of the echo signal strength, the round-trip time of the sensing signal (such as an electromagnetic wave signal), etc.

[0100] Reference Figure 4 As shown in the schematic diagram of three-dimensional coordinates, the three-dimensional coordinates recorded by the sensed data point can be spherical coordinates (θ, φ, R) represented by the vertical angle θ (also called the pitch angle), the horizontal angle φ (also called the yaw angle) and the distance R from the point to the origin in the spherical coordinate system, or can be Cartesian coordinates (x, y, z) represented by the x value (x-axis coordinate), the y value (y-axis coordinate) and the z value (z-axis coordinate) in the Cartesian coordinate system. Of course, it can also be three-dimensional coordinates in other three-dimensional coordinate systems (such as cylindrical coordinate systems, etc.). This application does not limit the specific form of the three-dimensional coordinates. It can be understood that the three-dimensional coordinates in different coordinate systems can be converted to each other.

[0101] Exemplarily, the mapping algorithm from the Cartesian coordinate system to the spherical coordinate system may satisfy the following formula:

[0102]

[0103] In some implementations, the three-dimensional coordinates of the perceived data point may also be deformed three-dimensional coordinates. For example, the spherical coordinates may be deformed into (θ, φ, a), where a∈{x, y, z, r, Rx}, θ represents the vertical angle of the perceived data point in the spherical coordinate system, θ represents the horizontal angle of the perceived data point in the spherical coordinate system, x represents the horizontal coordinate of the perceived data point in the Cartesian coordinate system, y represents the vertical coordinate of the perceived data point in the Cartesian coordinate system, z represents the vertical coordinate of the perceived data point in the Cartesian coordinate system, r represents the distance from the projection of the perceived data point on the horizontal plane in the Cartesian coordinate system to the origin, and R represents the distance from the perceived data point in the spherical coordinate system to the origin, where x, y, z, r, R, etc. can be determined based on the three-dimensional coordinates of the sensed data point, and will not be elaborated on again.

[0104] When scanning a certain perception area (such as the first perception area), the surface of the scanned object usually presents a certain geometric structure (such as a plane, a curved surface, etc.), so the perception data obtained by the scan (a set of perception data points) often also contains perception data points corresponding to the geometric structure. If different communication devices scan the same area, the perception data obtained by the different communication devices will also include the perception data points corresponding to the geometric structure. In an embodiment of the present application, in order to reduce the transmission amount of perception data and obtain higher compression performance, before the first communication device sends the perception data corresponding to a certain perception area (such as the first perception area) to the second communication device, the second communication device can indicate environmental information to the first communication device, such as indicating the environmental geometric structure within the perception area and the scanned area on the environmental geometric structure.

[0105] It is understandable that the second communication device may indicate the environment geometry by sending parameters or key data points of the environment geometry to the first communication device, or may indicate the scanned area by sending the coordinate range or key data points of the scanned area. The key data points of the environment geometry may be the same as or different from the key data points of the scanned area on the environment geometry. If they are the same, the environment geometry and the scanned area on the environment geometry may be determined based on the key data points.

[0106] Take the environment geometry as the environment plane and the perception geometry as the perception plane as an example. Figure 5As shown, the sensing area V is the area where the first communication device scans (or senses) to obtain sensing data, F1, F2 and F3 respectively represent three environmental planes determined by the second communication device in the sensing area V based on the sensing data that has been acquired, O1, O2 and O3 respectively represent the distribution areas of the sensing data that the second communication device has acquired on F1, F2 and F3, that is, the scanned areas on F1, F2 and F3. The first indication information sent by the second communication device to the first communication device can indicate the environmental planes F1, F2 and F3, and the scanned areas O1, O2 and O3 corresponding to the environmental planes F1, F2 and F3 respectively.

[0107] As an example: the parameters of the environmental surfaces F1, F2 and F3 can be (A1, B1, C1, D1), (A2, B2, C2, D2), (A3, B3, C3, D3) respectively; the scanned areas O1, O2 and O3 can be respectively measured by (Min x1 、Min y1 、Min z1 , Max x1 , Max y1 , Max z1 )、(Min x2 、Min y2 、Min z2 , Max x2 , Max y2 , Max z2 )、(Min x3 、Min y3 、Min z3 , Max x3 , Max y3 , Max z3 ) indicates. Among them, the environment plane F1 is F1(x,y,z)=A1x+B1y+C1z+D1=0; the environment plane F2 is F2(x,y,z)=A2x+B2y+C2z+D2=0, and the environment plane F3 is F3(x,y,z)=A2x+B2y+C2z+D2=0; the scanned areas on the environment planes F1, F2 and F3 are (Min x1 、Min y1 、Min z1 , Max x1 , Max y1 , Max z1 )、(Min x2 、Min y2 、Min z2 , Max x2 , Max y2 , Max z2 )、(Min x3 、Miny3 、Min z3 , Max x3 , Max y3 , Max z3 ) enclosed area.

[0108] It is understandable that any scanned area (or environmental geometry) can also be determined by the key data points of the scanned area. For example: the key data points of the scanned area can be multiple boundary data points of the scanned area, and the first communication device can determine the scanned area based on the enclosed area of ​​the multiple boundary data points (or the rectangular area including the multiple boundary data points, etc.). The key data points of the scanned area can also be data points located in the concave area and / or convex area of ​​the scanned area. The first communication device can determine the scanned area based on the enclosed area of ​​the multiple boundary data points (or the rectangular area including the multiple boundary data points, etc.), etc. The present application does not limit the key data points of the scanned area, and it is sufficient to determine the scanned area. Similarly, the environmental geometry can also be determined by the key points of the environmental geometry. Taking the perception geometry as an environmental plane as an example, one or more perception data points that can determine the environmental plane (such as three perception data points located on the environmental plane that are not on the same straight line) can be the key data points of the environmental plane.

[0109] In some implementations, the first indication information may also indicate the density of the perception data points of the scanned area, and / or the number of the perception data points of the scanned area. For example, it may indicate the densities d1, d2, and d3 of the perception data points corresponding to the scanned areas O1, O2, and O3, respectively. For the density of the perception data points in any scanned area, the second communication device may determine the density of the perception data points based on the ratio of the number of perception data points in the acquired perception data located in the scanned area to the volume of the scanned area or the projection area on a certain plane, etc., and this application does not limit this.

[0110] For the first perception area corresponding to the perception data obtained by the first communication device, the second communication device can determine it based on the range information of the first perception area reported by the first communication device, or based on the location information of the first communication device, etc., and this application does not limit this.

[0111] For example: the first communication device may send a three-dimensional coordinate range of the first perception area to the second communication device, such as the range of the x-axis coordinate, the range of the y-axis coordinate, and the range of the z-axis coordinate of the first perception area, and the second communication device may determine the first perception area based on the three-dimensional coordinate range sent by the first communication device. Alternatively, the second communication device may determine the first perception area based on the position and view of the first communication device, etc.

[0112] In some implementations, the first communication device may obtain the first perception area corresponding to the perception data, which may also be instructed or configured by the second communication device. For example, in scenarios such as map reconstruction and target perception, the second communication device may instruct the first communication device to scan or perceive a certain perception area (such as the first perception area) according to the perception requirements.

[0113] S302: The first communication device compresses the perception data points corresponding to the perception geometric structure in the first perception area according to the first indication information to obtain compressed data.

[0114] The compression method or compression level of the sensed data points may be determined based on at least one of whether the sensed geometry matches the environmental geometry and whether the sensed data points match the scanned area on the environmental geometry.

[0115] S303: The first communication device sends compressed data to the second communication device, and correspondingly, the second communication device receives the compressed data.

[0116] After the first communication device acquires the perception data (a set of perception data points) corresponding to the first perception area, it can identify the perception geometric structure existing in the first perception area.

[0117] Taking the perception geometry as a perception plane as an example, the first communication device can input the perception data (a set of perception data points) into a plane recognition model based on artificial intelligence (AI) for processing, identify the perception surface existing in the first perception area, and obtain the parameters of the perception surface.

[0118] Alternatively, the first communication device may also extract and fit the perception data points based on the distribution probability of one or more of the x-values ​​(or y-values ​​or z-values) of the perception data points in the perception data, and fit at least one perception plane to obtain the parameters of at least one perception plane based on a continuous segment of x-values ​​(or y-values ​​or z-values) with a larger probability of appearing.

[0119] Reference Figure 6 The distribution probability diagram of the y values ​​of multiple perception data points shown in FIG. Figure 6 The horizontal axis in represents the y values ​​(i.e., y-axis coordinates) of multiple perception data points, and the vertical axis represents the distribution probability (or proportion) of the perception data points. Figure 6It can be seen that the y values ​​of the perception data points whose distribution probabilities are greater than the distribution probability threshold (taking the distribution probability threshold as 0.05 as an example) are -77, -75 and 47 respectively. It can be determined that the y value distribution intervals corresponding to -77, -75 and 47 respectively [-77.25, -76.75], [-75.25, -74.75] and [46.75, 47.25] can be used for surface fitting. The first communication device can fit the perception plane A1 by the least squares method based on multiple perception data points with y values ​​at [-77.25, -76.75]; fit the perception plane A2 by the least squares method based on multiple perception data points with y values ​​at [-75.25, -74.75]; fit the perception plane A3 by the least squares method based on multiple perception data points with y values ​​at [46.75, 47.25], and obtain the parameters of perception planes A1, A2 and A3.

[0120] In an embodiment of the present application, the perception data corresponding to the perception geometry structure can be divided into different categories and different compression methods or compression levels can be used to reduce the amount of data transmission based on one or more of whether the perception geometry structure matches the environment geometry structure and whether the perception data points corresponding to the perception geometry structure match the scanned area on the environment geometry structure.

[0121] For example: if the perceived geometric structure matches the environmental geometric structure and the perceived data points corresponding to the perceived geometric structure match the scanned area on the environmental geometric structure, the perceived data points corresponding to the perceived geometric structure can be classified into category 1, and compressed using the first compression level (or first compression method) corresponding to category 1; if the perceived geometric structure matches the environmental geometric structure and the perceived data points corresponding to the perceived geometric structure do not match the scanned area on the environmental geometric structure, the perceived data points corresponding to the perceived geometric structure can be classified into category 2, and compressed using the second compression level (or second compression method) corresponding to category 2; if the perceived geometric structure does not match the environmental geometric structure, the perceived data points corresponding to the perceived geometric structure can be classified into category 3, and compressed using the third compression level (or third compression method) corresponding to category 3.

[0122] The first compression level may be greater than the second compression level, and the second compression level may be greater than or equal to the third compression level. It should be understood that the compression level may also be referred to as a compression ratio. The greater the compression level (or compression ratio), the better the compression performance. Conversely, the smaller the compression level (or compression ratio), the worse the compression performance. In some implementations, the second compression level may also be less than the third compression level.

[0123] The number of quantization bits refers to the number of binary digits required to distinguish all quantization levels. For example, if there are 8 quantization levels, then 3 binary digits can be used to distinguish them, and the quantization accuracy can be expressed as the ratio of the range of values ​​to be quantized to the number of quantization levels. If the perception data points are compressed by quantization compression, the more quantization levels there are, the higher the accuracy of the data recovered by decompression. Therefore, in the implementation of this application, the first compression level is greater than the second compression level, and the second compression level is greater than or equal to the third compression level. It can also mean that the number of quantization bits corresponding to the first compression level is less than the number of quantization bits corresponding to the second compression level, and the number of quantization bits corresponding to the second compression level is less than or equal to the number of quantization bits corresponding to the third compression level.

[0124] In the embodiments of the present application, the first compression method, the second compression method and the third compression method may also be different compression schemes, for example, the first compression method is a compression scheme for compressing the data of all perception data points; the second compression method is a compression scheme for compressing the data of one-half of the sampled perception data points, and the other unsampled perception data points are based on interpolation restoration; the third compression method is a compression scheme for compressing the data of one-third of the sampled perception data points, and the other unsampled perception data points are based on interpolation restoration. The present application does not limit the specific methods of the first compression method, the second compression method and the third compression method. It can be understood that in some implementations, different categories may also correspond to the same compression method, for example, the second compression method corresponding to the above-mentioned category 2 and the third compression method corresponding to category 3 may also be the same.

[0125] The compression method or compression level may be determined by the first communication device, or may be indicated by the second communication device. As an example: the second communication device may send third indication information to the first communication device to indicate at least one of the first compression level, the second compression level, or the third compression level, etc.; and may also send fourth indication information to the first communication device to indicate at least one of the first compression method, the second compression method, or the third compression method, etc.

[0126] In a possible implementation, the third indication information (or the fourth indication information) may indicate the compression level (or compression method) in the form of an index or the like. Referring to Table 1 below, when the index is 0, it indicates that the numbers of quantization bits corresponding to the first compression level, the second compression level, and the third compression level are 0, 8, and 8, respectively; when the index is 1, it indicates that the numbers of quantization bits corresponding to the first compression level, the second compression level, and the third compression level are 0, 7, and 7, respectively; when the index is 2, it indicates that the numbers of quantization bits corresponding to the first compression level, the second compression level, and the third compression level are 7, 8, and 8, respectively; when the index is 3, it indicates that the numbers of quantization bits corresponding to the first compression level, the second compression level, and the third compression level are 6, 7, and 7, respectively, wherein the number of quantization bits being 0 may indicate that the perceptual data point corresponding to the compression level (or number of quantization bits) is not sent.

[0127] Table 1

[0128]

[0129] In some implementations, whether the perceived geometry matches the environmental geometry can be determined based on whether the distance between the perceived geometry and the environmental geometry is less than or equal to a distance threshold; if the distance between the perceived geometry and the environmental geometry is less than or equal to the distance threshold, the perceived geometry matches; otherwise, they do not match.

[0130] As an example: the distance between the perception geometry and the environment geometry can be determined based on the parameters of the perception geometry and the environment geometry, such as the L2 norm of the parameters of the perception geometry and the environment geometry. For example, the perception geometry is the perception plane and the environment geometry is the environment plane. The parameters of the perception plane are (A i , B i , C i , D i ), the parameters of the environment plane are (A j , B j , C j , D j ), the distance d between the sensing plane and the environment plane can be determined according to the following formula:

[0131]

[0132] If the distance d between the perception plane and the environment plane is less than or equal to the distance threshold T, the perception plane matches the environment plane, otherwise the perception plane does not match the environment plane, where the distance threshold can be predefined through a protocol, etc., or can be indicated to the first communication device by the second communication device. This application does not limit the way in which the first communication device obtains the distance threshold T.

[0133] As another example: the distance between the perception geometry and the environment geometry can also be determined based on the distance between the coordinate center value of a certain dimension corresponding to the perception geometry (such as the center value of the x-axis coordinate, y-axis coordinate, or z-axis coordinate, etc.) and the coordinate center value of the dimension corresponding to the environment geometry. Still taking the perception geometry as the perception plane and the environment geometry as the environment plane as an example, the y-axis coordinate range of the perception data point corresponding to the perception plane is [min i ,max i ], we can determine that the center value of the y-axis coordinate range corresponding to the perception plane is m i =(min i +max i ) / 2; the y-axis coordinate range of the scanned area corresponding to the environmental plane is [min j ,max j ], the center value of the y-axis coordinate range corresponding to the environment plane can be determined as n j =(min j +max j ) / 2, the distance d between the sensing plane and the environment plane can be determined according to the following formula:

[0134] d=||(m i -n j )||

[0135] If the distance d between the perception plane and the environment plane is less than or equal to the distance threshold T1, the perception plane matches the environment plane, otherwise the perception plane does not match the environment plane.

[0136] It can be understood that if there are multiple environmental geometric structures in the first perception area, the matching of the perceived geometric structure and the environmental geometric structure may refer to the matching of the perceived geometric structure with any one of the multiple environmental geometric structures, and the mismatch of the perceived geometric structure with the environmental geometric structure may refer to the mismatch of the perceived geometric structure with none of the multiple environmental geometric structures.

[0137] In some implementations, whether the perception data point corresponding to the perception geometry matches the scanned area on the environment geometry can be determined based on whether the perception data point corresponding to the perception geometry is located in the scanned area on the environment geometry.

[0138] Example: The range of x-coordinates of the scanned area on the environment geometry [min x ,max x ], the range of y-axis coordinates [min y ,max y ], and the range of z-axis coordinates [min z ,max z ], the three-dimensional coordinates (x, y, z) of the perception data points corresponding to the perception geometry can satisfy Minx <x<Max x Min y <y<Max y Min z <z<Max z When , it is determined that the perception data points corresponding to the perception geometry are located in the scanned area of ​​the environment geometry.

[0139] It is understandable that if there is no environmental geometry that matches the perception geometry, it can be explained that the second communication device has not obtained the information recorded by the perception data point corresponding to the perception geometry, and there will be no scanned area that matches the perception data point corresponding to the perception geometry. Therefore, in order to save processing resources, the first communication device can determine whether the perception data point corresponding to the perception geometry matches the scanned area on the environmental geometry only when there is an environmental geometry that matches the perception geometry.

[0140] After the first communication device determines the compression method or compression level of the perception data points corresponding to the perception geometric structure, the perception data points corresponding to the perception geometric structure can be compressed according to the compression method or compression level to obtain compressed data. For example, three-dimensional data (such as three-dimensional coordinates) and other information recorded in the perception data points can be compressed to obtain compressed data.

[0141] In the embodiment of the present application, the three-dimensional data (such as three-dimensional coordinates, etc.) of the sensed data point can also be divided into position information and a filling value corresponding to the position information and then compressed to improve the compression performance. Exemplarily, the first communication device can determine the position information (such as the 2D structure position) based on the two-dimensional data in the three-dimensional data of the sensed data point, and the third-dimensional data is used as the filling value under the position information, so as to design a 2D indication map.

[0142] For example, the first communication device may use the vertical angle θ and the horizontal angle φ in the spherical coordinate system as the 2D structure position, and the distance value R to the origin as the filling value; or, the vertical angle θ and the distance value R to the origin in the spherical coordinate system may be used as the 2D structure position, and the horizontal angle φ may be used as the filling value, etc. For another example, the x value and the y value in the Cartesian coordinate system may be used as the 2D structure position, and the z value may be used as the 2D structure position, etc.

[0143] Exemplarily, after the first communication device quantizes the three-dimensional coordinates (θ, φ, R) of the sensing data point, the following can be obtained: Figure 7The 2D indicator diagram shown. Each square in the 2D indicator diagram represents a perception data point, the horizontal axis represents the quantized value of the horizontal angle φ, the vertical axis represents the quantized value of the vertical angle θ, and the value filled in each square represents the quantized value of the distance value R from the origin corresponding to the perception data point represented by the square. In the 2D indicator diagram, there may be some 2D structure positions without corresponding information, and the filled value here is empty.

[0144] In some implementations, the first communication device may indicate the sensing geometry and position information (such as the 2D structure position) corresponding to the sensing data point by sending second indication information (such as a 2D indication map) to the second communication device. For example, the sensing geometry within the first sensing area includes the sensing geometry H1, the sensing geometry H2, and the sensing geometry H3. The 2D indication map may be as follows: Figure 8 As shown, each square represents a perceptual data point, the horizontal axis represents the quantized value of the horizontal angle φ, the vertical axis represents the quantized value of the vertical angle θ, and the value filled in each square represents the perceptual geometric structure where it is located. For example, a filling value of 1 indicates that the perceptual data point represented by the square is located in the perceptual geometric structure H1, a similar filling value of 2 indicates that the perceptual data point represented by the square is located in the perceptual geometric structure H2, and a filling value of 3 indicates that the perceptual data point represented by the square is located in the perceptual geometric structure H3, where the maximum filling value of 4 (or a blank filling value) can indicate that the perceptual data point represented by the square is not located on the perceptual geometric structure or does not exist.

[0145] In addition, the first communication device may also indicate to the second communication device whether the perceived geometry structure has a matching environmental geometry structure. For example, the second communication device indicates that there are environmental geometry structures F1, F2, and F3, wherein the perceived geometry structure H1 matches the environmental geometry structure F1, the perceived geometry structure H2 matches the environmental geometry structure F3, and there is no matching environmental geometry structure for the perceived geometry structure H3, then the first communication device may send a sequence [1, 3, 0] to the second communication device, indicating that the perceived geometry structure H1 matches the environmental geometry structure F1, the perceived geometry structure H2 matches the environmental geometry structure F3, and the perceived geometry structure H3 is a new geometry structure.

[0146] Or, refer to Fig. 9 As shown in the 2D indication diagram, the perception data points corresponding to the perception geometry H1, the perception geometry H2 and the perception geometry H3 can be filled with 1, 3 and 0 respectively, indicating that the perception geometry H1 matches the environment geometry F1, the perception geometry H2 matches the environment geometry F3, and the perception geometry H3 is a new geometry.

[0147] The horizontal axis of the 2D indicator represents the quantized value of the horizontal angle φ, the vertical axis represents the quantized value of the vertical angle θ, and the perceptual geometry is the perceptual plane as an example. Fig.10 As shown in FIG. 1 , for each sensed data point, there is a corresponding position in the 2D indication map. According to the position, the vertical angle θ and the horizontal angle φ of the sensed data point can be obtained, thereby determining a straight line I starting from the origin: x / m=y / n=z / k=t, where m, n, and k are the values ​​of the angles θ and φ. The components of the determined spatial vector on the x-axis, y-axis and z-axis, t is a variable. Combined with the surface parameters (A, B, C, D) of the surface where the sensed data point is located, the intersection point P2′ of the straight line I and the surface: Ax+By+Cz+D=0 can be determined as the restoration point of the sensed data point.

[0148] Furthermore, the difference between the projection distances r′2 and r2 between the restored point P2′ and the real position (i.e., the real point) P2 of the sensed data point on the horizontal plane (or vertical plane, or x-axis, or y-axis, or z-axis) can be calculated to obtain the residual Δr corresponding to the sensed data point. The second communication device can restore the sensed data point according to the vertical angle θ, the horizontal angle φ, and r′2+Δr.

[0149] It can be understood that the above r′2+Δr can also be expressed in the form of x+Δr, y+Δr, z+Δr, R+Δr, etc. For example, when the residual Δr is determined according to the difference in projection distance between the restoration point P2′ and the true position (that is, the true point) P2 of the perceived data point on the x-axis, it can be expressed as x+Δr; when it is determined according to the difference in projection distance between the restoration point P2′ and the true position (that is, the true point) P2 of the perceived data point on the y-axis, it can be expressed as y+Δr; when it is determined according to the difference in projection distance between the restoration point P2′ and the true position (that is, the true point) P2 of the perceived data point on the z-axis, it can be expressed as z+Δr, and so on; when it is determined according to the difference in distance from the restoration point P2′ and the true position (that is, the true point) P2 of the perceived data point to the origin, it can be expressed as R+Δr, etc. Among them, x, y, z, and R can be respectively the coordinate of the restoration point P2′ on the x-axis (or the projection distance on the x-axis), the coordinate of the restoration point P2′ on the y-axis (or the projection distance on the y-axis), the coordinate of the restoration point P2′ on the z-axis (or the projection distance on the z-axis), and the distance from the restoration point P2′ to the origin.

[0150] Therefore, in an embodiment of the present application, the first communication device may also obtain compressed data by compressing the residual corresponding to the perception data point.

[0151] It can be understood that for the perceptual geometry of category 1 (corresponding to the first compression level), the first communication device may not send the residual corresponding to the perceptual data point to the second communication device, and the second communication device may restore the perceptual data point based on the position information of the perceptual data point (such as the vertical angle θ, the horizontal angle φ) and the perceptual geometry (such as the perceptual plane).

[0152] Alternatively, the first communication device may also send a residual compressed with a high compression rate to the second communication device, and the second communication device may restore the perception data point according to the vertical angle θ, the horizontal angle φ, and r′2+Δr.

[0153] For the perceptual geometry of category 2 (corresponding to the second compression level), the first communication device may send a residual compressed with a lower compression rate to the second communication device, and the second communication device may restore the perceptual data point according to the vertical angle θ, the horizontal angle φ, and r′2+Δr.

[0154] For the perceptual geometry of category 3 (corresponding to the third compression level), the first communication device can send a residual compressed with a lower compression rate to the second communication device, and the second communication device can restore the perceptual data points based on the vertical angle θ, the horizontal angle φ, and r′2+Δr. In addition, for the perceptual geometry of 3, the parameters or key data points of the perceptual geometry may also be included in the compressed data. It can be understood that the key data points of the perceptual geometry may be one or more, and the perceptual geometry can be determined by the key data points. The key data points may or may not be on the perceptual geometry, and this application does not limit this. Taking the perceptual geometry as a perceptual plane as an example, one or more perceptual data points that can determine the perceptual plane (such as three perceptual data points that are not on the same straight line on the perceptual plane) can be the key data points of the perceptual plane.

[0155] Exemplary: Reference Fig.11 and Fig.12 As shown, if a compression method based on position information (such as 2D structure position) is adopted, the perception data sent by the first communication device to the second communication device may include a 2D indication map, compressed data corresponding to the perceived geometric structure of category 1 (if any) (such as residual compressed data), compressed data corresponding to the perceived geometric structure of category 2 (if any) (such as residual compressed data), and compressed data corresponding to the perceived geometric structure of category 3 (if any) (such as residual compressed data), and may also include compression parameters of category 1, category 2 and category 3, such as a first compression level, a second compression level and a third compression level.

[0156] In some implementations, if there are multiple perception geometric structures within the first perception area, the first communication device may also divide the multiple perception geometric structures into at least two levels for layered compressed data transmission based on at least one of the following information: whether the perception geometric structure matches the environmental geometric structure, whether the perception data points corresponding to the perception geometric structure match the scanned area on the environmental geometric structure, the density of the perception data points of the scanned area on the environmental geometric structure, and the number of perception data points in the scanned area on the environmental geometric structure.

[0157] Exemplarily: Based on whether the perceived geometry matches the environmental geometry, the perceived geometry that does not match the environmental geometry can be divided into a first level (L1), and the perceived geometry that matches the environmental geometry can be divided into a second level, and the compressed data transmission priority of the first level is higher than the compressed data transmission priority of the second level.

[0158] For example: Refer to Fig.13 As shown, the above-mentioned perception geometry structure of category 1 (the perception geometry structure matches the environment geometry structure, and the perception data points corresponding to the perception geometry structure match the scanned area on the environment geometry structure) can be classified into the second level, and the above-mentioned perception geometry structure of category 2 (the perception geometry structure matches the environment geometry structure, and the perception data points corresponding to the perception geometry structure do not match the scanned area on the environment geometry structure) and the perception geometry structure of category 3 (the perception geometry structure does not match the environment geometry) can be classified into the first level. The compressed data transmission priority of the first level is higher than the compressed data transmission priority of the second level. The first communication device sends the compressed data corresponding to the perception geometry structure of each level in turn according to the transmission priority.

[0159] It is understandable that the above classification of multiple perceptual geometric structures into the first level and the second level according to whether the perceptual geometric structure matches the environmental geometric structure is only an example. For example, the perceptual geometric structure of category 1 can be classified into the third level, the perceptual geometric structure of category 2 can be classified into the second level, and the perceptual geometric structure of category 3 can be classified into the first level according to whether the perceptual geometric structure matches the environmental geometric structure and whether the perceptual data points corresponding to the perceptual geometric structure match the scanned area on the environmental geometric structure, wherein the compressed data transmission priority of the first level is higher than the compressed data transmission priority of the second level, and the compressed data transmission priority of the second level is higher than the compressed data transmission priority of the third level.

[0160] Reference Fig.14In the schematic diagram of the perception data feedback method shown in the figure, after the second communication device sends the first indication information to the first communication device, indicating one or more environmental information of the parameters of the environmental geometry structure in the first perception area, the scanned area on the environmental geometry structure, the density of the perception data points of the scanned area on the environmental geometry structure, the number of the perception data points of the scanned area on the environmental geometry structure, etc., the first communication device may first send the compressed data corresponding to the first-level perception geometry structure to the second communication device, and then perform the subsequent compression of the second-level perception geometry structure corresponding to the third-level perception geometry structure according to the indication of the second communication device. For example: the first communication device sends the compressed data corresponding to the first-level perception geometry structure to the second communication device, and if the first communication device receives the fifth indication information (or signaling) for indicating to continue to send the compressed data from the second communication device, the first communication device may send the compressed data corresponding to the second-level perception geometry structure to the second communication device. If the first communication device receives the indication information (or signaling) for indicating to continue to send the compressed data after sending the compressed data corresponding to the second-level perception geometry structure to the second communication device, the first communication device may send the compressed data corresponding to the third-level perception geometry structure to the second communication device.

[0161] In some implementations, the first communication device may send corresponding compression parameters, such as compression level, etc., and reconstruction performance based on the compressed data corresponding to the perceptual geometry structure (such as the error between the perceptual data points restored based on the compressed data and the real perceptual data points, such as mean square error, etc.) when the compressed data corresponding to the perceptual geometry structure is sent to the second communication device, so that the second communication device can restore the compressed data corresponding to the perceptual geometry structure and obtain the reconstruction performance of the compressed data corresponding to the perceptual geometry structure. For example, when the reconstruction performance of a certain level does not meet the performance threshold, the second communication device may instruct the first communication device to continue to send the compressed data corresponding to the perceptual geometry structure of the next level, and may also indicate the reconstruction performance requirements, so that the first communication device can adjust the compression parameters such as the compression level based on the reconstruction performance requirements.

[0162] The perception data feedback method provided by this application can effectively reduce the amount of transmitted data. Fig.15 As shown in the simulation configuration diagram, three first communication devices ( Fig.15 In the example of 3 UEs, each first communication device has a viewing angle of 120 degrees, a sampling interval of 1 frame / s, each first communication device interacts with a second communication device (such as a base station) in an interlaced manner, a total of 24 frames of perception data, and a speed of 5 m / s for the first communication device. The perception data feedback schemes for simulation include:

[0163] Draco scheme: quantization bits 8 to 16;

[0164] Proj solution: 2D graph + distance sequence + LZMA;

[0165] Proj plane (single first communication device, such as single UE) solution: the first communication device extracts the plane, sends the plane parameters and plane compression data to the second communication device, and the quantization bit number is 8 to 16;

[0166] Proj plane (multiple first communication devices, such as multiple UEs) solution: high compression levels (such as the second compression level and the third compression level) correspond to quantization bits 8 to 16, and low compression levels correspond to quantization bits 7 to 15 (high compression level - 1).

[0167] Reference Fig.16A and Fig. 16B ( Fig.16A FIG. 1 is a schematic diagram of a simulation structure of a local enlargement in FIG. 1 , wherein the horizontal axis represents the bit rate (rate) and the vertical axis represents the mean-square error (MSE). It can be seen that when only the perception data points on the plane are compressed, the perception data feedback scheme (Proj plane (multi-UE)) provided in the embodiment of the present application can be applied to effectively reduce the amount of transmitted data and improve the compression performance.

[0168] Reference Fig.17A and Fig. 17B ( Fig.17A FIG. 1 is a schematic diagram of a simulation structure of a local magnification in FIG. 1 , wherein the horizontal axis represents the bit rate (rate) and the vertical axis represents the mean square error (MSE). It can be seen that when all perception data points (including perception data points that do not belong to the plane) are compressed, the perception data feedback scheme (Proj plane (multi-UE)) provided in the embodiment of the present application can be applied to effectively reduce the amount of transmitted data and improve the compression performance.

[0169] The communication device provided in the embodiment of the present application is described below. Fig.18 , Fig.18 The communication device may include units or modules corresponding to all or part of the steps in the above method embodiment, and may be used to execute the steps executed by the first communication device or the second communication device in the above method embodiment. For details, please refer to the relevant introduction in the above method embodiment.

[0170] like Fig.18 As shown, the communication device 1800 includes a processing unit 1810 and an interface unit 1820, wherein the processing unit 1810 can be a processor or a processing circuit, and the interface unit 1820 can also be a transceiver unit or an input / output interface. The communication device 1800 can be used to implement the steps performed by the first communication device or the second communication device in the above embodiment.

[0171] When the communication device 1800 is used to implement the steps performed by the first communication device in the above embodiment:

[0172] The interface unit 1820 is configured to receive first indication information from a second communication device, where the first indication information indicates an environmental geometry within a first sensing area and a scanned area on the environmental geometry;

[0173] The processing unit 1810 is configured to compress the perception data points corresponding to the perception geometric structure in the first perception area according to the first indication information to obtain compressed data, wherein the compression method or compression level of the perception data points is determined according to at least one of whether the perception geometric structure matches the environment geometric structure or whether the perception data points match the scanned area on the environment geometric structure;

[0174] The interface unit 1820 is further configured to send compressed data to the second communication device.

[0175] In one possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression level is a first compression level; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, the compression level is a second compression level; if the perceived geometry does not match the environmental geometry, the compression level is a third compression level; wherein the first compression level is greater than the second compression level and the second compression level is greater than or equal to the third compression level.

[0176] For example: the first compression level is greater than the second compression level, and the second compression level is greater than or equal to the third compression level can be: the number of quantization bits corresponding to the first compression level is less than the number of quantization bits corresponding to the second compression level, and the number of quantization bits corresponding to the second compression level is less than or equal to the number of quantization bits corresponding to the third compression level.

[0177] In one possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression method is the first compression method; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, the compression method is the second compression method; if the perceived geometry does not match the environmental geometry, the compression method is the third compression method.

[0178] In one possible design, the first indication information also indicates the density of perceived data points of the scanned area on the environmental geometry, and / or the number of perceived data points of the scanned area on the environmental geometry; the compression method or compression level is determined based on at least one of whether the perceived geometry matches the environmental geometry, whether the perceived data points match the scanned area on the environmental geometry, the density of perceived data points of the scanned area on the environmental geometry, or the number of perceived data points of the scanned area on the environmental geometry.

[0179] In one possible design, the environmental geometric structure is an environmental plane, and the perception geometric structure is a perception plane; the perception plane corresponds to multiple perception data points, and the processing unit 1810 compresses the perception data points corresponding to the perception geometric structure in the first perception area according to the first indication information, and when the compressed data is obtained, it is specifically used to generate second indication information, and the second indication information indicates the position information and the perception plane of the multiple perception data points, wherein the position information of any perception data point is determined according to the two-dimensional data in the three-dimensional data of the perception data point.

[0180] In a possible design, the processing unit 1810 is also used to determine the residuals corresponding to the multiple perception data points based on the three-dimensional data of the multiple perception data points and the three-dimensional data of the multiple restoration points corresponding to the multiple perception data points, wherein the three-dimensional data of the multiple restoration points are determined based on the position information and the perception plane of the multiple perception data points; and compress the residuals corresponding to the multiple perception data points according to the compression method or compression level to obtain compressed data.

[0181] In one possible design, if the perceived geometry does not match the ambient geometry, the compressed data further includes parameters or key data points of the perceived geometry, wherein the key data points are used to determine the perceived geometry.

[0182] In a possible design, whether the perceived geometric structure matches the environmental geometric structure is determined based on whether the distance between the perceived geometric structure and the environmental geometric structure is less than or equal to a distance threshold.

[0183] In one possible design, the interface unit 1820 is further used to receive third indication information from the second communication device, where the third indication information indicates at least one of the first compression level, the second compression level, or the third compression level.

[0184] In one possible design, the interface unit 1820 is further used to receive fourth indication information from the second communication device, and the fourth indication information indicates at least one of the first compression method, the second compression method, or the third compression method.

[0185] In one possible design, there are multiple perception geometric structures within the first perception area. The processing unit 1810 is further used to divide the multiple perception geometric structures into at least two levels according to at least one of whether each perception geometric structure in the multiple perception geometric structures matches the environmental geometric structure, or whether the perception data point corresponding to the perception geometric structure matches the scanned area on the environmental geometric structure, before the interface unit 1820 sends compressed data to the second communication device, wherein the at least two levels include a first level and a second level, and the compressed data transmission priority of the first level is higher than the compressed data transmission priority of the second level.

[0186] In one possible design, before the interface unit 1820 sends compressed data corresponding to the second level of the perceptual geometric structure among multiple perceptual geometric structures to the second communication device, it is also used to determine whether fifth indication information is received from the second communication device, and the fifth indication information is used to indicate to continue transmitting the compressed data.

[0187] In one possible design, the first indication information also indicates the density of perceived data points of the scanned area on the environmental geometry structure, and / or the number of perceived data points of the scanned area on the environmental geometry structure; when the processing unit 1810 divides the multiple perceived geometric structures into at least two levels according to at least one of whether each of the multiple perceived geometric structures matches the environmental geometry structure, or whether the perceived data points corresponding to the perceived geometric structures match the scanned area on the environmental geometry structure, it is specifically used to divide the multiple perceived geometric structures into at least two levels according to at least one of whether each of the multiple perceived geometric structures matches the environmental geometry structure, whether the perceived data points corresponding to the perceived geometric structures match the scanned area on the environmental geometry structure, the density of perceived data points of the scanned area on the environmental geometry structure, or the number of perceived data points of the scanned area on the environmental geometry structure.

[0188] When the communication device 1800 is used to implement the steps performed by the second communication device in the above embodiment:

[0189] The processing unit 1810 is configured to determine first indication information, where the first indication information indicates an environment geometry structure in a first sensing area and a scanned area on the environment geometry structure;

[0190] Interface unit 1820 is used to send first indication information to the first communication device; and receive compressed data from the first communication device, wherein the compression method or compression level corresponding to the compressed data is determined based on at least one of whether the perceived geometric structure corresponding to the compressed data matches the environmental geometric structure, or whether the perceived data point corresponding to the perceived geometric structure matches the scanned area on the environmental geometric structure.

[0191] In one possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression level is a first compression level; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, the compression level is a second compression level; if the perceived geometry does not match the environmental geometry, the compression level is a third compression level; wherein the first compression level is greater than the second compression level and the second compression level is greater than or equal to the third compression level.

[0192] For example, the first compression level being greater than the second compression level and the second compression level being greater than or equal to the third compression level can mean that: the number of quantization bits corresponding to the first compression level is less than the number of quantization bits corresponding to the second compression level, and the number of quantization bits corresponding to the second compression level is less than or equal to the number of quantization bits corresponding to the third compression level.

[0193] In one possible design, if the perceived geometry matches the environmental geometry and the perceived data points match the scanned area on the environmental geometry, the compression method is the first compression method; if the perceived geometry matches the environmental geometry and the perceived data points do not match the scanned area on the environmental geometry, the compression method is the second compression method; if the perceived geometry does not match the environmental geometry, the compression method is the third compression method.

[0194] In one possible design, the environmental geometry is an environmental plane, the perception geometry is a perception plane, the perception plane corresponds to a plurality of perception data points, and the compressed data further includes second indication information, the second indication information being used to indicate position information and the perception plane in which the plurality of perception data points are located, wherein the position information of any perception data point is determined based on two-dimensional data in the three-dimensional data of the perception data point.

[0195] In one possible design, if the perceived geometry does not match the ambient geometry, the compressed data also includes parameters or key data points of the perceived geometry.

[0196] In one possible design, the interface unit 1820 is further used to send third indication information to the first communication device, where the third indication information indicates at least one of the first compression level, the second compression level, or the third compression level.

[0197] In one possible design, the interface unit 1820 is further used to send fourth indication information to the first communication device, where the fourth indication information indicates at least one of the first compression method, the second compression method, or the third compression method.

[0198] In one possible design, there are multiple perceptual geometric structures within the first perceptual area. When the interface unit 1820 receives compressed data from the first communication device, it is specifically used to receive compressed data of a first level from the first communication device, the compressed data of the first level including compressed data corresponding to the perceptual geometric structure of the first level among the multiple perceptual geometric structures; and receive compressed data of a second level from the first communication device, the compressed data of the second level including compressed data corresponding to the perceptual geometric structure of the second level among the multiple perceptual geometric structures; wherein the multiple perceptual geometric structures are divided into at least two levels by the first communication device, and the at least two levels include a first level and a second level.

[0199] In one possible design, before the interface unit 1820 receives the second-layer compressed data from the first communication device, it is also used to send fifth indication information to the first communication device, where the fifth indication information is used to indicate to continue transmitting the compressed data.

[0200] In a possible design, the first indication information further indicates the density of the perception data points of the scanned area on the environmental geometric structure and / or the number of the perception data points of the scanned area on the environmental geometric structure.

[0201] like Fig.19 As shown, the present application also provides a communication device 1900, including a processor 1910, and may also include a communication interface 1920. The processor 1910 and the communication interface 1920 are coupled to each other. It can be understood that the communication interface 1920 can be a transceiver, an input-output interface, an input interface, an output interface, an interface circuit, etc. Optionally, the communication device 1900 may also include a memory 1930 for storing instructions executed by the processor 1910 or storing input data required by the processor 1910 to run the instructions or storing data generated after the processor 1910 runs the instructions. Among them, the memory 1930 may be a physically independent unit, or it may be coupled to the processor 1910, or the processor 1910 may include the memory 1930.

[0202] When the communication device 1900 is used to implement the steps performed by the first communication device and the second communication device in the above embodiments, the processor 1910 can be used to implement the functions of the above processing unit 1810, and the communication interface 1920 can be used to implement the functions of the above interface unit 1820.

[0203] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), logic circuits, 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.

[0204] The method steps in the embodiments of the present application can be implemented by hardware, or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium well 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 can write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal device. Of course, the processor and the storage medium can also be present in a network device or a terminal device as discrete components.

[0205] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device. The computer program or instruction may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instruction may be transmitted from one network device, terminal, computer, server or data center to another network device, terminal, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, for example, a floppy disk, a hard disk, a tape; it may also be an optical medium, for example, a digital video disc; it may also be a semiconductor medium, for example, a solid-state hard disk. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0206] In the various embodiments of the present application, unless otherwise specified or provided for in any logical conflict, the terms and / or descriptions between the different embodiments are consistent and may be referenced to each other, and the technical features in the different embodiments may be combined to form new embodiments according to their inherent logical relationships.

[0207] In addition, it should be understood that in the embodiments of the present application, the word "exemplary" is used to indicate an example, illustration or description. Any embodiment or design described as "exemplary" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present concepts in a specific way.

[0208] It is understood that the various numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic.

Claims

1. A method for sensing data feedback, characterized in that: Applied to a first communication device, comprising: receiving first indication information from a second communication device, wherein the first indication information indicates an environmental geometry structure within a first sensing area and a scanned area on the environmental geometry structure; compressing the perception data points corresponding to the perception geometric structure in the first perception area according to the first indication information to obtain compressed data, wherein the compression method or compression level of the perception data points is determined according to at least one of whether the perception geometric structure matches the environmental geometric structure or whether the perception data points match a scanned area on the environmental geometric structure; The compressed data is sent to a second communication device.

2. The method according to claim 1, characterized in that If the perceived geometric structure matches the environmental geometric structure, and the perceived data points match the scanned area on the environmental geometric structure, the compression level is a first compression level; If the sensed geometry matches the environment geometry and the sensed data points do not match the scanned area on the environment geometry, the compression level is a second compression level; If the perceived geometry does not match the ambient geometry, the compression level is a third compression level; The first compression level is greater than the second compression level, and the second compression level is greater than or equal to the third compression level.

3. The method according to claim 1, characterized in that If the sensed geometric structure matches the environmental geometric structure, and the sensed data points match the scanned area on the environmental geometric structure, the compression mode is the first compression mode; If the sensed geometric structure matches the environmental geometric structure, and the sensed data points do not match the scanned area on the environmental geometric structure, the compression mode is the second compression mode; If the perceived geometry does not match the environment geometry, the compression mode is a third compression mode.

4. The method according to any one of claims 1 to 3, characterized in that The first indication information further indicates the density of the sensed data points of the scanned area on the environmental geometric structure and / or the number of the sensed data points of the scanned area on the environmental geometric structure; The compression method or compression level is determined based on at least one of whether the perceived geometry matches the environmental geometry, whether the perceived data points match a scanned area on the environmental geometry, the density of the perceived data points of the scanned area on the environmental geometry, or the number of perceived data points of the scanned area on the environmental geometry.

5. The method according to any one of claims 1 to 4, characterized in that The environment geometric structure is an environment plane, the perception geometric structure is a perception plane; the perception plane corresponds to a plurality of perception data points, and the compressing the perception data points corresponding to the perception geometric structure in the first perception area according to the first indication information to obtain compressed data includes: Generate second indication information, wherein the second indication information indicates position information and the perception planes where the plurality of perception data points are located, wherein the position information of any of the perception data points is determined based on two-dimensional data in the three-dimensional data of the perception data point.

6. The method according to claim 5, characterized in that The method further comprises: Determine residuals corresponding to the plurality of perception data points according to the three-dimensional data of the plurality of perception data points and the three-dimensional data of the plurality of restoration points corresponding to the plurality of perception data points, wherein the three-dimensional data of the plurality of restoration points corresponding to the plurality of perception data points are determined according to the position information of the plurality of perception data points and the perception plane; According to the compression method or compression level, the residuals corresponding to the multiple perception data points are compressed to obtain compressed data.

7. The method according to any one of claims 1 to 6, characterized in that If the perceived geometry does not match the ambient geometry, the compressed data further includes parameters or key data points of the perceived geometry, the key data points being used to determine the perceived geometry.

8. The method according to any one of claims 1 to 7, characterized in that Whether the perceived geometric structure matches the environmental geometric structure is determined according to whether the distance between the perceived geometric structure and the environmental geometric structure is less than or equal to a distance threshold.

9. The method according to claim 2, characterized in that The method further comprises: Third indication information is received from the second communication device, where the third indication information indicates at least one of the first compression level, the second compression level, or the third compression level.

10. The method according to claim 3, characterized in that The method further comprises: Fourth indication information is received from the second communication device, where the fourth indication information indicates at least one of the first compression method, the second compression method, or the third compression method.

11. The method according to any one of claims 1 to 10, characterized in that There are a plurality of sensing geometric structures within the first sensing area, and before sending the compressed data to the second communication device, the method further includes: The multiple perceived geometric structures are divided into at least two levels according to at least one of whether each perceived geometric structure in the multiple perceived geometric structures matches the environmental geometric structure, or whether the perceived data point corresponding to the perceived geometric structure matches the scanned area on the environmental geometric structure, wherein the at least two levels include a first level and a second level, and the compressed data transmission priority of the first level is higher than the compressed data transmission priority of the second level.

12. The method according to claim 11, characterized in that Before sending compressed data corresponding to the second-level perceptual geometry structure among the plurality of perceptual geometry structures to the second communication device, the method further includes: It is determined that fifth indication information is received from the second communication device, and the fifth indication information indicates to continue transmitting compressed data.

13. The method according to claim 11 or 12, characterized in that The first indication information further indicates the density of the sensed data points of the scanned area on the environmental geometric structure and / or the number of the sensed data points of the scanned area on the environmental geometric structure; The dividing the multiple perception geometric structures into at least two levels according to at least one of whether each perception geometric structure in the multiple perception geometric structures matches the environmental geometric structure or whether the perception data point corresponding to the perception geometric structure matches the scanned area on the environmental geometric structure comprises: The multiple perceptual geometric structures are divided into at least two levels based on whether each perceptual geometric structure in the multiple perceptual geometric structures matches the environmental geometric structure, whether the perceptual data points corresponding to the perceptual geometric structure match the scanned area on the environmental geometric structure, the density of perceptual data points in the scanned area on the environmental geometric structure, or the number of perceptual data points in the scanned area on the environmental geometric structure.

14. A method for sensing data feedback, characterized in that: Applied to a second communication device, comprising: Sending first indication information to the first communication device, wherein the first indication information indicates an environmental geometric structure within a first sensing area and a scanned area on the environmental geometric structure; Receive compressed data from the first communication device, wherein the compression method or compression level corresponding to the compressed data is determined based on at least one of whether the perceived geometric structure corresponding to the compressed data matches the environmental geometric structure, or whether the perceived data points corresponding to the perceived geometric structure match a scanned area on the environmental geometric structure.

15. The method according to claim 14, characterized in that If the perceived geometric structure matches the environmental geometric structure, and the perceived data points match the scanned area on the environmental geometric structure, the compression level is a first compression level; If the sensed geometry matches the environment geometry and the sensed data points do not match the scanned area on the environment geometry, the compression level is a second compression level; If the perceived geometry does not match the ambient geometry, the compression level is a third compression level; The first compression level is greater than the second compression level, and the second compression level is greater than or equal to the third compression level.

16. The method according to claim 14, characterized in that If the sensed geometric structure matches the environmental geometric structure, and the sensed data points match the scanned area on the environmental geometric structure, the compression mode is the first compression mode; If the sensed geometric structure matches the environmental geometric structure, and the sensed data points do not match the scanned area on the environmental geometric structure, the compression mode is the second compression mode; If the perceived geometry does not match the environment geometry, the compression mode is a third compression mode.

17. The method according to any one of claims 14 to 16, characterized in that The environmental geometry is an environmental plane, the perception geometry is a perception plane, the perception plane corresponds to a plurality of perception data points, the compressed data includes second indication information, the second indication information indicates position information and the perception plane in which the plurality of perception data points are located, wherein the position information of any perception data point is determined based on two-dimensional data in the three-dimensional data of the perception data point.

18. The method according to claim 17, characterized in that The compressed data is determined by compressing the residuals corresponding to the multiple perception data points according to the compression method or compression level, wherein the residuals corresponding to the multiple perception data points are determined based on the three-dimensional data of the multiple perception data points and the three-dimensional data of the multiple restoration points corresponding to the multiple perception data points, and the three-dimensional data of the restoration point corresponding to any of the perception data points is determined based on the position information of the perception data point and the perception plane.

19. The method according to any one of claims 14 to 18, characterized in that If the perceived geometry does not match the ambient geometry, the compressed data further includes parameters or key data points of the perceived geometry, the key data points being used to determine the perceived geometry.

20. The method of claim 15, wherein: The method further comprises: Sending third indication information to the first communication device, the third indication information indicating at least one of the first compression level, the second compression level, or the third compression level.

21. The method of claim 16, wherein: The method further comprises: Fourth indication information is sent to the first communication device, where the fourth indication information indicates at least one of the first compression method, the second compression method, or the third compression method.

22. The method according to any one of claims 14 to 21, characterized in that There are a plurality of sensing geometric structures within the first sensing area, and receiving compressed data from the first communication device comprises: receiving compressed data of a first level from the first communication device, the compressed data of the first level comprising compressed data corresponding to a first level of perceptual geometry structure among the plurality of perceptual geometry structures; receiving compressed data of a second level from the first communication device, the compressed data of the second level comprising compressed data corresponding to a perceptual geometry structure of a second level among the plurality of perceptual geometry structures; The plurality of perception geometries are divided into at least two levels by the first communication device, and the at least two levels include the first level and the second level.

23. The method of claim 22, wherein: Before receiving the second-level compressed data from the first communication device, the method further includes: Send fifth indication information to the first communication device, where the fifth indication information indicates to continue transmitting the compressed data.

24. The method according to any one of claims 14 to 23, characterized in that The first indication information further indicates a density of perception data points of the scanned area on the environmental geometric structure and / or a number of perception data points of the scanned area on the environmental geometric structure.

25. A communication device, characterized in that: The method comprises a module or a unit for executing the method as claimed in any one of claims 1 to 24.

26. A communication device, characterized in that: It includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor, or send signals from the processor to other communication devices outside the communication device, and the processor is used to implement the method as described in any one of claims 1-24 through logic circuits or execution instructions.

27. A computer program product, characterized in that The method comprises a computer program or an instruction, and when the computer program or the instruction is executed by a processor, the method according to any one of claims 1 to 24 is implemented.

28. A chip system, characterized in that: The chip system includes a processor, the processor is coupled to a memory, the memory is used to store a computer program or instructions, and when the computer program or instructions are executed by the processor, the method as described in any one of claims 1-24 is implemented.

29. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or instruction. When the computer program or instruction is executed by a processor, the method according to any one of claims 1 to 24 is implemented.

30. A communication system, characterized in that: The communication system comprises a first communication device and a second communication device; The first communication device is used to implement the method according to any one of claims 1 to 13; The second communication device is used to implement the method as described in any one of claims 14-24.

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