Communication method and device

Abstract

A communication method and device are used for improving sensing precision in various sensing modes. In the present application, the method comprises: a base station sends a first size to a UE, the first size being used for determining a plurality of first sensing subspaces in a sensing space, and known scattering points respectively included in the plurality of first sensing subspaces being used for determining coordinates of first scattering points in the sensing space. Correspondingly, the UE receives the first size from the base station, determines the coordinates of the first scattering point in the sensing space according to the first size, and sends the coordinates of the first scattering point to the base station. And the base station determines a second size according to the coordinate of the first scattering point, the coordinate of the known scattering point and the first size. The base station sends the second size to the UE.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of wireless communications, and in particular to a communication method and apparatus. Background Art

[0002] Perception, also known as wireless sensing, involves emitting electromagnetic energy into space. By receiving radio waves reflected from objects within that space, information about those objects can be calculated. This information can include parameters such as location, direction, altitude, speed, size, and path, as well as the internal and external shape and structure of objects. By exploring the transmission, echo, reflection, and scattering of radio waves, we can perceive and better understand the physical world.

[0003] Sensing modes mainly include monostatic sensing and bistatic sensing. Monostatic sensing is self-transmitting and self-receiving. For example, the base station transmits a sensing signal and receives the sensing signal scattered back through scattering points. The base station performs sensing based on the transmitted and received sensing signals. Bistatic sensing is self-transmitting and self-receiving. For example, the base station transmits a sensing signal, which is received by the user equipment (UE) after one or more scattering points. The UE performs sensing based on the received sensing signal.

[0004] How to improve the perception accuracy under various perception modes is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The present application provides a communication method and apparatus for improving perception accuracy in various perception modes.

[0006] In a first aspect, the present application provides a communication method, which can be interactively executed by a first communication device and a second communication device, wherein the first communication device can be an access network device or a module in the access network device (such as a chip), and the second communication device can be a terminal device or a module in the terminal device (such as a chip).

[0007] When the first communication device is an access network device, the first communication device may send information to the terminal device; alternatively, the first communication device may receive information from the terminal device. When the first communication device is a module in the access network device, the first communication device may send information to other modules in the access network device (such as a radio frequency module or antenna), where the information is sent from the access network device to the terminal device; alternatively, the first communication device may receive information from other modules (such as a radio frequency module or antenna), where the information is sent from the terminal device to the access network device.

[0008] Similarly, when the second communication device is a terminal device, the second communication device can send information to the access network device; alternatively, the second communication device can receive information from the access network device. When the second communication device is a module in the terminal device, the second communication device can send information to other modules in the terminal device (such as a radio frequency module or antenna), and the information is sent by the terminal device to the access network device; alternatively, the second communication device can receive information from other modules (such as a radio frequency module or antenna), and the information is sent by the access network device to the terminal device.

[0009] For the convenience of description, the following description is based on an example in which the first communication device is an access network device (eg, a base station) and the second communication device is a terminal device (eg, a UE).

[0010] The method includes: a base station sends a first size to a UE, where the first size is used to determine multiple first perception subspaces in a perception space, and the known scattering points included in each of the multiple first perception subspaces are used to determine (or perceive or predict) the coordinates of the first scattering point in the perception space. Accordingly, the UE receives the first size from the base station, determines the coordinates of the first scattering point in the perception space based on the first size, and sends the coordinates of the first scattering point to the base station. The base station receives the coordinates of the first scattering point from the UE. The base station determines a second size based on the coordinates of the first scattering point, the coordinates of the known scattering points, and the first size. The base station sends the second size to the UE.

[0011] Exemplarily, when the UE determines the coordinates of the first scattering point in the perception space based on the first size, it can be that the UE determines the multiple first perception subspaces included in the perception space based on the first size, and then determines the known scattering points respectively included in the multiple first perception subspaces. The UE then determines the coordinates of the first scattering point based on the known scattering points respectively included in the multiple first perception subspaces.

[0012] In the above technical solution, the first size is used to determine multiple first perception subspaces in the perception space. The known scattering points included in each of the multiple first perception subspaces are used to determine the coordinates of the first scattering point in the perception space. That is, the first size is associated with the coordinates of the first scattering point determined by the UE. The base station adjusts the first size based on the coordinates of the first scattering point associated with the first size and the coordinates of the known scattering points to obtain a second size. The UE can then determine more accurate coordinates of the scattering point based on the second size, thereby continuously improving perception accuracy in various perception modes.

[0013] In one possible example, when the first size is used by the base station and the UE to respectively determine multiple first perception subspaces in the perception space, the base station further transmits to the UE the number of known scattering points included in each of the multiple first perception subspaces. Exemplarily, the base station transmits to the UE first density information, where the first density information includes the first size and the number of known scattering points included in each of the multiple first perception subspaces.

[0014] In another possible example, when the first size is used by the UE to determine multiple first perception subspaces in the perception space, the base station further transmits coordinates of known scattering points to the UE, so that the UE can determine the number of known scattering points included in each of the multiple first perception subspaces based on the first size and the coordinates of the known scattering points. Exemplarily, the base station transmits first density information to the UE, where the first density information includes the first size and the coordinates of the known scattering points.

[0015] In a possible implementation, the second size is larger than the first size.

[0016] In the above technical solution, considering that some perception spaces are large, or the number of UEs used to determine the coordinates of the scattering points is small (that is, the scenario with low UE deployment density), the number of known scattering points obtained by the base station is small relative to the entire perception space, which leads to low perception accuracy. In this case, the base station can increase the first size to improve the utilization efficiency of the density information and thus improve the perception accuracy.

[0017] In one possible implementation, when the base station determines the second size based on the coordinates of the first scattering point, the coordinates of the known scattering point, and the first size, the base station may specifically determine an error based on the coordinates of the first scattering point and the coordinates of the known scattering point. If the error is greater than the first size, the base station increases the first size to obtain the second size.

[0018] In the above technical solution, whether the first scattering point and the known scattering points are located in the same perception subspace is considered an important criterion for measuring perception accuracy. Specifically, when the first scattering point and the known scattering point are located in the same perception subspace, the perception accuracy is considered high, while when the first scattering point and the known scattering point are not located in the same perception subspace, the perception accuracy is considered low. Accordingly, when the first size is small, the error between the coordinates of the first scattering point determined by the UE and the coordinates of the known scattering point will be greater than the first size. Therefore, in this case, the base station can further increase the first size to obtain the second size, thereby improving perception accuracy in various sensing modes.

[0019] In a possible implementation, the multiple first perception subspaces include a zero-value perception subspace, the number of known scattering points included in the zero-value perception subspace is equal to 0, and a proportion of the number of zero-value perception subspaces is less than or equal to a proportion threshold.

[0020] In the above technical solution, the proportion of the number of zero-value perception subspaces is set to be less than or equal to the proportion threshold, ensuring that when the UE determines the first scattering point, most perception subspaces contain known scattering points, which helps to improve the perception accuracy in various perception modes.

[0021] In one possible implementation, before sending the first size to the UE, the base station may further determine multiple initial sensing subspaces based on the initial size and the sensing space, where the multiple initial sensing subspaces include a zero-value sensing subspace, the number of known scattering points included in the zero-value sensing subspace is equal to 0, and a proportion of the number of zero-value sensing subspaces is greater than a proportion threshold. The base station increases the initial size to obtain the first size.

[0022] In the above technical solution, when the base station determines that the proportion of the number of zero-value perception subspaces is greater than the proportion threshold, it increases the initial size to obtain the first size, so as to achieve the proportion of the number of zero-value perception subspaces being less than or equal to the proportion threshold, which helps to improve the perception accuracy under various perception modes.

[0023] In one possible implementation, the initial size is determined by one of the following methods:

[0024] Determination method 1: The base station determines the initial size based on the sensing task corresponding to the sensing space, multiple preset sensing tasks, and multiple preset sizes corresponding to the multiple preset sensing tasks. Among them, the multiple preset sensing tasks include the sensing task corresponding to the sensing space, and the preset size corresponding to the sensing task corresponding to the sensing space is the initial size. This helps to quickly determine the initial size that matches the sensing space.

[0025] Determination method 2: The base station uses the smallest size among multiple preset sizes as the initial size. In the above technical solution, starting from the smallest size among multiple preset sizes and gradually increasing the size, the determined size can achieve higher perception accuracy.

[0026] Determination method 3: The base station determines the initial size based on the projection area of ​​the sensing space on the ground and the number of terminal devices in the sensing space. This helps to quickly determine the initial size that matches the sensing space.

[0027] In a second aspect, the present application provides a communication device, which has the function of implementing the first communication device in the first aspect or any possible implementation of the first aspect, or the function of implementing the second communication device in the first aspect or any possible implementation of the first aspect. The functions of the above-mentioned communication device can be implemented by hardware, or can be implemented by hardware executing corresponding software, and the hardware or software includes one or more modules, units, or means corresponding to the above-mentioned functions.

[0028] In one possible implementation, the structure of the device includes a processing module and a transceiver module, wherein the processing module is configured to support the device in implementing the function of the first communication device in the above-mentioned first aspect or any possible implementation of the first aspect, or the function of the second communication device in the above-mentioned first aspect or any possible implementation of the first aspect. The transceiver module is used to support communication between the device and other communication devices. For example, when the device is a first communication device, it can send a first size to a second communication device. The communication device may also include a storage module, which is coupled to the processing module and stores program instructions and data necessary for the device. As an example, the processing module may be a processor, the communication module may be a transceiver, and the storage module may be a memory. The memory may be integrated with the processor or may be provided separately from the processor.

[0029] In another possible implementation, the structure of the device includes a processor and may also include a memory. The processor is coupled to the memory and can be used to execute computer program instructions stored in the memory to enable the device to implement the functions of the first communication device or the second communication device in the first aspect or any possible implementation of the first aspect. Optionally, the device also includes a communication interface, and the processor is coupled to the communication interface. When the device is a network device or an access network device, the communication interface can be a transceiver or an input / output interface; when the device is a chip included in the network device or a chip included in the access network device, the communication interface can be the input / output interface of the chip. Optionally, the transceiver can be a transceiver circuit, and the input / output interface can be an input / output circuit.

[0030] In a third aspect, an embodiment of the present application provides a chip system, including:

[0031] A processor and a memory, the processor is coupled to the memory, the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the chip system implements the function of the first communication device in the above-mentioned first aspect or any possible implementation of the first aspect, or the function of the second communication device in the above-mentioned first aspect or any possible implementation of the first aspect.

[0032] Optionally, the chip system further includes an interface circuit for transmitting interactive code instructions to the processor.

[0033] Optionally, there may be one or more processors in the chip system, and the processor may be implemented in hardware or software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, etc. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.

[0034] Optionally, the memory in the chip system may be one or more. The memory may be integrated with the processor or provided separately from the processor. Exemplarily, the memory may be a non-transient processor, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or provided on different chips.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program or instructions. When the computer program or instructions are executed by a communication device, the communication device implements the function of the first communication device in the above-mentioned first aspect or any possible implementation of the first aspect, or the function of the second communication device in the above-mentioned first aspect or any possible implementation of the first aspect.

[0036] In a fifth aspect, the present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a communication device, the communication device implements the function of the first communication device in the above-mentioned first aspect or any possible implementation of the first aspect, or the function of the second communication device in the above-mentioned first aspect or any possible implementation of the first aspect.

[0037] In a sixth aspect, an embodiment of the present application provides a communication system, comprising a first communication device in the above-mentioned first aspect or any possible implementation of the first aspect, and a second communication device in the above-mentioned first aspect or any possible implementation of the first aspect.

[0038] The technical effects that can be achieved in any of the second to sixth aspects mentioned above can refer to the description of the beneficial effects in the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of a communication system architecture provided for this application;

[0040] Figure 2 A schematic diagram of a scene in a single-base perception mode provided by this application;

[0041] Figure 3 A schematic diagram of a scene in a dual-base sensing mode provided by this application;

[0042] Figure 4 This is a schematic diagram of the architecture of a communication and perception integrated system provided by this application;

[0043] Figure 5 A flow chart of a communication method provided in this application;

[0044] Figure 6 A schematic diagram of a density matrix provided in this application;

[0045] Figure 7 A schematic diagram of dividing the perception subspace provided by this application;

[0046] Figure 8 A schematic diagram of downlink sensing signal scattering provided in this application;

[0047] Figure 9 This application provides a flowchart of a method for a base station to determine a first size;

[0048] Figure 10 A flowchart of a method for updating the size of a base station provided in this application;

[0049] Figure 11 A flowchart of the communication method for the first specific scenario provided in this application;

[0050] Figure 12 A flow chart of the communication method for the second specific scenario provided in this application;

[0051] Figure 13 A schematic structural diagram of a communication device provided in this application;

[0052] Figure 14 A structural diagram of another communication device provided in this application. DETAILED DESCRIPTION

[0053] The following first explains the relevant technical features involved in the embodiments of the present application. It should be noted that these explanations are intended to make the embodiments of the present application easier to understand and should not be regarded as limiting the scope of protection claimed by the present application.

[0054] The technical solutions of the embodiments of the present application can be applied to new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, world-wide interoperability for microwave access (WiMAX) communication systems, and next-generation wireless communication systems such as 6G, without limitation.

[0055] Figure 1 This is a schematic diagram of the architecture of a communication system used in the embodiment of the present application. Figure 1As shown, the communication system includes a wireless access network 100. The wireless access network 100 may include at least one access network device (such as Figure 1 110a and / or 110b), and may further include at least one terminal device (such as Figure 1 At least one of 120a-120j in FIG. 1 ). The terminal device is connected to the access network device via a wireless connection, and the access network device is connected to the core network device via a wireless or wired connection. Terminal devices and access network devices can be connected to each other via a wired or wireless connection. Figure 1 This is just a schematic diagram. The communication system may also include other access network equipment, such as relay equipment and backhaul equipment. Figure 1 Not drawn in the middle.

[0056] Access network equipment is a network-side device with wireless transceiver capabilities. Access network equipment can be a device in a radio access network (RAN) that provides wireless communication capabilities for terminal devices, which is called a RAN. For example, access network equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a fifth-generation (5G) mobile communication system, a next-generation base station in a sixth-generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. It can also be a module or unit that performs some of the functions of a base station, for example, a centralized unit (CU) or a distributed unit (DU). The CU here completes the functions of the base station's radio resource control protocol and packet data convergence protocol (PDCP), and can also complete the function of the service data adaptation protocol (SDAP); the DU completes the functions of the base station's radio link control layer and medium access control (MAC) layer, and can also complete part of the physical layer or all of the physical layer. For detailed descriptions of the above-mentioned protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). The access network device can be a macro base station (such as Figure 1110a), or a micro base station or an indoor station (such as Figure 1 110b), may also be a relay node or a donor node, etc. The embodiment of the present application does not limit the specific technology and specific device form adopted by the access network device.

[0057] In another possible scenario, multiple access network devices collaborate to assist the terminal device in achieving wireless access, and different access network devices respectively implement part of the functions. For example, the access network device may be a CU, DU, CU-control plane (CP), CU-user plane (UP), or radio unit (RU), etc. The CU and DU may be set separately, or may be included in the same network element, for example, in a baseband unit (BBU). The RU may be included in a radio frequency device or radio frequency unit, for example, in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). In different systems, CU (or CU-CP and CU-UP), DU, or RU may also have different names, but those skilled in the art may understand their meanings. For example, in an open radio access network (ORAN) system, CU may also be referred to as O-CU (open CU), DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples for description. Any of the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0058] A terminal device is a user-side device with wireless transceiver capabilities. A terminal device may also be referred to as user equipment (UE), a mobile station, a mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, etc. A terminal device may be a mobile phone, a tablet computer, a computer with wireless transceiver capabilities, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home appliance, etc. The embodiments of this application do not limit the specific technology and specific device form adopted by the terminal device.

[0059] Access network equipment and terminal devices can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of access network equipment and terminal devices.

[0060] The roles of access network devices and terminal devices can be relative, for example, Figure 1 The helicopter or drone 120i in the figure can be configured as a mobile access network device. For the terminal devices 120j that access the wireless access network 100 through 120i, the terminal device 120i is the access network device; but for the access network device 110a, 120i is the terminal device, that is, the communication between 110a and 120i is through the wireless air interface protocol. Of course, 110a and 120i can also communicate through the interface protocol between access network devices. In this case, relative to 110a, 120i is also an access network device. Therefore, the access network device and the terminal device can be collectively referred to as a communication device. Figure 1 110a and 110b in the figure can be referred to as communication devices having access network device functions. Figure 1 120a-120j in the figure can be called communication devices with terminal equipment functions.

[0061] In the embodiments of the present application, the functions of the access network device may also be performed by a module (such as a chip) in the access network device, or by a control subsystem that includes the functions of the access network device. The control subsystem that includes the functions of the access network device here may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal device may also be performed by a module (such as a chip or modem) in the terminal device, or by a device that includes the functions of the terminal device.

[0062] In the following description, the access network device is a base station and the terminal device is a UE. Methods performed by the access network device, a module (such as a chip) in the access network device, or a control subsystem including the functions of the access network device are all described as being performed by the base station; methods performed by the terminal device, a module (such as a chip) in the terminal device, or a device including the functions of the terminal device are all described as being performed by the UE.

[0063] Communication and perception integration refers to the integration of electromagnetic signals used for communication and perception. Traditionally, active positioning targets primarily consisted of UEs that emit electromagnetic waves, such as mobile phones, vehicles, and Internet of Things (IoT) devices. However, virtual environment reconstruction targets further include passive objects, such as buildings, urban infrastructure (such as billboards and bridges), and vehicles (such as vehicles and bicycles). By receiving electromagnetic wave signals propagating through the spatial environment, the composition of the spatial environment is determined. Through the detection and reconstruction of the virtual environment (active and passive objects and devices), further assisted positioning or communication performance improvement is achieved. Base stations and UEs are the primary devices involved in virtual environment reconstruction. Perception quality is related to sensory resources, space, time, frequency band, power consumption, and site. A site can refer to a base station, UE, or customer premises equipment (CPE).

[0064] Based on whether the transmitter and receiver of the sensing signal are co-located or separated, the sensing modes are mainly divided into monostatic sensing, bistatic sensing, and multistatic sensing. Multistatic sensing generally consists of monostatic sensing and bistatic sensing.

[0065] like Figure 2A schematic diagram of a scenario in a single-base sensing mode is shown. The transmitter and receiver are in the same location, and the sensing signal can use data static payloads, so the sensing function does not consume communication resources. At the same time, since the transmission and reception are from the same source, there are no non-ideal factors such as synchronization, and the complexity and estimation accuracy of its sensing algorithm are relatively good. Due to the use of self-transmission and self-reception, the signal angle range that can be detected is strongly related to the environmental incident angle. The reflected signal of the object will rapidly decay as the incident angle increases. In other words, the range of the spatial environment that can be perceived by the single-base sensing mode will be greatly affected by the material and placement angle of the target object. In single-base sensing, the sensing signal sent by the transmitter is usually received by the receiver after a single scattering. When the receiving end solves the environmental space, the accuracy of the spatial environment solution is relatively high.

[0066] like Figure 3 A schematic diagram of a dual-static sensing mode scenario is shown. The transmitter and receiver are located at different locations, and the sensing signal requires a dedicated pilot or known signal. Therefore, this sensing function consumes communication resources. Furthermore, since the transmitter and receiver are different sources, non-ideal factors such as synchronization and phase noise exist. This results in poor sensing algorithm complexity and estimation accuracy, requiring a complex calibration algorithm to address these issues. In dual-static sensing, due to the use of self-transmission and other-reception, the range of the spatial environment it can perceive is larger, and as the receiver moves, the range of the spatial environment it can perceive also increases. Furthermore, the sensing signal sent by the transmitter can be received by the receiver after a single scattering or after multiple scattering. Currently, the spatial environment solution accuracy for multiple scattering is lower than that for single scattering, but the range of the spatial environment that can be perceived by multiple scattering is larger than that for single scattering.

[0067] based on Figure 1 The architecture diagram of the communication system is shown, and Figure 2 and Figure 3 The scene diagram shown is as follows: Figure 4 An architectural diagram of an integrated communication and perception system is provided as an example for this application, wherein the system includes a sensing management function (SMF), a base station and a UE, and each base station can be used to serve one or more UEs. Exemplarily, the SMF and the base station can be deployed in combination. As another example, when the integrated communication and perception system includes multiple base stations, an SMF can be deployed in one base station, and the other base stations can be connected to the SMF deployed in the base station. In addition, in actual applications, the SMF and the base station can also be deployed separately. Exemplarily, each SMF can be connected to one or more base stations. It should be noted that there can be other names for the sensing function, which are not limited in this application.

[0068] The integrated communication and perception system is used to perceive scattering points in the space environment. Specifically, it can be understood that the space environment may include multiple scatterers (such as buildings, urban facilities, vehicles, etc.). When the perception signal is projected to a certain point on the scatterer, the point on the scatterer (called a scattering point) will scatter the perception signal. Therefore, the perception calculation is specifically to perceive the coordinates of the scattering point on the scatterer. Furthermore, the shape of the scatterer can also be constructed based on multiple scattering points. Furthermore, SMF is used to centrally store, manage, distribute, and calculate information on scattering points in the space environment. The base station is used to centrally store, manage, distribute, and calculate information on scatterers in the part of the space environment where the base station is located. For other instructions on the base station and UE, please refer to Figure 1 Description of the related embodiments.

[0069] For example, in single-base sensing, the base station can act as a transmitter and a receiver to transmit and receive sensing signals to achieve the perception of scattering points in the space environment. Figure 4 In dual-base sensing, the base station transmits a sensing signal as a transmitter, and the UE receives the sensing signal as a receiver. Then, the UE senses the scattering points in the space environment based on the received sensing signal. For example, the base station and the UE are Figure 4 Alternatively, one of the two base stations acts as a transmitter to transmit a sensing signal, while the other base station acts as a receiver to receive the sensing signal. The other base station senses the scattering points in the spatial environment based on the received sensing signal. The two base stations are, for example, Figure 4 Base station 1 and base station 2 in.

[0070] At present, how to improve the perception accuracy under various perception modes is a technical problem that needs to be solved urgently.

[0071] like Figure 5 This is a flow chart of a communication method exemplarily provided in the present application. The communication method can be interactively executed by a first communication device and a second communication device. The following is an example in which the first communication device and the second communication device are a base station and a UE respectively.

[0072] This communication method introduces a perception subspace size, which can be used to divide the perception space (equivalent to the spatial environment) into multiple perception subspaces. The UE can determine (perceive, predict, or calculate) the coordinates of other scattering points within the perception space based on the known scattering points included in each of the multiple perception subspaces. Furthermore, the base station adjusts the perception subspace size based on the coordinates of the other scattering points determined by the UE and the coordinates of the known scattering points, thereby improving the accuracy of the coordinates of the other scattering points determined by the UE and enhancing perception accuracy.

[0073] Among them, the perception subspace size is used to divide the perception space into multiple perception subspaces (or called grids, grids, subspaces, etc.). In this application, the perception subspace size can be referred to as size, grid size, grid size (which can be expressed as grid_size in English), division size, perception subspace size, subspace size, etc. The specific name is not limited. For the convenience of description, the size is used as an example below.

[0074] Step 501: A base station sends a first size to a UE. Correspondingly, the UE receives the first size from the base station.

[0075] The first size is used to determine a plurality of first perceptual subspaces in the perceptual space. Further, the known scattering points respectively included in the plurality of first perceptual subspaces are used to determine the coordinates of the first scattering points in the perceptual space.

[0076] Optionally, the base station may send not only the first size but also first density distribution information to the UE. Based on the content included in the first density distribution information, the following is divided into case 1 and case 2 for explanation:

[0077] Case 1: The first density distribution information includes: the number of known scattering points respectively included in the plurality of first perception subspaces.

[0078] When the base station determines the number of known scattering points respectively included in the plurality of first perception subspaces, the method specifically includes the following steps a and b:

[0079] In step a, the base station determines a plurality of first perception subspaces according to the first size and the perception space.

[0080] Specifically, the base station determines a first size and a perception space, and then divides the perception space into a plurality of first perception subspaces according to the first size.

[0081] The method for determining the first size by the base station can be found in the following Figure 9 Description in related embodiments. Exemplarily, the first size is used to divide the perception space into multiple cubes (equivalent to the first perception subspace), that is, the first size is the side length of the cube; or the first size is used to divide the perception space into multiple cuboids (equivalent to the first perception subspace), that is, the first size includes the length, width, and height of the cuboid. Of course, the first size can also be used to divide the perception space into other shapes, which is not limited in this application.

[0082] The sensing space can be determined by the base station itself or obtained from the sensing task issued by the user.

[0083] When the base station determines the sensing space on its own, it may be determined based on one or more of the following: the location of the base station, the location of the UE, the transmission angle of the downlink sensing signal transmitted by the base station, or the reception angle of the downlink sensing signal received by the UE. The following are eight possible examples:

[0084] Example 1: The base station determines the sensing space based on the location of the base station.

[0085] For example, the distance between any position in the sensing space and the position of the base station is less than or equal to a first preset value. For example, the first preset value is determined based on the transmit power of the downlink sensing signal transmitted by the base station, the minimum detectable power of the UE, the transmit antenna gain, the receive antenna gain, and the frequency of the downlink sensing signal. For example, the base station determines the first preset value according to the following formula 1:

[0086]

[0087] Wherein, d is the first preset value, P t is the transmission power of the downlink sensing signal transmitted by the base station, P r,min is the minimum detectable power of UE, G t is the transmitting antenna gain, G r is the receiving antenna gain, and f is the frequency of the downlink sensing signal.

[0088] Furthermore, taking Formula 1 as an example, the base station transmits a downlink perception signal with a transmission power of 10 dBm, the minimum detectable power of the UE is -60 dBm, the transmitting antenna gain and the receiving antenna gain are both 5 dBi, and the frequency f of the downlink perception signal is 2.4 GHz. Then, the base station can calculate the first preset value d to be approximately 99.5 m according to Formula 1.

[0089] Example 2: The base station determines the sensing space based on the transmission angle of the base station.

[0090] For example, the difference between the angle of the line connecting any position in the sensing space and the base station and the transmission angle of the downlink sensing signal sent by the base station is less than or equal to a second preset value, which can be 1°, 5°, 10°, etc.

[0091] Example 3: The base station determines the sensing space according to the location of the UE.

[0092] For example, the distance between any location in the sensing space and the location of the UE is less than or equal to a third preset value. For example, the third preset value is determined based on the transmit power of the downlink sensing signal transmitted by the base station, the minimum detectable power of the UE, the transmit antenna gain, the receive antenna gain, and the frequency of the downlink sensing signal. For example, the base station determines the third preset value based on Formula 1 in Example 1.

[0093] Example 4: The base station determines the perception space according to the receiving angle of the UE.

[0094] For example, the difference between the angle between a line connecting any position in the sensing space and the UE and the receiving angle at which the UE receives the downlink sensing signal is less than or equal to a fourth preset value, which may be 1°, 5°, 10°, or the like.

[0095] Example 5: The base station determines the sensing space according to the location of the base station and the transmission angle of the base station.

[0096] For example, the distance between any position in the perception space and the position of the base station is less than or equal to a first preset value, and the angle difference between the angle of the line connecting any position in the perception space and the base station and the transmission angle of the downlink perception signal sent by the base station is less than or equal to a second preset value.

[0097] Example 6: The base station determines the perception space according to the position of the UE and the receiving angle of the UE.

[0098] For example, the distance between any position in the perception space and the position of the UE is less than or equal to a third preset value, and the angle difference between the angle of the line connecting any position in the perception space and the UE and the receiving angle of the UE receiving the downlink perception signal is less than or equal to a fourth preset value.

[0099] Example 7: The base station determines the sensing space according to the location of the base station and the location of the UE.

[0100] For example, the distance between any position in the perception space and the position of the base station is less than or equal to a first preset value, or the distance between any position in the perception space and the position of the UE is less than or equal to a third preset value.

[0101] Example 8: The base station determines the sensing space based on the base station's transmission angle and the UE's reception angle.

[0102] For example, the angle difference between the angle of the line connecting any position in the perception space and the base station and the transmission angle of the downlink perception signal sent by the base station is less than or equal to the second preset value, or the angle difference between the angle of the line connecting any position in the perception space and the UE and the reception angle of the downlink perception signal received by the UE is less than or equal to the fourth preset value.

[0103] It is understood that the above is only an example of a possible method for a base station to determine a sensing space. The base station may also determine the sensing space in other ways, which are not limited by this application. The method for determining the preset values ​​in Examples 5 to 8 can be found in the description of Examples 1 to 4 above.

[0104] In step b, the base station determines the number of known scattering points contained in each first sensing subspace according to the coordinates of the known scattering points in the sensing space.

[0105] Specifically, the base station determines the number of known scattering points contained in each first perceptual subspace based on the coordinates of the known scattering points in the perceptual space and the range of each first perceptual subspace. Exemplarily, for each known scattering point, the base station determines the first perceptual subspace within which the coordinates of the known scattering point are located, and increments the number of known scattering points contained in the first perceptual subspace by 1, until all known scattering points are traversed.

[0106] The coordinates of the known scattering points in the sensing space may be determined by the base station based on one or more of the following methods:

[0107] (1) The base station determines the perception mode based on single-base perception.

[0108] For example, the base station determines the coordinates of the known scattering point based on the transmission angle and transmission time of the perception signal sent by the base station, the reception angle and reception time of the perception signal received by the base station, and the calculation method corresponding to single-base perception (or called a calculation model, perception model, etc.).

[0109] (2) The base station determines the perception mode based on single scattering in dual-base perception.

[0110] For example, the base station sends a downlink sensing signal, the transmission angle, and the transmission time of the downlink sensing signal to the UE. The UE determines the coordinates of the known scattering point based on the reception time and reception angle of the downlink sensing signal received by the UE, the transmission angle and the transmission time of the downlink sensing signal, and the calculation method corresponding to single scattering in bistatic sensing. The UE sends the coordinates of the known scattering point to the base station.

[0111] For another example, the UE transmits an uplink sensing signal, as well as the transmission angle and transmission time of the uplink sensing signal, to the base station. The base station determines the coordinates of the known scattering point based on the reception time and reception angle of the uplink sensing signal received by the base station, the transmission angle and transmission time of the uplink sensing signal, and the calculation method corresponding to single scattering in bistatic sensing.

[0112] (3) The base station obtains it from other devices.

[0113] For example, when the base station is deployed separately from the SMF, the SMF stores the coordinates of the known scattering points in the sensing space, and then the base station obtains the coordinates of the known scattering points in the sensing space from the SMF.

[0114] For another example, another base station stores the coordinates of known scattering points in the perception space, and the base station can then obtain the coordinates of the known scattering points in the perception space from the other base station. Exemplarily, the other base station has already performed perception calculations on the perception space. Exemplarily, the base station and the other base station can be denoted as base station A and base station B, respectively. Base station A corresponds to perception space A, and base station B corresponds to perception space B. There is an intersection between perception space A and perception space B (denoted as perception space C). Base station B has already performed perception calculations on perception space B (including perception space C). Therefore, base station A can obtain the coordinates of the known scattering points in perception space C from base station B.

[0115] For another example, the image processing device can determine information about known scatterers contained in the capture space (e.g., the location and outline of the known scatterers) based on the images it captures. The base station then obtains the known scatterer information from the image processing device and determines the coordinates of the known scattering points in the perception space based on the known scatterer information. There is an intersection between the capture space and the perception space; for example, the capture space includes the perception space.

[0116] It can also be understood that the number of known scattering points included in the first perceptual subspace can be used to indicate the density of known scattering points in the first perceptual subspace. Exemplarily, the base station determines the number of known scattering points included in each first perceptual subspace. Specifically, the base station may determine a first density matrix, where the first density matrix includes the number of known scattering points included in each of the first perceptual subspaces. In other words, the first density matrix includes multiple elements, each of which has a value equal to the number of known scattering points included in the first perceptual subspace corresponding to the element.

[0117] Exemplarily, the base station divides the perception space into I first perception subspaces in the x-axis direction, J first perception subspaces in the y-axis direction, and K first perception subspaces in the z-axis direction according to the first size, thereby obtaining I×J×K first perception subspaces, where I, J, and K are all integers greater than 1. The base station determines the number of known scattering points contained in each first perception subspace based on the coordinates of the known scattering points contained in the perception space, and then generates a first density matrix. The first density matrix can be expressed in the form of array[I][J][K], where the value of the element in the i-th row, j-th column, and k-th layer represents the number of known scattering points in the first perception subspace located in the i-th row, j-th column, and k-th layer, i is an integer in [1, I], j is an integer in [1, J], and k is an integer in [1, K].

[0118] like Figure 6This is a schematic diagram of a first density matrix provided as an example for this application. The first density matrix includes 3×4×2 elements, that is, the base station divides the perception space into 3×4×2 first perception subspaces. The value of the element at the corresponding position (1,1,1) in the first density matrix is ​​300, indicating that there are 300 known scattering points in the corresponding first perception subspace; the value of the element at the corresponding position (2,1,1) in the first density matrix is ​​310, indicating that there are 310 known scattering points in the corresponding first perception subspace; other similarities are not repeated here.

[0119] like Figure 7 This application provides an exemplary method for dividing perception subspaces in a specific scenario, where the specific scenario is a street scene, that is, the perception space is a street, and buildings, trees, signboards, etc. are set up on both sides of the street. Buildings, trees, and signboards can be considered as scatterers, and each scatterer includes one or more scattering points. The base station can divide the street into multiple first perception subspaces according to a first size, and the multiple first perception subspaces include perception subspace 1 and perception subspace 2. If there are scatterers (i.e., buildings) in perception subspace 1, then the number of scattering points in perception subspace 1 is greater than 0, and if there are no scatterers in perception subspace 2, then the number of scattered points in perception subspace 2 is 0.

[0120] In this application, a first perceptual subspace containing zero known scattering points among multiple first perceptual subspaces is considered a zero-valued perceptual subspace, while a first perceptual subspace containing greater than zero known scattering points is considered a non-zero-valued perceptual subspace. It can also be understood that a zero-valued perceptual subspace specifically refers to a perceptual subspace containing zero known scattering points, and a non-zero-valued perceptual subspace specifically refers to a perceptual subspace containing greater than zero known scattering points. In the following embodiments, a zero-valued perceptual subspace may also be a second perceptual subspace containing zero known scattering points, or an initial perceptual subspace containing zero known scattering points; and a non-zero-valued perceptual subspace may also be a second perceptual subspace containing greater than zero known scattering points, or an initial perceptual subspace containing greater than zero known scattering points.

[0121] The zero-value perception subspace can also be called the empty perception subspace, the null-value perception subspace, the no-scattering-point perception subspace, etc. Of course, it can also be other names with this definition, which is not limited in this application.

[0122] It should be noted that the number of known scattering points included in each of the multiple first perceptual subspaces in Case 1 can also be replaced by the probability densities corresponding to each of the multiple first perceptual subspaces, wherein the probability density corresponding to each first perceptual subspace is determined by the likelihood (or confidence) of the known scattering points included in the first perceptual subspace. Exemplarily, the probability density corresponding to the first perceptual subspace is equal to the sum of the likelihoods of the multiple known scattering points included in the first perceptual subspace. For example, the first perceptual subspace includes known scattering points 1 to known scattering points 3, wherein the likelihood of the coordinates of known scattering point 1 is 0.9, the likelihood of the coordinates of known scattering point 2 is 0.8, and the likelihood of the coordinates of known scattering point 3 is 0.7. Then, the probability density corresponding to the first perceptual subspace is equal to 0.9 + 0.8 + 0.7 = 2.4. Exemplarily, the likelihood of the coordinates of the known scattering point is determined by the method in which the base station determines the coordinates of the known scattering point. For example, when the base station calculates the coordinates of the known scattering point according to the single-base sensing mode, the likelihood of the coordinates of the known scattering point is equal to 0.9; when the base station calculates the coordinates of the known scattering point according to the single-scattering mode in the dual-base sensing, the likelihood of the coordinates of the known scattering point is equal to 0.8; when the base station calculates the coordinates of the known scattering point according to the multiple-scattering mode in the dual-base mode, the likelihood of the coordinates of the known scattering point is equal to 0.7, etc.

[0123] For the convenience of description, the following description takes the number of known scattering points contained in the first perception subspace as an example.

[0124] Case 2: The first density distribution information includes: coordinates of known scattering points.

[0125] The manner in which the base station obtains the coordinates of the known scattering points can be found in the description of the above-mentioned situation 1.

[0126] In addition, the base station may also send the range of the perception space (also referred to as the perception range, density range (density_range) etc.) to the UE. Exemplarily, the range of the perception space may be the coordinate ranges of the x, y, and z axes of the perception space in the world coordinate system, for example, expressed as (x_min, x_max, y_min, y_max, z_min, z_max), where x_min and x_max are the minimum coordinate and maximum coordinate of the x axis of the perception space in the world coordinate system, y_min and y_max are the minimum coordinate and maximum coordinate of the y axis of the perception space in the world coordinate system, and z_min and z_max are the minimum coordinate and maximum coordinate of the z axis of the perception space in the world coordinate system.

[0127] The base station may also send a type indication (also referred to as a density type (density_type), etc.) to the UE. The type indication is used to indicate a calculation method for the UE when determining the coordinates of a first scattering point in the perception space. Alternatively, the type indication is used to indicate a format of the first density distribution information and / or a method for determining the perception space. Furthermore, the format of the first density distribution information and / or the method for determining the perception space have a corresponding relationship with the calculation method. Exemplarily, multiple scattering patterns in bistatic sensing may correspond to multiple calculation methods. Each type indication may be used to indicate a calculation method, and each calculation method may have different inputs. For example, the multiple scattering pattern in bistatic sensing may correspond to calculation methods 1 to 3, wherein the input of calculation method 1 includes the number of known scattering points included in each of the multiple first sensing subspaces, the first size, and the range of the sensing space, and the coordinates of the known scattering points are determined by the base station based on the scattering pattern of monostatic sensing; the input of calculation method 2 includes the coordinates of the known scattering points, the first size, and the range of the sensing space, and the coordinates of the known scattering points are determined by the base station based on the scattering pattern of monostatic sensing; the input of calculation method 3 includes the number of known scattering points included in each of the multiple first sensing subspaces, the first size, and the range of the sensing space, and the coordinates of the known scattering points are determined by the base station based on the single scattering pattern of bistatic sensing. Furthermore, calculation methods 1 to 3 may be indicated by type indications 1 to 3, respectively.

[0128] In the present application, the first size, the first density distribution information, the range and type indication of the perception space may be collectively referred to as the first density information. When the base station sends the first density information to the UE, the first density information may be carried in the same message or in different messages. Exemplarily, the base station sends a first density message to the UE, and the first density message includes the first size, the first density distribution information, the range and type indication of the perception space; and another exemplary embodiment, the base station sends a first density message 1 and a first density message 2 to the UE, and the first density message includes the first size and the first density distribution information, and the first density message 2 includes the range and type indication of the perception space.

[0129] Optionally, the base station may also send a downlink perception signal to the UE, and accordingly, the UE determines the first transmission parameter corresponding to the transmission path of the downlink perception signal in the perception space based on the received downlink perception signal. Exemplarily, the downlink perception signal carries the transmission angle and transmission time of the downlink perception signal, or the base station also sends the transmission angle and transmission time of the downlink perception signal to the UE. Accordingly, the UE determines the first transmission parameter based on the reception time and reception angle of the downlink perception signal, as well as the transmission angle and transmission time of the downlink perception signal. The UE determines the coordinates of the first scattering point in the perception space based on the first transmission parameter and the first density information, and sends the coordinates of the first scattering point to the base station. The first scattering point can be considered as the scattering point corresponding to the downlink perception signal when it is scattered in the perception space. As Figure 8 This is a schematic diagram of a downlink sensing signal scattering provided as an example in the present application. The downlink sensing signal is sent by the base station and received by the UE after being scattered twice. The scattering point 1 and the scattering point 2 corresponding to the two scatterings are the first scattering points.

[0130] When the UE determines the coordinates of the first scattering point in the perception space, there may be the following two situations:

[0131] Case 1, corresponding to Case 1 above, the UE receives first size and first density distribution information from the base station, where the first density distribution information includes the number of known scattering points included in each of the multiple first perception subspaces. The UE may determine the coordinates of the first scattering point based on the first size, the number of known scattering points included in each of the multiple first perception subspaces (e.g., the first density matrix), and the first transmission parameter.

[0132] In one example, the UE also receives the range of the perception space from the base station. The UE includes a calculation method, and the UE inputs the first size, the number of known scattering points respectively included in the multiple first perception subspaces (for example, the first density matrix), the range of the perception space, and the first transmission parameter into the calculation method, and the calculation method outputs the coordinates of the first scattering point. In another example, the UE includes multiple calculation methods, and the UE also receives a type indication from the base station. The UE selects a calculation method corresponding to the type indication from the multiple calculation methods included in the UE according to the type indication, and then the UE inputs the first size, the number of known scattering points respectively included in the multiple first perception subspaces, the range of the perception space, and the first transmission parameter into the calculation method corresponding to the type indication, and the calculation method corresponding to the type indication outputs the coordinates of the first scattering point.

[0133] In a possible example of the above calculation method, the UE divides the perception space according to the first size to obtain multiple first perception subspaces, and then determines the number of known scattering points included in the range of the multiple first perception subspaces, and determines the coordinates of the first scattering point in the perception space according to the first transmission parameter and the number of known scattering points included in the range of the multiple first perception subspaces. It can be understood that the number of known scattering points included in the multiple first perception subspaces received by the UE from the base station only represents how many perception subspaces the base station divides the perception space into and how many known scattering points each first perception subspace corresponds to. However, the range of each first perception subspace needs to be determined by the UE after dividing the perception space according to the first size. For example, the first density distribution information received by the UE is as follows: Figure 6 As shown, after dividing the perception space into 3×4×2 perception subspaces, the UE determines that the number of known scattering points included in the range of the 1st row, 1st column, and 1st layer perception subspace (physical space) is 300.

[0134] Case 2, corresponding to Case 2 above, the UE receives first size and first density distribution information from the base station. The first density distribution information includes coordinates of a known scattering point. The UE may determine the coordinates of the first scattering point based on the first size, the coordinates of the known scattering point, and the first transmission parameter.

[0135] In one example, the UE further receives the range of the perception space from the base station. The UE includes a calculation method, and the UE inputs the first size, the coordinates of the known scattering points, the range of the perception space, and the first transmission parameter into the calculation method, which outputs the coordinates of the first scattering point. In another example, the UE includes multiple calculation methods, and the UE further receives a type indication from the base station. Based on the type indication, the UE selects a calculation method corresponding to the type indication from the multiple calculation methods included in the UE, and then inputs the first size, the coordinates of the known scattering points, the range of the perception space, and the first transmission parameter into the calculation method corresponding to the type indication, which outputs the coordinates of the first scattering point.

[0136] In one possible example of the above calculation method, the UE may first divide the perception space according to the first size to obtain multiple first perception subspaces, and determine the range of each of the multiple first perception subspaces. The UE then determines the number of known scattering points within each first perception subspace based on the ranges of the multiple first perception subspaces and the coordinates of the known scattering points. Furthermore, the UE determines the coordinates of the first scattering points in the perception space based on the number of known scattering points within the multiple first perception subspaces and the first transmission parameter. The specific implementation of the UE determining the number of known scattering points in each first perception subspace can be found in steps a and b of the above scenario 1, with the difference being that the above scenario 1 is performed by the base station, while this scenario is performed by the UE.

[0137] Figure 5 The relevant implementation also includes:

[0138] Step 500: The base station determines a first size.

[0139] Among them, step 500 is located before step 501 and is an optional step.

[0140] When the base station determines the first size, the base station may specifically determine the first size that meets the first accuracy requirement.

[0141] The first accuracy requirement may specifically be that the proportion of the zero-value perception subspace in the multiple perception subspaces is less than or equal to the proportion threshold. That is, when the base station divides the perception space according to the first size to obtain multiple first perception subspaces, the proportion of the number of zero-value perception subspaces included in the multiple first perception subspaces (equivalent to the ratio between the number of zero-value perception subspaces and the number of first perception subspaces) is less than or equal to the proportion threshold. Combined Figure 6 In the example, the proportion threshold is 30%. The base station divides the perception space into 24 perception subspaces according to the first size. The 24 perception subspaces include 6 zero-value perception subspaces and 18 non-zero-value perception subspaces. Then the proportion of the zero-value perception subspace is 25%, and the proportion of the zero-value perception subspace is less than the proportion threshold of 30%, which meets the first accuracy requirement.

[0142] Figure 9 A schematic flow chart of a method for determining a first size by a base station exemplarily provided in this application:

[0143] Step 901: The base station determines an initial size.

[0144] The initial size is determined by any of the following methods:

[0145] Determination method 1: The base station determines the initial size according to the perception task corresponding to the perception space and the preset correspondence relationship.

[0146] For example, the perception task corresponding to the perception space can also be called the perception target corresponding to the perception space, which can be used to reflect the size of the space to be perceived (or the scatterers within the space to be perceived), and further used to reflect the size of the dimensions used to divide the perception space. The perception task corresponding to the perception space can be a certain type of object, such as a drone, car, building, tree, etc., or a certain type of scene, such as a bedroom, living room, street, park, parking lot, etc. For ease of description, the following explanation uses the perception task as an example of a scene.

[0147] The base station may include a preset correspondence relationship, which includes multiple preset sensing tasks and preset sizes corresponding to the multiple preset sensing tasks. The multiple preset sensing tasks include sensing tasks corresponding to the sensing space. Furthermore, the base station may determine the preset size (i.e., initial size) corresponding to the sensing space based on the sensing tasks corresponding to the sensing space and the preset correspondence relationship.

[0148] Table 1 is an exemplary preset correspondence provided in this application, where when the perception task corresponding to the perception space is a bedroom, the initial size is 0.5m; when the perception task corresponding to the perception space is a street, the initial size is 3m.

[0149] Table 1

[0150] Preset perception tasks Preset Size Small indoor scenes such as bedrooms, living rooms, offices, etc. 0.5m Large indoor scenes such as stadiums, cinemas, libraries, etc. 1m Small outdoor scenes such as parking lots and parks 2m Large outdoor scenes such as streets 3m …… ……

[0151] In this possible approach, the base station may receive a sensing instruction sent by a user, or the base station may receive a sensing instruction from an SMF, wherein the sensing instruction includes a sensing task corresponding to the sensing space.

[0152] In addition, in another possible manner, the preset correspondence includes a first preset correspondence and a second preset correspondence. The first preset correspondence includes a plurality of preset types and preset perception tasks corresponding to the plurality of preset types. The base station receives the perception instruction issued by the user, or the base station receives the perception instruction from the SMF, obtains the perception task corresponding to the perception space from the perception instruction, and determines the type of the perception task corresponding to the perception space according to the perception task corresponding to the perception space and the first preset correspondence. Furthermore, the second preset correspondence includes a plurality of preset types and preset sizes corresponding to the plurality of preset types. The base station can determine the preset size (i.e., the initial size) corresponding to the perception space according to the type of the perception task corresponding to the perception space and the second preset correspondence.

[0153] For example, the first preset correspondence includes types 0 to 3, and the preset perception tasks included in types 0 to 3, respectively, as shown in Table 2. The second preset correspondence specifically includes types 0 to 3, and the preset sizes included in types 0 to 3, respectively, as shown in Table 3. When the perception task corresponding to the perception space is a bedroom, the type of the perception task corresponding to the perception space is type 0, and the initial size corresponding to type 0 is 0.5 meters. When the perception task corresponding to the perception space is a street, the type of the perception task corresponding to the perception space is type 3, and the initial size corresponding to type 3 is 3 meters.

[0154] Table 2

[0155] Preset perception tasks Preset Type Small indoor scenes such as bedrooms, living rooms, offices, etc. Type 0 Large indoor scenes such as stadiums, cinemas, libraries, etc. Type 1 Small outdoor scenes such as parking lots and parks Type 2 Large outdoor scenes such as streets Type 3 …… ……

[0156] Table 3

[0157]

[0158]

[0159] In addition, the base station can also directly receive a sensing instruction issued by a user, or the base station can receive a sensing instruction from an SMF, where the sensing instruction includes the type of sensing task corresponding to the sensing space. That is, the preset correspondence does not need to include the first preset correspondence. After obtaining the type of sensing task corresponding to the sensing space from the sensing instruction, the base station can determine the preset size (i.e., the initial size) corresponding to the sensing space based on the second preset correspondence.

[0160] Determination method 2: The base station determines the minimum size among multiple preset sizes as the initial size.

[0161] Specifically, the base station is configured with multiple preset sizes, which can be set based on multiple preset perception tasks. For example, considering the preset perception tasks for small indoor scenes such as bedrooms, living rooms, and offices, the preset size can be set to 0.5m; considering large indoor scenes such as gymnasiums, cinemas, and libraries, the preset size can be set to 1m; considering small outdoor scenes such as parking lots and parks, the preset size can be set to 2m; considering large outdoor scenes such as streets, the preset size can be set to 3m, and so on. For another example, the multiple preset sizes are arranged from small to large as follows: 0.5m, 1m, 2m, 3m, ..., and the base station can select 0.5m as the initial size from the multiple preset sizes.

[0162] Determination method 3: The base station determines the initial size according to the projection area of ​​the sensing space on the ground and the number of UEs in the sensing space.

[0163] Determination method 3-1: The projection area of ​​the perception space on the ground, the number of UEs in the perception space, and the initial size can satisfy the following formula 2:

[0164] grid_size=α·ρ,ρ=n / S...Formula 2

[0165] grid_size is the initial size, ρ is the UE deployment density, n is the number of UEs in the sensing space, S is the projection area of ​​the sensing space on the ground, and α is an empirical coefficient, for example, α = 0.0001 m km 2 .

[0166] In one possible example, after determining the perception space based on the method in step 501 above, the base station can directly determine the projected area of ​​the perception space on the ground. Furthermore, the base station determines the number n of UEs connected to the base station and located within the perception space. Subsequently, the base station determines an initial size based on the projected area of ​​the perception space on the ground and the number n of UEs connected to the base station and located within the perception space.

[0167] In another possible example, taking into account the receiving angle at which the UE receives the downlink perception signal, the geographical location of the UE, and the transmission angle at which the base station transmits the downlink perception signal, a space within a specific range can be located. In the present application, the base station may also first determine the n UEs connected to the base station and the geographical location of each UE. For each UE, the base station determines the space that the UE can perceive based on the geographical location of the UE and the receiving angle at which the downlink perception signal is received, as well as the transmission angle at which the base station transmits the downlink perception signal. The base station groups the space that each UE can perceive into a perception space, and then determines the projected area of ​​the perception space on the ground. The base station then determines the initial size based on the projected area of ​​the perception space on the ground and the number n of UEs connected to the base station. In this manner, the base station may first determine the n UEs connected to the base station, and then determine the perception space. This manner may serve as another possible manner for the base station to determine the perception space in step 501 above.

[0168] It should also be added that the base station may send a first size to each of the multiple UEs, that is, Figure 5 The relevant embodiments are described by taking any one of n UEs accessing a base station as an example.

[0169] In addition, in the embodiment of the present application, the "projected area of ​​the perception space on the ground" can be replaced with the "volume of the perception space". Accordingly, the volume of the perception space, the number of UEs in the perception space, and the initial size can satisfy the formula: grid_size = α·ρ, ρ = n / V, where V is the volume of the perception space and α is an empirical coefficient, for example, α = 0.0001 m·km 3Of course, the above is only an exemplary method of determining the initial size based on the scene size of the perception space (such as the projection area and volume) and the number of UEs in the perception space. This application may also have other ways to determine the initial size, which will not be described one by one.

[0170] Determination Method 3-2: The initial size determined by the base station based on Determination Method 3-1 can be recorded as the first initial size. The base station may also store multiple preset sizes. After determining the first initial size, the base station may select a preset size close to the first size from the multiple preset sizes as the second initial size. This second initial size is the initial size used to determine the first size in step 500.

[0171] For example, the method for determining multiple preset sizes can refer to the description in the above-mentioned determination method 2. For another example, the multiple preset sizes are arranged from small to large as follows: 0.5m, 1m, 2m, 3m, and the first initial size is 0.9, then the base station can determine that the second initial size is 1m; or, if the first initial size is 2.3, then the base station can determine that the second initial size is 2m.

[0172] Of course, when the base station determines the second initial size based on the first initial size and multiple preset sizes, it can also select the minimum preset size that is larger than the first initial size from the multiple preset sizes as the second initial size, or select the maximum preset size that is smaller than the first initial size from the multiple preset sizes as the second initial size.

[0173] In this way, when the same multiple preset sizes are configured in multiple base stations, the initial sizes determined by different base stations can be limited to multiple preset sizes, such as one of 0.5m, 1m, 2m, and 3m, and there will be no other sizes, thereby achieving the unification of the initial sizes determined by multiple base stations. When the density information stored in multiple base stations is integrated, it helps to reduce the computational complexity of the entire perception system.

[0174] Step 902: The base station increases the initial size to obtain a first size.

[0175] Specifically, the base station first determines whether the initial size meets the first accuracy requirement. If the base station determines that the initial size does not meet the first accuracy requirement, the base station increases the initial size to obtain the first size. In other words, the first size is larger than the initial size. Alternatively, if the base station determines that the initial size meets the first accuracy requirement, the base station may use the initial size as the first size.

[0176] The base station determines whether the initial size meets the first accuracy requirement. Specifically, the base station may determine multiple initial perceptual subspaces based on the initial size and the perceptual space. If the base station determines that a proportion of zero-valued perceptual subspaces included in the multiple initial perceptual subspaces (that is, a ratio of the number of zero-valued perceptual subspaces included in the multiple initial perceptual subspaces to the number of initial perceptual subspaces) is greater than a proportion threshold, the base station determines that the initial perceptual subspace does not meet the first accuracy requirement. If the base station determines that a proportion of zero-valued perceptual subspaces is less than or equal to the proportion threshold, the base station determines that the initial perceptual subspace meets the first accuracy requirement.

[0177] The base station stores multiple preset sizes. When the base station increases the initial size to obtain the first size, the base station may specifically increase the size gradually from the initial size according to the multiple preset sizes to obtain the first size.

[0178] Exemplarily, the base station selects the smallest size larger than the initial size from multiple preset sizes as size A. The base station then determines whether size A meets the first accuracy requirement (for details, see the implementation method for the base station to determine whether the initial size meets the first accuracy requirement). Furthermore, if the base station determines that size A meets the first accuracy requirement, size A is determined as the first size; if the base station determines that size A does not meet the first accuracy requirement, it continues to select the smallest size larger than size A from multiple preset sizes as size B. The base station then continues to determine whether size B meets the first accuracy requirement, and so on, until a size that meets the first accuracy requirement (i.e., the first size) is determined. Taking the base station's determination of size A as an example, the multiple preset sizes in the base station are arranged from small to large: 0.5m, 1m, 2m, and 3m. In the above determination method 1, determination method 2, or determination method 3-2, the base station determines that the initial size is 0.5m, and the base station can select 1m from the multiple preset sizes as size A; in the above determination method 3-1, the base station determines that the initial size is 1.1m, and the base station can select 2m from the multiple preset sizes as size A.

[0179] In the above technical solution, if the initial size does not meet the first accuracy requirement, the initial size is increased to obtain the first size, and the proportion of zero-valued perception subspaces in the multiple first perception subspaces obtained by division based on the first size is greater than the proportion threshold. In scenarios where the perception space is large or the UE deployment density is low, the proportion of zero-valued perception subspaces is significantly reduced, thereby improving the utilization efficiency of density information and the perception accuracy in various perception modes, thereby improving the reconstruction accuracy of multi-station perception.

[0180] Step 502: The base station determines a second size according to the coordinates of the first scattering point, the coordinates of the known scattering points, and the first size.

[0181] Specifically, there are the following steps A to B:

[0182] In step A, the base station determines an error (or simply referred to as error, perception error, determination error, prediction error, etc.) between the coordinates of the first scattering point and the coordinates of the known scattering points based on the coordinates of the first scattering point and the coordinates of the known scattering points.

[0183] Exemplarily, there are N first scattering points and M known scattering points, where N and M are both positive integers. When determining the error, the base station may specifically determine, for each first scattering point, M Euclidean distances between the coordinates of the first scattering point and the coordinates of the M known scattering points, and then use the average of the M Euclidean distances as the Euclidean distance corresponding to the first scattering point. Alternatively, the base station may first determine weights for the coordinates of the M known scattering points based on a method for determining the coordinates of the M known scattering points. After determining the M Euclidean distances between the coordinates of the first scattering point and the coordinates of the M known scattering points, the base station performs a weighted sum of the M Euclidean distances based on the weights corresponding to the M known scattering points to obtain the Euclidean distance corresponding to the first scattering point. In this way, the base station can obtain the Euclidean distances corresponding to the N first scattering points, and the base station uses the average of the Euclidean distances corresponding to the N first scattering points as the error.

[0184] In step B, when the base station determines that the first size does not meet the second accuracy requirement, the base station adjusts the first size to obtain a second size.

[0185] The second accuracy requirement is that the error between the coordinates of the scattering points determined based on the perceptual subspace size (or the coordinates of the scattering points associated with the perceptual subspace size) and the coordinates of the known scattering points is less than or equal to an error threshold. The error threshold can be an empirical value or equal to the perceptual subspace size.

[0186] Further, the base station determines that the first size does not meet the second accuracy requirement. Specifically, the base station determines that an error between the coordinates of the first scattering point and the coordinates of the known scattering points is greater than an error threshold. After step 503, the base station further determines that the second size meets the second accuracy requirement. Specifically, the base station determines that an error between the coordinates of the second scattering point and the coordinates of the known scattering point is less than or equal to the error threshold. The coordinates of the second scattering point are determined based on the known scattering points respectively included in a plurality of second perceptual subspaces, and the plurality of second perceptual subspaces are determined based on the second size and the perceptual space.

[0187] When the base station adjusts the first size to obtain the second size, there are two possible ways:

[0188] Possible approach 1: The base station increases the first size to obtain the second size.

[0189] That is, the second size is larger than the first size.

[0190] In one possible manner, the error threshold is equal to the first size. When the base station determines that the error between the coordinates of the first scattering point and the coordinates of the known scattering points is greater than the first size, the base station increases the first size to obtain the second size.

[0191] In a possible example, a plurality of preset sizes are stored in the base station. The base station starts from a first size and gradually increases the size according to the plurality of preset sizes to obtain a second size.

[0192] Exemplarily, the base station selects the smallest size larger than the first size from a plurality of preset sizes as size C. The base station then determines whether size C meets the second precision requirement (for details, refer to the implementation method of the base station determining whether the first size meets the second precision requirement). Furthermore, if the base station determines that size C meets the second precision requirement, size C is determined as the second size; if the base station determines that size C does not meet the second precision requirement, it continues to select the smallest size larger than size C from a plurality of preset sizes as size D. The base station then continues to determine whether size D meets the second precision requirement, and so on, until a size that meets the second precision requirement (that is, the second size) is determined. Taking the base station determining size C as an example, the multiple preset sizes in the base station are arranged from small to large: 0.5m, 1m, 2m, 3m. The first size is 0.5m, and the base station can select 1m as size C from a plurality of preset sizes; or, if the first size is 2m, the base station can select 3m as size C from a plurality of preset sizes.

[0193] Considering whether the first scattering point and the known scattering points are located in the same perception subspace is an important criterion for measuring perception accuracy. That is, when the first scattering point and the known scattering point are located in the same perception subspace, the perception accuracy is considered high, while when the first scattering point and the known scattering point are not located in the same perception subspace, the perception accuracy is considered low. Accordingly, when the first size is small, the error between the coordinates of the first scattering point determined by the UE and the coordinates of the known scattering point will be greater than the first size, indicating that the first scattering point and the known scattering point are not located in the same perception subspace. Therefore, in this case, the base station can further increase the first size to obtain the second size.

[0194] It can also be understood that when the base station determines the initial size based on determination method 2, the base station gradually increases the size from the minimum size to meet the first accuracy requirement, and then gradually increases it to meet the second accuracy requirement. Therefore, the base station can obtain the second size by increasing the first size. When the base station determines the initial size based on determination method 1 or determination method 3, the base station may ignore other sizes smaller than the first size. For example, if the base station directly determines that the initial size is 3m based on determination method 1, and the initial size meets the first accuracy requirement, the base station will determine that the first size is 3m; for another example, if the base station directly determines that the initial size is 4m based on determination method 3, and the initial size meets the first accuracy requirement, the base station will determine that the first size is 4m.

[0195] In order to avoid the situation where the first size is too large and does not meet the second precision requirement, the present application also provides the following possible method 2:

[0196] Possible approach two: the base station reduces the first size to obtain the second size.

[0197] That is, the second size is smaller than the first size.

[0198] In one possible approach, when the base station determines that the error between the coordinates of the first scattering point and the coordinates of the known scattering point is greater than an error threshold and less than or equal to the first size, the base station reduces the first size to obtain the second size. Exemplarily, the error between the coordinates of the first scattering point and the coordinates of the known scattering point may be less than or equal to 1 / k of the first size, where k is a positive integer, such as k=2.

[0199] In one possible example, a plurality of preset sizes are stored in the base station. The base station starts from the first size and gradually reduces the size according to the plurality of preset sizes to obtain the second size. Exemplarily, the base station selects the largest size smaller than the first size from the plurality of preset sizes as size E. The base station then determines whether size E meets the second precision requirement (see for details the implementation method of the base station determining whether the first size meets the second precision requirement). Furthermore, if the base station determines that size E meets the second precision requirement, size E is determined as the second size; if the base station determines that size E does not meet the second precision requirement, it continues to select the largest size smaller than size E from the plurality of preset sizes as size F. The base station then continues to determine whether size F meets the second precision requirement, and so on, until a size that meets the second precision requirement (i.e., the second size) is determined. Of course, in this embodiment, each time the base station reduces the size, it is also necessary to ensure that the reduced size meets the first precision requirement.

[0200] It should be noted that the base station may also be pre-configured with a resizing model. The inputs to the resizing model include the error and the first size, and the output of the resizing model is the second size. For example, the error, the first size, and the second size may have the following mapping relationship: when the error is between 5m and 10m and the first size is 2m, the second size is 0.5m; when the error is less than 5m and the first size is 2m, the second size is 1m, and so on. Of course, other mapping relationships between the error, the first size, and the second size may exist, and this application will not provide examples one by one.

[0201] Step 503: The base station sends the second size to the UE. Correspondingly, the UE receives the second size from the base station.

[0202] The second size is used to determine multiple second perceptual subspaces in the perceptual space, and the known scattering points included in each of the multiple second perceptual subspaces are used to determine the coordinates of the second scattering points in the perceptual space. Exemplarily, the second size is used by a base station to determine the multiple second perceptual subspaces in the perceptual space, or the second size is used by a UE to determine the multiple second perceptual subspaces in the perceptual space. Furthermore, exemplary, the number of known scattering points included in each of the multiple second perceptual subspaces is used by the UE to determine the coordinates of the second scattering points in the perceptual space.

[0203] Optionally, the base station not only sends the second size to the UE, but also sends the second density distribution information to the UE. The second density distribution information may include the number of known scattering points respectively included in multiple second perception subspaces, or include the coordinates of the known scattering points. In addition, the base station may also send the range and / or type indication of the perception space to the UE. In the present application, the second size, the second density distribution information, the range and type indication of the perception space may be collectively referred to as the second density information. Optionally, the base station may also send a downlink perception signal to the UE, and accordingly, the UE determines the second transmission parameter corresponding to the transmission path of the downlink perception signal in the perception space based on the received downlink perception signal. The UE then determines the coordinates of the second scattering point in the perception space based on the second transmission parameter and the second density information.

[0204] For any content not described in detail in step 503, refer to the description of step 501. The terms "first scattering point," "first size," "first density distribution information," "first density information," "first transmission parameter," and "first density message" can be replaced with "second scattering point," "second size," "second density distribution information," "second density information," "second transmission parameter," and "second density message," respectively, for further understanding.

[0205] In addition, after receiving the coordinates of the second scattering point from the UE, the base station may determine that the error between the coordinates of the second scattering point and the coordinates of the known scattering point is less than or equal to the error threshold, and store the coordinates of the second scattering point as the coordinates of the known scattering point.

[0206] It should also be added that in the above Figure 5 In a related embodiment, the base station can determine the second size that meets the second accuracy requirement, but once the scatterers in the sensing space change, such as Figure 7 If a vehicle or tree is added to the street scene, the base station may determine that the second size no longer meets the second precision requirement. In this case, the base station may continue to update the second size to obtain a third size that meets the second precision requirement (the updating method can be described in step 502, in which case the second size can be increased or decreased).

[0207] In the above technical solution, the first size is used to determine multiple first perception subspaces in the perception space. The known scattering points included in each of the multiple first perception subspaces are used to determine the coordinates of the first scattering point in the perception space. That is, the first size is associated with the coordinates of the first scattering point determined by the UE. The base station adjusts the first size based on the coordinates of the first scattering point associated with the first size and the coordinates of the known scattering points to obtain a second size. The UE can then determine more accurate coordinates of the scattering point based on the second size, thereby continuously improving perception accuracy in various perception modes.

[0208] Furthermore, in scenarios where the base station increases the size to improve perception accuracy, if the base station sends the UE the number of scattering points included in each of the multiple perception subspaces, the overhead of the base station transmitting messages to the UE can also be reduced. For example, the size before adjustment is size a, and the base station divides the perception space into X perception subspaces based on size a; the size after adjustment is size b, and the base station divides the perception space into Y perception subspaces based on size b, where size a is smaller than size b, X is greater than Y, and X and Y are positive integers. Therefore, the resource overhead required by the base station to send the known number of scattering points included in each of the Y perception subspaces (i.e., the values ​​of the Y elements) is less than the resource overhead required to send the known number of scattering points included in each of the X perception subspaces (i.e., the values ​​of the X elements).

[0209] In order to better explain the embodiments of the present application, Figure 10 The flowchart of a method for updating the size of a base station is shown. It can be understood that Figure 10 Shows that the base station action is equivalent to Figure 5 and Figure 9 The actions of the base station involved in Figure 10 For any content not described in detail, please refer to Figure 5 and Figure 9 Description of the related embodiments.

[0210] The base station determines whether the space to be sensed (i.e., the sensing space) is known. Specifically, the base station determines whether the coordinates of known scattering points in the sensing space are stored. If the base station determines that the coordinates of known scattering points in the sensing space are stored, the sensing space is determined to be known. If the base station determines that the coordinates of known scattering points in the sensing space are not stored, the sensing space is determined to be unknown.

[0211] Combine as follows Figure 10 The right branch shown in FIG. 1 illustrates the steps performed by the base station when it determines that the sensing space is unknown:

[0212] The base station first determines an initial size (for details, see the description in step 901). The base station divides the sensing space according to the initial size to obtain multiple initial sensing subspaces. Based on the coordinates of the known scattering points, the base station determines the number of known scattering points contained in each of the multiple initial sensing subspaces. The base station determines the percentage of zero-value sensing subspaces in the multiple initial sensing subspaces and, based on the percentage of zero-value sensing subspaces, determines whether the initial size meets the first accuracy requirement (for details, see the description in step 902).

[0213] If the base station determines that the initial size meets the first accuracy requirement, it stores the initial size (equivalent to the first size) and the corresponding density information (equivalent to the first density information). If the base station determines that the initial size does not meet the first accuracy requirement, it increases the initial size to obtain an increased size (e.g., size A, see the description in step 902 for details). Based on the increased size, the base station divides the perception space into multiple increased perception subspaces and determines the number of known scattering points contained in each of the multiple increased perception subspaces based on the coordinates of the known scattering points. The base station determines the percentage of zero-value perception subspaces in the multiple increased perception subspaces and determines whether the increased size meets the first accuracy requirement based on the percentage of zero-value perception subspaces (see the description in step 902 for details). This process continues in this manner until the base station determines a size that meets the first accuracy requirement (i.e., the first size). Once the base station determines the first size, it can store the first size and the corresponding first density information.

[0214] Combine as follows Figure 10 The left branch shown in FIG. 1 illustrates the steps performed by the base station when it determines that the sensing space is known:

[0215] The base station first obtains density information stored in the base station (equivalent to the first density information corresponding to the first size) and sends the density information and a downlink sensing signal to the UE (see step 501 for details). The UE determines the coordinates of a scattering point (equivalent to the first scattering point) based on the received density information and downlink sensing signal, and sends the determined coordinates of the scattering point to the base station. In response, the base station determines the error between the coordinates of the scattering point determined by the UE and the coordinates of the known scattering points (see step 502 for details).

[0216] Furthermore, the base station determines whether the error is less than or equal to an error threshold (i.e., determines whether the currently used size meets the second accuracy requirement). If the base station determines that the currently used size meets the second accuracy requirement, the currently used size and corresponding density information can still be used, and the coordinates of the scattering points determined by the UE can be used as the coordinates of the known scattering points. If the base station determines that the currently used size does not meet the second accuracy requirement, the base station adjusts the currently used size to obtain an adjusted size (e.g., size C). Based on the adjusted size, the base station divides the perception space into multiple adjusted perception subspaces, determines the number of known scattering points contained in each of the multiple adjusted perception subspaces based on the coordinates of the known scattering points, and thereby obtains adjusted density information, which is then sent to the UE. This cycle continues until the base station determines that a size (i.e., the second size) meets the second accuracy requirement (see the description in step 502 for details). Once the base station determines that the second size meets the second accuracy requirement, the previously stored size and corresponding density information can be updated to the second size and the second density information corresponding to the second size.

[0217] Combined with the above Figures 5 to 10 In the embodiment, Figure 11 A flow chart of a communication method for a first specific scenario is provided. This communication method primarily involves a method for a base station to perform perception when it determines that the perception space is known. For example, the base station executes a process corresponding to a perception mode of monostatic perception, a process corresponding to a perception mode of single scattering in bistatic perception, etc., on the perception space during a historical period to obtain the coordinates of sufficient known scattering points in the perception space. For another example, the base station may obtain the coordinates of known scattering points in the perception space from other base stations or SMFs (for details, see the description in step b of step 501 above). The coordinates of these known scattering points can be used by the base station to verify whether the first size is appropriate.

[0218] Step 1101: The base station sends first density information to the UE.

[0219] The first density information includes the first size, the range of the perception space, and the first density matrix.

[0220] Step 1102: The base station sends a downlink perception signal to the UE.

[0221] Step 1103: The UE determines the coordinates of the first scattering point according to the received downlink sensing signal and the first density information.

[0222] Step 1104: The UE sends the coordinates of the first scattering point to the base station.

[0223] In step 1105 , the base station determines an error between the coordinates of the first scattering point and the coordinates of the known scattering points based on the coordinates of the first scattering point and the coordinates of the known scattering points, and the error between the coordinates of the first scattering point and the coordinates of the known scattering points is greater than an error threshold.

[0224] Step 1106: The base station adjusts the first size to obtain a second size.

[0225] Step 1107: The base station sends second density information to the UE.

[0226] The second density information includes the second size, the range of the perception space, and the second density matrix.

[0227] For details not described in detail in steps 1101 to 1104, please refer to steps 501 and Figure 9 For details not described in step 1105 to step 1106, refer to the description in step 502. For details not described in step 1107, refer to the description in step 503.

[0228] Combined with the above Figures 5 to 10 In the embodiment, Figure 12 This article provides a flow chart of the communication method for the second specific scenario. This communication method primarily involves the base station performing perception when the perception space is unknown. For example, the base station has just been powered on and has no data or knowledge of the surrounding environment. Another example is when the scatterers in the perception space undergo drastic changes, and the base station recalculates the perception space based on user instructions.

[0229] Step 1201: The base station sends a sensing request to the UE. Correspondingly, the UE receives the sensing request from the base station.

[0230] The perception request is used to request the sending of a perception signal, that is, the perception request is used to request the UE to send an uplink perception signal to the base station.

[0231] Step 1202: The UE sends an uplink sensing signal to the base station. Correspondingly, the base station receives the uplink sensing signal from the UE.

[0232] In step 1203, the base station determines the coordinates of the known scattering point. Specifically, the base station determines the transmission parameters of the uplink sensing signal based on the reception time and reception angle of the uplink sensing signal, as well as the transmission time and transmission angle of the uplink sensing signal. The base station then determines the coordinates of the known scattering point based on the transmission parameters of the uplink sensing signal and the calculation method corresponding to single scattering in bistatic sensing.

[0233] In step 1204, the base station determines a first size that meets the second accuracy requirement, and then determines first density information based on the coordinates of the known scattering points and the first size.

[0234] For details not described in detail in step 1203 and step 1204, please refer to step 501 and Figure 9 The description in the related embodiments. After step 1204, you can continue to execute Figure 11 Steps 1101 to 1107 in the related embodiment.

[0235] It should be added that Figures 5 to 12 In a related embodiment, the processing operation of the base station may be performed by the CU, and the transceiver operation of the base station may be performed by the DU or RU; or, the processing operation of the base station may be performed by the CU-CP, and the transceiver operation of the base station may be performed by the DU or RU.

[0236] For example, the CU may generate the first size, and the CU may send the first size to the DU. The DU may send the first size to the UE, or the DU may send the first size to the RU, which then sends it to the UE.

[0237] Similarly, the DU may receive the coordinates of the first scattering point from the UE, or the RU may receive the coordinates of the first scattering point from the UE and send the coordinates of the first scattering point to the DU. The DU then sends the coordinates of the first scattering point to the CU. The CU determines the second size based on the coordinates of the first scattering point, the coordinates of the known scattering points, and the first size.

[0238] For another example, the CU-CP may generate a first size, and the CU-CP may send the first size to the DU. The DU may send the first size to the UE, or the DU may send the first size to the RU, which then sends it to the UE.

[0239] Similarly, the DU may receive the coordinates of the first scattering point from the UE, or the RU may receive the coordinates of the first scattering point from the UE and send the coordinates of the first scattering point to the DU. The DU then sends the coordinates of the first scattering point to the CU-CP. The CU-CP determines the second size based on the coordinates of the first scattering point, the coordinates of the known scattering points, and the first size.

[0240] Similarly, the manner in which the base station sends the downlink perception signal, other first density information except the first size, and the second density information to the UE is similar to the manner in which the base station sends the first size to the UE.

[0241] Of course, CU, DU, RU, and CU-CP can also perform other operations, which will not be listed one by one in this application.

[0242] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0243] It is understood that in order to implement the functions in the above embodiments, the base station and UE include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily appreciate that, in combination with the units and method steps of the various examples described in the embodiments disclosed in this application, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in hardware or in a computer software-driven hardware manner depends on the specific application scenario and design constraints of the technical solution.

[0244] Figure 13 and Figure 14 Schematic diagram of the structure of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the first communication device or the second communication device in the above method embodiments, that is, to implement the functions of the base station or UE in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments.

[0245] In the embodiment of the present application, the communication device may be Figure 1 One of the UEs 120a-120j shown may also be Figure 1 Alternatively, the communication device may be a base station 110a or 110b as shown. Figure 4 Any base station shown, or Figure 4 Alternatively, it may be applied to a module (such as a chip) in a base station or a UE.

[0246] like Figure 13 As shown, the communication device 1300 includes a processing module 1310 and a transceiver module 1320. The communication device 1300 is used to implement the above Figures 5 to 12 Functions of the first communication device or the second communication device in the relevant method embodiments.

[0247] When the communication device 1300 is used to implement Figures 5 to 12 The functions of the first communication device in the relevant method embodiment are:

[0248] The transceiver module 1320 is configured to send a first size, where the first size is used to determine a plurality of first perception subspaces in the perception space, and the known scattering points respectively included in the plurality of first perception subspaces are used to determine the coordinates of the first scattering points in the perception space;

[0249] A processing module 1310 is configured to determine a second size based on the coordinates of the first scattering point, the coordinates of the known scattering points, and the first size;

[0250] The transceiver module 1320 is further configured to send the second size.

[0251] In a possible implementation, the transceiver module 1320 is further configured to send the number of known scattering points respectively included in the plurality of first perception subspaces; or send the coordinates of the known scattering points.

[0252] In one possible implementation, when determining the second size based on the coordinates of the first scattering point, the coordinates of the known scattering point, and the first size, the processing module 1310 is specifically configured to: determine an error based on the coordinates of the first scattering point and the coordinates of the known scattering point; and if the error is greater than the first size, increase the first size to obtain the second size.

[0253] In one possible implementation, before the transceiver module 1320 sends the first size, the processing module 1310 is further configured to determine, based on the initial size and the perception space, a plurality of initial perception subspaces, where the plurality of initial perception subspaces includes a zero-value perception subspace, the number of known scattering points included in the zero-value perception subspace is equal to 0, and a proportion of the number of zero-value perception subspaces is greater than a proportion threshold; and increase the initial size to obtain the first size.

[0254] When the communication device 1300 is used to implement Figures 5 to 12 The functions of the second communication device in the relevant method embodiment are:

[0255] The transceiver module 1320 is configured to receive a first size;

[0256] The processing module 1310 is configured to determine the coordinates of a first scattering point in the perception space according to the first size, wherein the first size is used to determine a plurality of first perception subspaces in the perception space, and the known scattering points respectively included in the plurality of first perception subspaces are used to determine the coordinates of the first scattering point;

[0257] The transceiver module 1320 is further configured to receive a second size, where the second size is determined by the coordinates of the first scattering point, the coordinates of the known scattering points, and the first size.

[0258] In a possible implementation, the transceiver module 1320 is further configured to receive the number of known scattering points respectively included in the plurality of first perception subspaces; or receive the coordinates of the known scattering points.

[0259] For a more detailed description of the processing module 1310 and the transceiver module 1320, please refer to Figures 5 to 12 The relevant descriptions in the relevant method embodiments are directly obtained and will not be repeated here.

[0260] like Figure 14 As shown, communication device 1400 includes a processor 1410 and an interface circuit 1420. Processor 1410 and interface circuit 1420 are coupled to each other. It is understood that interface circuit 1420 can be a transceiver or an input / output interface. Optionally, communication device 1400 may also include a memory 1430 for storing instructions executed by processor 1410, input data required by processor 1410 to execute instructions, or data generated after processor 1410 executes instructions.

[0261] When the communication device 1400 is used to implement Figures 5 to 12 When performing the method in the related method embodiment, the processor 1410 is used to implement the functions of the above-mentioned processing module 1310, and the interface circuit 1420 is used to implement the functions of the above-mentioned transceiver module 1320.

[0262] When the above-mentioned communication device is a chip used in a UE, the UE chip implements the functions of the UE in the above-mentioned method embodiment. The UE chip receives information from other modules in the UE (such as a radio frequency module or antenna), and the information is sent by the base station to the UE; or the UE chip sends information to other modules in the UE (such as a radio frequency module or antenna), and the information is sent by the UE to the base station.

[0263] When the above-mentioned communication device is a module applied to a base station, the base station module implements the functions of the base station in the above-mentioned method embodiment. The base station module receives information from other modules in the base station (such as a radio frequency module or antenna), and the information is sent by the UE to the base station; or the base station module sends information to other modules in the base station (such as a radio frequency module or antenna), and the information is sent by the base station to the UE. The base station module here can be the baseband chip of the base station, or it can be a DU or other module. The DU here can be an O-DU in the O-RAN architecture.

[0264] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0265] 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 write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a UE. Of course, the processor and the storage medium can also exist in a base station or a UE as discrete components.

[0266] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. A computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions of the embodiments of the present application are performed 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 instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media, such as floppy disks, hard disks, or magnetic tapes; optical media, such as digital video disks; or semiconductor media, such as solid-state drives. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0267] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0268] In this application, "at least one" means one or more, and "more" 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: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. In this application, "greater than" and "less than or equal to" are used as examples. For example, the first precision requirement is that the proportion of the zero-value perception subspace in multiple perception subspaces is less than or equal to the proportion threshold, that is, when the proportion of the number of zero-value perception subspaces in multiple perception subspaces is less than or equal to the proportion threshold, the first precision requirement is met, and when the proportion of the number of zero-value perception subspaces in multiple perception subspaces is greater than the proportion threshold, the first precision requirement is not met. Of course, "greater than" can be replaced by "greater than or equal to", and "less than or equal to" can be replaced by "less than".

[0269] In the text descriptions of this application, the character " / " generally indicates an "or" relationship between the preceding and following entities; in formulas of this application, the character " / " indicates a "division" relationship between the preceding and following entities. "Includes at least one of A, B, and C" can mean: includes A; includes B; includes C; includes A and B; includes A and C; includes B and C; includes A, B, and C.

[0270] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A communication method, characterized in that: include: Sending a first size, where the first size is used to determine a plurality of first perception subspaces in a perception space, and the known scattering points respectively included in the plurality of first perception subspaces are used to determine coordinates of a first scattering point in the perception space; determining a second size according to the coordinates of the first scattering point, the coordinates of the known scattering point, and the first size; Send the second size.

2. The method according to claim 1, wherein Also includes: Sending the number of known scattering points respectively included in the multiple first perception subspaces; or, The coordinates of the known scattering points are sent.

3. The method according to claim 1 or 2, wherein: The second size is larger than the first size.

4. The method according to any one of claims 1 to 3, wherein The determining the second size according to the coordinates of the first scattering point, the coordinates of the known scattering point, and the first size includes: determining an error based on the coordinates of the first scattering point and the coordinates of the known scattering point; When the error is greater than the first size, the first size is increased to obtain the second size.

5. The method according to any one of claims 1 to 4, wherein The multiple first perception subspaces include a zero-value perception subspace, the number of known scattering points included in the zero-value perception subspace is equal to 0, and a proportion of the number of the zero-value perception subspace is less than or equal to a proportion threshold.

6. The method according to any one of claims 1 to 5, wherein Before sending the first size, the method further includes: Determining a plurality of initial perceptual subspaces according to the initial size and the perceptual space, wherein the plurality of initial perceptual subspaces include a zero-value perceptual subspace, the number of known scattering points included in the zero-value perceptual subspace is equal to 0, and a proportion of the number of the zero-value perceptual subspaces is greater than a proportion threshold; The initial size is increased to obtain the first size.

7. The method according to claim 6, wherein The initial size is determined by one of the following: a perception task corresponding to the perception space, a plurality of preset perception tasks, and a plurality of preset sizes corresponding to the plurality of preset perception tasks, wherein the plurality of preset perception tasks include the perception task corresponding to the perception space; The projection area of ​​the sensing space on the ground and the number of terminal devices in the sensing space; The smallest size among several preset sizes.

8. A communication method, characterized in that: include: receiving a first size; determining, according to the first size, coordinates of a first scattering point in a perception space, where the first size is used to determine a plurality of first perception subspaces in the perception space, and known scattering points respectively included in the plurality of first perception subspaces are used to determine the coordinates of the first scattering point; The second size is received, wherein the second size is determined based on coordinates of the first scattering point, coordinates of the known scattering point, and the first size.

9. The method according to claim 8, wherein Also includes: receiving the number of known scattering points respectively included in the plurality of first perception subspaces; or, The coordinates of the known scattering points are received.

10. The method according to claim 8 or 9, characterized in that The second size is larger than the first size.

11. The method according to any one of claims 8 to 10, wherein: In a case where an error between the coordinates of the first scattering point and the coordinates of the known scattering point is greater than the first size, the second size is greater than the first size.

12. The method according to any one of claims 8 to 11, wherein The multiple first perception subspaces include a zero-value perception subspace, the number of known scattering points included in the zero-value perception subspace is equal to 0, and a proportion of the number of the zero-value perception subspace is less than or equal to a proportion threshold.

13. A communication device, characterized in that: The method comprises a module for executing the method according to any one of claims 1 to 7, or a module for executing the method according to any one of claims 8 to 12.

14. A communication device, characterized in that: The method comprises 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 according to any one of claims 1 to 7 through a logic circuit or by executing code instructions, or the processor is used to implement the method according to any one of claims 8 to 12 through a logic circuit or by executing code instructions.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program or instruction. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 7 is implemented, or the method according to any one of claims 8 to 12 is implemented.

16. A computer program product, characterized in that The computer program product includes a computer program or instructions, and when the computer program or instructions are executed by a communication device, the method according to any one of claims 1 to 7 is implemented, or the method according to any one of claims 8 to 12 is implemented.

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