Data transmission method and device

Abstract

A data transmission method and apparatus, the data transmission method comprising: obtaining Q first categories, the Q first categories being data categories used by a second apparatus to execute a first task; s pieces of first sensing data are obtained, the S pieces of first sensing data comprise data of C categories, and at least one category different from the Q first categories exists in the C categories; m pieces of first data are determined from the S pieces of first sensing data according to the Q first categories, the categories corresponding to the M pieces of first data belong to the Q first categories, Q, S, M and C are all positive integers, and M is smaller than S; and sending second data to a second device, wherein the second data corresponds to the M pieces of first data.

Description

Data transmission method and device Technical Field

[0001] The present application relates to the field of communications, and more particularly, to a data transmission method and apparatus. Background Art

[0002] With the increasing diversity of wireless communication application scenarios, the next generation of wireless communication processes is targeting more new scenarios, including perception, imaging, and environmental reconstruction. For example, in environmental reconstruction, multiple devices (sensors) can perceive / observe the same environment from different perspectives. Therefore, the perception results of multiple devices can be sent to the base station (central server) and fused into a complete / large environmental map, or other perception tasks can be performed based on the fusion results to reduce the power consumption and transmission overhead of each device. In addition, since each device can observe from different perspectives, by fusing the perception results of multiple devices, the occlusion / blind spot problem caused by obstacles can be solved, resulting in more detailed reconstruction or better task execution results.

[0003] During the multi-device data fusion process, if the device sends all the perceived data to the perception center, the data volume will be large, causing network congestion.

[0004] Summary of the Invention

[0005] The present application provides a data transmission method and apparatus, which can reduce the amount of transmitted fused data by extracting data in a category-based manner and then sending it.

[0006] In a first aspect, a data transmission method is provided, which is applicable to a first device, including: obtaining Q first categories, where the Q first categories are data categories used by a second device to perform a first task; obtaining S first perception data, where the S first perception data include C categories of data, and there is at least one category in the C categories that is different from the Q first categories; determining M first data from the S first perception data based on the Q first categories, where the categories corresponding to the M first data belong to the Q first categories, Q, S, M and C are all positive integers, and M is less than S; and sending second data to the second device, where the second data corresponds to the M first data.

[0007] Through the solution of the present application, data is extracted based on categories and then sent, which can reduce the amount of data transmitted for fusion data.

[0008] Optionally, the M first data correspond to D categories, and D is smaller than C.

[0009] It should be understood that the "category" of data in this application may refer to semantics, labels, classification categories, etc.

[0010] In one possible implementation, Q first categories are obtained, where the Q first categories are data categories used by the second device to perform the first task; S first perception data are obtained, where the S first perception data include C categories of data; M first data are determined from the S first perception data based on the Q first categories, where the categories corresponding to the M first data belong to the Q first categories, and Q, S, M and C are all positive integers; and second data are sent to the second device, where the second data corresponds to the M first data.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the second data is the same as the M first data, or the second data is obtained by compressing the M first data.

[0012] In combination with the first aspect, in certain implementations of the first aspect, P second categories are obtained; based on the P second categories, N first registration points are determined from S first perception data, the S first perception data include B categories of registration points, and the categories corresponding to the N first registration points belong to the P second categories, and P, N and B are all positive integers.

[0013] Combined with the class-based registration point approach, the perspective mismatch problem of different devices can be solved with very little transmission resources.

[0014] Optionally, the Q first categories are determined by the first device and / or the second device or are predefined.

[0015] Optionally, the P second categories are determined by the first device and / or the second device or are predefined.

[0016] It should be understood that the sizes of Q and P can also be determined by the first device and / or the second device, and the sizes of Q and / or P can be indicated through signaling. By controlling the sizes of Q and P, the size of data transmission can be controlled to a certain extent.

[0017] It should be understood that the first category and the second category can be notified to one or more first devices by the second device through relevant indication signaling in a unicast / multicast / broadcast manner, or can also be reported by the first device to the second device through terminal device capabilities. The first category and the second category can be determined to be different categories based on the application scenario or the task that the second device needs to perform.

[0018] In combination with the first aspect, in some implementations of the first aspect, N first registration points are sent.

[0019] Optionally, the sizes of M and N may be determined by the first device and / or the second device, and the sizes of M and / or N may be indicated through signaling.

[0020] Optionally, based on the first period, the second data is sent; based on the second period, N first registration points are sent.

[0021] It should be understood that the first period and the second period may be determined by the first device and / or the second device, and the first period and / or the second period may be indicated through signaling.

[0022] Through the embodiments of the present application, by sending data and alignment points based on different periods, the amount of transmitted data can be further reduced and the waste of transmission resources can be reduced.

[0023] In combination with the first aspect, in certain implementations of the first aspect, R second registration points are obtained, the R second registration points are determined by a second device, the R second registration points are determined from the second perception data based on T third categories, the second perception data is obtained by the second device, the second perception data includes A categories of registration points, the categories corresponding to the R second registration points belong to T third categories, and R is a positive integer; a first conversion method is sent, and the first conversion method is determined based on N first registration points and R second registration points.

[0024] Optionally, based on the first cycle, the second data is sent; based on the second cycle, the first conversion mode is sent.

[0025] It should be understood that by determining the first conversion method through the first device, the amount of data calculation of the second device can be reduced, the load of the perception center can be reduced, and the processing efficiency can be improved.

[0026] Through the embodiments of the present application, by sending data and transforming methods based on different periods, the amount of data transmitted can be further reduced and the waste of transmission resources can be reduced.

[0027] In combination with the first aspect, in certain implementations of the first aspect, R second registration points are obtained, the R second registration points are determined by a second device, the R second registration points are determined from the second perception data based on T third categories, the second perception data is obtained by the second device, the second perception data includes A categories of registration points, the categories corresponding to the R second registration points belong to T third categories, and R is a positive integer; second data is sent, the second data is determined based on the R second registration points, N first registration points and M first data.

[0028] It should be understood that allowing the first device to determine the second data can reduce the amount of data calculation of the second device, reduce the load of the perception center, and improve processing efficiency.

[0029] Through the embodiments of the present application, a category-based data transmission method can be used to reduce the amount of transmitted data and reduce the waste of transmission resources. At the same time, combined with the use of a category-based registration point alignment method, the perspective mismatch problem of different devices can be solved while using fewer transmission resources.

[0030] In a second aspect, a data transmission method is provided, which is applicable to a second device, including: receiving second data, the second data corresponding to M first data, the M first data being determined by the first device from S first perception data based on Q first categories, the Q first categories being data categories used by the second device to perform the first task, the S first perception data being acquired by the first device, including C categories of data, at least one of the C categories being different from the Q first categories, the categories corresponding to the M first data belonging to the Q first categories, Q, S, M and C being positive integers, and M being less than S.

[0031] Through the solution of the present application, data is extracted based on categories and then sent, which can reduce the amount of data transmitted for fusion data.

[0032] In one possible implementation, second data is received, where the second data corresponds to M first data, where the M first data are determined by the first device from S first perception data based on Q first categories, where the Q first categories are data categories used by the second device to perform the first task, and the S first perception data are acquired by the first device and include C categories of data, where the categories corresponding to the M first data belong to the Q first categories, and Q, S, M, and C are all positive integers.

[0033] Optionally, the second data and the second perception data are fused.

[0034] Optionally, the M first data correspond to D categories, and D is smaller than C.

[0035] It should be understood that the "category" of data in this application may refer to semantics, labels, classification categories, etc.

[0036] In combination with the second aspect, in certain implementations of the second aspect, second perception data is obtained; T third categories are obtained; R second registration points are determined from the second perception data based on the T third categories, the second perception data includes A categories of registration points, the categories corresponding to the R second registration points belong to the T third categories, and T, R and A are positive integers.

[0037] Optionally, the sizes of M and T may be determined by the first device and / or the second device, and the sizes of M and / or T may be indicated through signaling.

[0038] Optionally, R second registration points are sent.

[0039] Optionally, the Q first categories are determined by the first device and / or the second device or are predefined.

[0040] Optionally, the T third categories are determined by the first device and / or the second device or are predefined.

[0041] It should be understood that the first and third categories can be notified to one or more first devices by the second device via relevant indication signaling in a unicast / multicast / broadcast manner, or can be reported by the first device to the second device via terminal device capabilities. The first and third categories can be determined to be different categories based on the application scenario or the task that the second device needs to perform.

[0042] In combination with the second aspect, in certain implementations of the second aspect, N first registration points are obtained, where the N first registration points are determined by a first device, and N is a positive integer; a second conversion method is determined based on R second registration points and N first registration points; third data is determined based on the second conversion method and the second data; and the third data and the second perception data are fused.

[0043] It should be understood that the N first registration points are determined from the S first perception data according to the P second categories, the S first perception data include registration points of B categories, the categories corresponding to the N first registration points belong to the P second categories, and B is a positive integer.

[0044] Optionally, based on the first cycle, second data is received; based on the second cycle, N first registration points are acquired.

[0045] It should be understood that the first period and the second period may be determined by the first device and / or the second device, and the first period and / or the second period may be indicated through signaling.

[0046] Through the embodiments of the present application, by sending data and alignment points based on different periods, the amount of transmitted data can be further reduced and the waste of transmission resources can be reduced.

[0047] In combination with the second aspect, in certain implementations of the second aspect, a first conversion method is obtained, and the first conversion method is determined based on R second registration points and N first registration points; third data is determined based on the first conversion method and the second data; and the third data and the second perception data are fused.

[0048] Optionally, based on the first cycle, second data is received; based on the second cycle, the first conversion mode is acquired.

[0049] It should be understood that by determining the first conversion method through the first device, the amount of data calculation of the second device can be reduced, the load of the perception center can be reduced, and the processing efficiency can be improved.

[0050] Through the embodiments of the present application, by sending data based on different periods and transformation methods, the amount of transmitted data can be further reduced and the waste of transmission resources can be reduced.

[0051] In combination with the second aspect, in certain implementations of the second aspect, the second data and the second perception data are fused, and the second data is determined by the first device based on R second registration points, N first registration points and M first data.

[0052] It should be understood that allowing the first device to determine the second data can reduce the amount of data calculation of the second device, reduce the load of the perception center, and improve processing efficiency.

[0053] Through the embodiments of the present application, a category-based data transmission method can be used to reduce the amount of transmitted data and reduce the waste of transmission resources. At the same time, combined with the use of a category-based registration point alignment method, the perspective mismatch problem of different devices can be solved while using fewer transmission resources.

[0054] According to a third aspect, a data transmission device is provided, comprising a receiving unit for obtaining S first perception data, the S first perception data including C categories of data, wherein there is at least one category in the C categories that is different from the Q first categories; a processing unit, wherein the processing unit or the receiving unit is used to obtain the Q first categories, the Q first categories being data categories used by the second device to perform the first task; the processing unit is also used to determine M first data from the S first perception data based on the Q first categories, the categories corresponding to the M first data belonging to the Q first categories, Q, S, M and C being positive integers, and M being less than S; and a sending unit for sending second data, the second data corresponding to the M first data.

[0055] Through the solution of the present application, data is extracted based on categories and then sent, which can reduce the amount of data transmitted for fusion data.

[0056] In one possible implementation, it includes a receiving unit for obtaining S first perception data, where the S first perception data include C categories of data; a processing unit, where the processing unit or the receiving unit is used to obtain Q first categories, where the Q first categories are data categories used by the second device to perform the first task; the processing unit is also used to determine M first data from the S first perception data based on the Q first categories, where the categories corresponding to the M first data belong to the Q first categories, and Q, S, M and C are all positive integers; and a sending unit for sending second data, where the second data corresponds to the M first data.

[0057] Optionally, the M first data correspond to D categories, and D is smaller than C.

[0058] Optionally, the second data is the same as the M first data, or the second data is obtained by compressing the M first data.

[0059] Optionally, the processing unit or the receiving unit is also used to obtain P second categories; the processing unit is also used to determine N first registration points from S first perception data based on the P second categories, the S first perception data include B categories of registration points, the categories corresponding to the N first registration points belong to the P second categories, and P, N and B are all positive integers.

[0060] Optionally, the Q first categories are determined by the first device and / or the second device or are predefined.

[0061] Optionally, the P second categories are determined by the first device and / or the second device or are predefined.

[0062] Optionally, the sending unit is used to send N first alignment points; or the receiving unit is also used to obtain R second alignment points, where the R second alignment points are determined by the second device, and R is a positive integer; the sending unit is used to send the first conversion method, where the first conversion method is determined based on the N first alignment points and the R second alignment points; or the receiving unit is also used to obtain R second alignment points, where the R second alignment points are determined by the second device, and R is a positive integer; the processing unit is also used to determine the second data based on the R second alignment points, the N first alignment points and the M first data.

[0063] Further optionally, the sending unit sends the second data based on the first cycle; sends N first registration points based on the second cycle; or sends the second data based on the first cycle; sends the first conversion mode based on the second cycle.

[0064] The device is configured in or is itself the first device.

[0065] Among them, each unit in the device is used to execute each step of the communication method in the above-mentioned first aspect and each implementation manner of the first aspect.

[0066] In one design, the apparatus is a communication chip, which may include input circuitry or interfaces for sending information or data, and output circuitry or interfaces for receiving information or data.

[0067] In another design, the apparatus is a communication device, which may include a transmitter for sending information or data and a receiver for receiving information or data.

[0068] In a fourth aspect, a data transmission device is provided, including: a receiving unit for receiving second data, the second data corresponding to M first data, the M first data being determined by the first device from S first perception data based on Q first categories, the Q first categories being data categories used by the second device to perform the first task, the S first perception data being acquired by the first device and including C categories of data, at least one of the C categories being different from the Q first categories, the categories corresponding to the M first data belonging to the Q first categories, Q, S, M and C being positive integers, and M being less than S.

[0069] Through the solution of the present application, data is extracted based on categories and then sent, which can reduce the amount of data transmitted for fusion data.

[0070] In one possible implementation, a receiving unit is used to receive second data, where the second data corresponds to M first data, where the M first data are determined by the first device from S first perception data based on Q first categories, where the Q first categories are data categories used by the second device to perform the first task, and the S first perception data are acquired by the first device and include C categories of data, where the categories corresponding to the M first data belong to the Q first categories, and Q, S, M, and C are all positive integers.

[0071] Optionally, the processing unit is used to fuse the second data and the second perception data.

[0072] Optionally, the S first perception data include data of C categories, the M first data correspond to D categories, and D is less than C.

[0073] Optionally, the receiving unit is used to obtain second perception data; the receiving unit or the processing unit is used to obtain T third categories; the processing unit is also used to determine R second registration points from the second perception data based on the T third categories, the second perception data includes A categories of registration points, the categories corresponding to the R second registration points belong to the T third categories, and P, R and A are positive integers.

[0074] Optionally, the sending unit sends R second registration points.

[0075] Optionally, the Q first categories are determined by the first device and / or the second device or are predefined.

[0076] Optionally, the T third categories are determined by the first device and / or the second device or are predefined.

[0077] Optionally, the receiving unit or the processing unit is used to obtain N first registration points, which are determined by the first device, and N is a positive integer; the processing unit is also used to determine the second conversion method based on R second registration points and N first registration points; determine the third data based on the second conversion method and the second data; and fuse the third data with the second perception data; or the receiving unit or the processing unit is used to obtain the first conversion method, which is determined based on R second registration points and N first registration points; the processing unit is also used to determine the third data based on the first conversion method and the second data; and fuse the third data with the second perception data; or the processing unit is also used to fuse the second data with the second perception data, and the second data is determined by the first device based on R second registration points, N first registration points and M first data.

[0078] Further optionally, the receiving unit receives the second data based on the first cycle; obtains N first registration points based on the second cycle; or receives the second data based on the first cycle; and obtains the first conversion mode based on the second cycle.

[0079] The device is configured in or is itself the second device.

[0080] Among them, each unit in the device is used to execute each step of the communication method in the above-mentioned second aspect and each implementation manner of the second aspect.

[0081] In one design, the apparatus is a communication chip, which may include input circuitry or interfaces for sending information or data, and output circuitry or interfaces for receiving information or data.

[0082] In another design, the apparatus is a communication device, which may include a transmitter for sending information or data and a receiver for receiving information or data.

[0083] In a fifth aspect, a device for data transmission is provided, which may be a sensing device, or a component of a sensing device (such as a processor, chip, or chip system), or a logical node, logic module, or software that can implement all or part of the functions of the sensing device. The device has the function of implementing the above-mentioned first aspect and various possible implementation methods of the first aspect. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions.

[0084] In one possible design, the device includes: an interface unit, which may be at least one of a transceiver, a receiver, and a transmitter, and the interface unit may include a radio frequency circuit or an antenna. Optionally, the device also includes a processing unit, which may be a processor. Optionally, the device also includes a storage unit, which may be, for example, a memory. When a storage unit is included, the storage unit is used to store programs or instructions. The processing unit is connected to the storage unit, and the processing unit may execute the programs, instructions, or instructions derived from other sources stored in the storage unit, so that the device performs the communication method of the above-mentioned first aspect and various possible implementations of the first aspect. In this design, the device may be a terminal device.

[0085] In another possible design, when the device is a chip, the chip includes: an interface unit and a processing unit, and the interface unit can be, for example, an input / output interface, a pin or a circuit on the chip. The processing unit can be, for example, a processor. The processing unit can execute instructions so that the chip in the sensing device executes the above-mentioned first aspect and any possible implementation of the communication method of the first aspect. Optionally, the processing unit can execute instructions in a storage unit, and the storage unit can be a storage module in the chip, such as a register, a cache, etc. The storage unit can also be located in the communication device but outside the chip, such as a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM), etc.

[0086] Among them, the processor mentioned in any of the above places can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the above-mentioned first aspect of the communication method.

[0087] In a sixth aspect, a device for data transmission is provided, which may be a perception center, or a component of a perception center (such as a processor, chip, or chip system), or a logical node, logic module, or software that can implement all or part of the functions of the perception center. The device has the function of implementing the above-mentioned second aspect and various possible implementation methods of the second aspect. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions.

[0088] In one possible design, the device includes: an interface unit, which may be at least one of a transceiver, a receiver, and a transmitter, and the interface unit may include a radio frequency circuit or an antenna. Optionally, the device also includes a processing unit, which may be a processor. Optionally, the device also includes a storage unit, which may be, for example, a memory. When a storage unit is included, the storage unit is used to store programs or instructions. The processing unit is connected to the storage unit, and the processing unit may execute the programs, instructions, or instructions derived from other sources stored in the storage unit, so that the device performs the communication method of the above-mentioned second aspect and the possible implementation of the second aspect. In this design, the device may be a network device.

[0089] In another possible design, when the device is a chip, the chip includes: an interface unit and a processing unit, and the interface unit can be, for example, an input / output interface, a pin or a circuit on the chip. The processing unit can be, for example, a processor. The processing unit can execute instructions so that the chip in the perception center executes the above-mentioned second aspect and any possible implementation of the communication method of the second aspect. Optionally, the processing unit can execute instructions in a storage unit, and the storage unit can be a storage module in the chip, such as a register, a cache, etc. The storage unit can also be located in the communication device but outside the chip, such as a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM), etc.

[0090] Among them, the processor mentioned in any of the above places can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the above-mentioned second aspect of the communication method.

[0091] In a seventh aspect, a communication system is provided, comprising the communication device provided in the third or fifth aspect and the communication apparatus provided in the fourth or sixth aspect. The communication system can implement the data transmission method provided in the first or second aspect, or any possible implementation of the first and second aspects.

[0092] In an eighth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program runs on a computer, the computer is caused to execute instructions of the method of any possible implementation of the above-mentioned first aspect, second aspect, or the first and second aspects.

[0093] In a ninth aspect, a chip is provided, comprising: a processing unit, which can execute instructions to enable the method of any possible implementation of the first aspect, the second aspect, or the first aspect to the second aspect to be executed.

[0094] In a tenth aspect, a computer program product is provided, which includes a computer program code, which, when the computer program code is run, is used to execute instructions of the method of any possible implementation of the first aspect, the second aspect, or the first and second aspects.

[0095] In the eleventh aspect, a chip system is provided, comprising a memory and a processor, wherein the memory is used to store instructions, and the processor is used to call and execute the instructions from the memory, so that the method in the above-mentioned first aspect or second aspect and its possible implementation methods is executed.

[0096] Among them, the chip system may include an input circuit or interface for sending information or data, and an output circuit or interface for receiving information or data.

[0097] Specifically, the beneficial effects of other aspects can refer to the beneficial effects described in the first and second aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] FIG1 is a schematic diagram of a possible application scenario applicable to an embodiment of the present application;

[0099] FIG2 is a flow chart of a data fusion method provided in an embodiment of the present application;

[0100] FIG3 is a flow chart of another data fusion method provided in an embodiment of the present application;

[0101] FIG4 is a flow chart of another data fusion method provided in an embodiment of the present application;

[0102] FIG5 is a flow chart of another data fusion method provided in an embodiment of the present application;

[0103] FIG6 is a schematic block diagram of an example of a data transmission device provided in an embodiment of the present application;

[0104] FIG7 is a schematic block diagram of another example of a data transmission device provided in an embodiment of the present application;

[0105] FIG8 is a schematic block diagram of another example of a data transmission device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0106] The technical solution in this application will be described below with reference to the accompanying drawings.

[0107] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: global system for mobile communications (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) system, general packet radio service (GPRS), LTE system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, universal mobile telecommunication system (UMTS), world-wide interoperability for microwave access (WiMAX) communication system, fifth generation (5G) system or new radio (NR) and other evolved communication systems, vehicle-to-other devices (V2X), where V2X can include vehicle to network (V2N), vehicle to vehicle (V2V), vehicle to infrastructure (V2I), vehicle to pedestrian (V2I), and vehicle to pedestrian (V2P), long term evolution-vehicle (LTE-V), Internet of Vehicles, machine type communication (MTC), Internet of Things (IoT), long term evolution-machine (LTE-M), machine to machine (M2M), device to device (D2D), etc.

[0108] The communication system includes a radio access network (RAN). The RAN can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as a 4G or 5G mobile communication system, or a future-oriented evolution system (such as a 6G mobile communication system). The RAN can also be an open access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. The RAN can also be a communication system that integrates two or more of the above systems.

[0109] RAN nodes, sometimes also referred to as access network equipment, network equipment, RAN entities, or access nodes, form part of a communications system and facilitate wireless access for terminals. Multiple RAN nodes in a communications system can be of the same or different types. In some scenarios, the roles of RAN nodes and terminals are relative.

[0110] In one possible scenario, a RAN node may be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), 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. A RAN node may be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or a wireless controller in a CRAN scenario. Optionally, a RAN node may also be a server, a wearable device, a vehicle or an onboard device. For example, an access network device in vehicle to everything (V2X) technology may be a road side unit (RSU). All or part of the functions of the RAN node in this application may also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform (e.g., a cloud platform). The RAN node in this application may also be a logical node, a logical module, or software that can implement all or part of the functions of a RAN node.

[0111] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, and different RAN nodes respectively implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be set separately, or they can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0112] The terminal device in the embodiments of the present application may refer to user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal device may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, a terminal device in a 5G network or a terminal device in an evolved public land mobile network (PLMN), etc., and the embodiments of the present application are not limited to this. For example, the terminal device can be an on-board device, a complete vehicle device, an on-board module, a vehicle, an on-board unit (OBU), a roadside unit (RSU), a telematics box (T-box), a chip or a system on chip (SOC), etc. The above chip or SOC can be installed in a vehicle, OBU, RSU or T-box.

[0113] The terminal devices involved in the embodiments of the present application also include at least one of user equipment, augmented reality (AR) / virtual reality (VR) / extended reality (XR) devices, wearable devices, smart home appliance terminals, terminal devices and communication modules of terminal devices, mobile phones and communication modules in mobile phones, vehicles and communication modules in vehicles, information processing equipment, display devices, network devices, base stations, TRPs, customer premise equipment (CPE), routers, network access devices, etc. Considering Uu (UTRAN-to-terminal equipment) air interface transmission, the two parties of wireless communication include network devices and user communication equipment; considering sidelink (SL) air interface transmission, the transmitting and receiving ends of wireless communication are both user communication equipment. The network device can be a traditional macro base station eNB in ​​a traditional UMTS / LTE wireless communication system, a micro base station eNB in ​​a heterogeneous network (HetNet) scenario, a baseband processing unit and a remote radio unit in a distributed base station scenario, a baseband pool BBU pool and a radio frequency unit RRU in a CRAN scenario, and a gNB in ​​a wireless communication system.

[0114] In the embodiments of the present application, the network device may be any device with wireless transceiver functions. The device includes, but is not limited to, an evolved Node B (eNB), a radio network controller (RNC), a Node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (e.g., a home evolved NodeB, or home Node B, HNB), a baseband unit (BBU), an access point (AP) in a wireless fidelity (WiFi) system, a wireless relay node, a wireless backhaul node, a transmission point (TP), or a transmission and reception point (TRP), etc. It may also be a gNB in ​​a 5G, such as NR, system, or a transmission point (TRP or TP), one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, or a network node constituting a gNB or a transmission point, such as a baseband unit or a distributed unit.

[0115] In some deployments, a gNB may include a centralized unit (CU) and a DU. The gNB may also include an active antenna unit (AAU). The CU implements some gNB functions, while the DU implements some gNB functions. For example, the CU is responsible for processing non-real-time protocols and services, and implementing the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers. The DU is responsible for processing physical layer protocols and real-time services, and implementing the functions of the radio link control (RLC), medium access control (MAC), and physical (PHY) layers. The AAU implements some physical layer processing functions, RF processing, and active antenna-related functions. Because RRC layer information ultimately becomes PHY layer information, or is converted from PHY layer information, in this architecture, higher-layer signaling, such as RRC layer signaling, can also be considered to be sent by the DU, or by both the DU and the AAU. It is understood that a network device can be a device that includes one or more of a CU node, a DU node, or an AAU node. In addition, the CU may be classified as a network device in an access network (radio access network, RAN), or may be classified as a network device in a core network (core network, CN), which is not limited in this application.

[0116] Network equipment provides services for cells, and terminal devices communicate with cells through transmission resources allocated by the network equipment (for example, frequency domain resources, or spectrum resources). The cell can belong to a macro base station (for example, a macro eNB or macro gNB), or to a base station corresponding to a small cell. Small cells here can include: metro cells, micro cells, pico cells, femto cells, etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-speed data transmission services.

[0117] In an embodiment of the present application, a terminal device or a network device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a Windows operating system. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software. In addition, the present application does not specifically limit the specific structure of the execution subject of the method provided by the present application. As long as it is possible to communicate according to the method provided by the embodiment of the present application by running a program that records the code of the method provided by the present application, for example, the execution subject of the method provided by the embodiment of the present application can be a terminal device or a network device, or a functional module in a terminal device or a network device that can call a program and execute the program.

[0118] In addition, various aspects or features of the present application can be implemented as methods, apparatus, or articles of manufacture using standard programming and / or engineering techniques. The term "article of manufacture" as used in this application covers computer programs that can be accessed from any computer-readable device, carrier, or medium. For example, computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes, etc.), optical disks (e.g., compact discs (CDs), digital versatile discs (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memories (EPROMs), cards, sticks, or key drives, etc.). In addition, the various storage media described herein may represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0119] FIG1 is a schematic diagram of a possible application scenario applicable to an embodiment of the present application.

[0120] As shown in Figure 1, a sensing device is a device with sensing capabilities. It can be a terminal device with sensing capabilities such as a mobile phone, a vehicle, etc., or a network device with sensing capabilities such as a base station. The sensing capability can be realized by a number of sensors that sense information about the environment around the sensing device. For example, the sensing capability can be realized by a global positioning system (GPS), or by one or more of the Beidou system or other positioning systems, an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device. It can be understood that a sensing device is a device that sends sensing / imaging results.

[0121] As shown in Figure 1, numerous devices with perception / imaging capabilities send their perception results to a perception center for fusion, helping the perception center obtain more complete or accurate perception results (e.g., for positioning / tracking / recognition tasks, imaging, 3D mapping / reconstruction, and environmental reconstruction). The perception center can be a terminal device with receiving capabilities, such as a mobile phone or vehicle, or a network device with receiving capabilities, such as a base station. It can be understood that the perception center is the device that receives the perception / imaging results.

[0122] It should be understood that Figure 1 is merely a schematic diagram and may include other devices not shown. In addition, the embodiments of the present application do not limit the number of sensing devices and sensing centers included in the communication system.

[0123] In this application, "sending information to... (center)" can be understood as the destination of the information being the center. This can include sending information to the center directly or indirectly. "Receiving information from... (device)" can be understood as the source of the information being the device, which can include receiving information from the device directly or indirectly. The information may undergo necessary processing between the source and destination of the information, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be understood similarly and will not be repeated here.

[0124] It should be understood that if the sensing device sends all the sensed data to the base station, it will result in a large amount of transmitted data, which will cause network congestion; and since not all sensed data is helpful to the base station's sensing task, transmitting all data will result in a waste of transmission resources.

[0125] In response to the above problems, this application proposes a category-based data transmission method.

[0126] FIG2 is a flow chart of a data transmission method 100 provided in an embodiment of the present application.

[0127] As shown in FIG2 , the first device may be a sensing apparatus, and the second device may be a sensing center.

[0128] S111: The first device obtains Q first categories.

[0129] It should be understood that the first device and / or the second device may determine the data selection category, ie, the first category, as needed. The first category may be reported by the first device to the second device, or indicated by the second device to the first device.

[0130] The Q first categories are data categories used by the second device to perform the first task.

[0131] Optionally, the Q first categories may be determined or predefined by the first device and / or the second device.

[0132] It should be understood that when the first category is determined by the second device, the second device may notify one or more first devices via unicast / multicast / broadcast via relevant indication signaling. When the first category is determined by the first device, the first device may report it to the second device via UE capabilities or by sending information. The data selection category may include different categories based on the scenario in which the first device is located or the task that the second device needs to perform. When the first category is predefined, the first device and the second device may call the first category stored in the device.

[0133] It should be understood that the first device obtains Q first categories, which may be received, used in the call history, or predefined Q first categories.

[0134] S112, the first device obtains S first perception data.

[0135] Among them, the first perception data can be obtained by the first device through perception. The first perception data can be perceived and reported in real time, or it can be historically perceived and stored in the perception device. The embodiment of the present application does not limit this.

[0136] S113, the first device determines M first data from the S first perception data according to the Q first categories.

[0137] S114, the first device sends the second data. Correspondingly, S121, the second device receives the second data.

[0138] In one possible implementation, the S first perception data include C categories of data, and there is at least one category among the C categories that is different from the Q first categories. Data of corresponding categories can be selected from the first perception data based on the Q first categories. Data of the same category can be extracted as first data in their entirety or partially as first data, that is, the categories corresponding to the M first data belong to the Q first categories, Q, S, M and C are all positive integers, but the total M first data are less than the amount of the S first perception data, that is, M is less than S.

[0139] In another possible implementation, the S first perception data include C categories of data. In this case, there is no limitation on the C categories, that is, the C categories can be any categories.

[0140] The second data corresponds to M first data.

[0141] Optionally, the second data may be the same as the M first data. When the first device does not process the M first data, S114 may also send the M first data to the first device. Correspondingly, S121, the second device receives the M first data.

[0142] Optionally, the second data may be obtained by compressing the M first data. The embodiment of the present application does not limit the compression processing method.

[0143] Optionally, the size of M may be determined by the first device and / or the second device, and the size of M may be indicated through signaling.

[0144] It should be understood that the "category" of data in the embodiments of the present application may refer to semantics, labels, classification categories, etc.

[0145] Optionally, semantic segmentation can be performed on the perceived first perception data, such as the detected raw point cloud data, to obtain the category of the data. The embodiment of the present application does not limit the method for performing semantic segmentation. For example, semantic segmentation can be performed using an existing AI model, or semantic segmentation can be performed on the point cloud using non-AI methods (such as clustering, etc.). For example, the point cloud category can be a telephone pole, a traffic light, a traffic sign, a stop line marking, a lane line marking, etc. The method of obtaining the category can be determined according to the specific data fusion task.

[0146] Optionally, the first device may perform entity segmentation on the perceived first perception data, such as the detected raw point cloud data. Entity segmentation may be performed after semantic segmentation or separately, and this application does not limit this. Entity segmentation can distinguish different entities within the same semantic data. For example, semantic segmentation only extracts data for all cars in the data, while entity segmentation can distinguish between car 1, car 2, car 3, and so on. The different entities after entity segmentation can be considered data categories.

[0147] Optionally, according to different scenarios, the first data may be different types of data, each of which may include or indicate 2D / 3D coordinate information and may also include other attributes.

[0148] Exemplarily, a first data may be (x, y, z, angle, intensity), or (x, y, z, category), or the first data may be a bounding box, etc.

[0149] Therefore, through the embodiments of the present application, the amount of data transmitted can be reduced and the waste of transmission resources can be reduced.

[0150] Optionally, the M first data correspond to D categories, where D is less than C. That is, the categories of the C data in the first perception data may not all be included in the Q data selection categories. In this case, the first data of D categories are extracted from data of some categories in the first perception data.

[0151] Therefore, through the embodiments of the present application, the data selection category can be determined according to task requirements to select the data content that the device needs to transmit, thereby reducing the amount of data transmitted and reducing the waste of transmission resources.

[0152] Optionally, after receiving the second data, the second device may fuse the second data with the second perception data.

[0153] FIG3 is a flow chart of another data transmission method 200 provided in an embodiment of the present application.

[0154] As shown in FIG3 , the first device may be a sensing apparatus, and the second device may be a sensing center.

[0155] S211: The first device obtains Q first categories.

[0156] S212, the first device obtains S first perception data.

[0157] S213: The first device determines M first data from the S first perception data according to the Q first categories.

[0158] In step S214 , the first device sends the second data. Correspondingly, in step S222 , the second device receives the second data.

[0159] The above steps are consistent with method 100 and will not be repeated here.

[0160] S215: The first device obtains P second categories.

[0161] Optionally, the P second categories may be determined or predefined by the first device and / or the second device.

[0162] It should be understood that when the second category is determined by the second device, the second device may notify one or more first devices via unicast / multicast / broadcast via relevant indication signaling. When the second category is determined by the first device, the first device may report it to the second device via UE capabilities or by sending information. The data selection category may include different categories based on the scenario in which the first device is located or the task that the second device needs to perform. When the second category is predefined, the first device and the second device may call the second category stored in the device.

[0163] It should be understood that the first device obtains P second categories, which may be received, used in the call history, or predefined P second categories.

[0164] S216: The first device determines N first registration points from the S first perception data according to the P second categories.

[0165] Among them, the S first perception data include B categories of registration points, the categories corresponding to the N first registration points belong to P second categories, or the registration points belonging to P second categories are selected from the B categories of registration points, P, N and B are all positive integers, and the N first registration points are used to align the M first data.

[0166] Optionally, the sizes of M and N may be determined by the first device and / or the second device, and the sizes of M and / or N may be indicated through signaling.

[0167] It should be understood that the sizes of Q and P can also be determined by the first device and / or the second device, and the sizes of Q and / or P can be indicated through signaling. By controlling the sizes of Q and P, the size of data transmission can be controlled to a certain extent.

[0168] It should be understood that registration points are used for the registration of images or point cloud data. There are many methods for extracting registration points. For example, the point cloud of corresponding categories can be clustered to obtain registration points. Another example is to segment the point cloud into entities, then cluster the entities of corresponding categories separately, and use the cluster center / entity center of gravity as the registration point, which is not limited in this application. Registration points can be defined based on signal strength, distribution range, etc. Registration points can also be called key points, corner points, or feature points, etc., which are not limited in this application.

[0169] Optionally, in the process of extracting registration points, a threshold of signal strength or a threshold of distribution range may be set to exclude categories with fewer points.

[0170] Optionally, depending on different scenarios, the registration points may be different types of data, and each registration point may include or indicate 2D / 3D coordinate information, and may also include other attributes.

[0171] Exemplarily, the registration point may be (x, y, z, angle, intensity), or (x, y, z, category), etc.

[0172] S217: The first device sends N first registration points. Correspondingly, S225: The second device receives the N first registration points.

[0173] Optionally, the first device may send the second data based on the first period and send the N first registration points based on the second period. Correspondingly, the second device may receive the second data based on the first period and obtain the N first registration points based on the second period.

[0174] It should be understood that the first device may send the second data and the first registration point based on the same period, that is, the sending steps of S214 and S217 may be combined to send the second data and the first registration point at the same time.

[0175] It should be understood that data transmission and registration point transmission can be based on different periods, which can be determined by the first device and / or the second device. Since registration points are used to align data, when the type or angle of the data does not change much, the previously used registration points or registration method can be used. Therefore, the data and registration point transmission periods can be different.

[0176] It should be understood that when the transmission period is determined by the second device, the second device may notify one or more first devices via unicast / multicast / broadcast via relevant indication signaling. When the transmission period is determined by the first device, the first device may report it to the second device via UE capabilities or sending information.

[0177] Through the embodiments of the present application, by sending data and alignment points based on different periods, the amount of transmitted data can be further reduced and the waste of transmission resources can be reduced.

[0178] S221: The second device obtains second perception data.

[0179] Among them, the second device can be a perception center, so the second perception data can be obtained by the second device itself through perception, or it can be obtained by one or more perception devices, namely the first device, and sent to the second device, or it can be perception data historically obtained by the second device and stored in the second device. The embodiments of this application do not limit this.

[0180] S223: The second device obtains T third categories.

[0181] Optionally, the T third categories may be determined or predefined by the first device and / or the second device.

[0182] It should be understood that the T third categories are the categories selected by the second apparatus to extract registration points. The T third categories can be the same as the P second categories, that is, the first apparatus and the second apparatus use the same categories for registration point extraction. The T third categories can also be different from the P second categories, that is, the first apparatus and the second apparatus use different categories for registration point extraction. T and P can be unequal, and the categories in the second and third categories can be different. Optionally, the T third categories can also share at least one category with the P second categories.

[0183] It should be understood that the size of T may also be determined by the first device and / or the second device, and the size of T may be indicated through signaling.

[0184] It should be understood that when the third category is determined by the second device, the second device may notify one or more first devices via unicast / multicast / broadcast via relevant indication signaling. When the third category is determined by the first device, the first device may report it to the second device via UE capabilities or by sending information. The data selection category may include different categories based on the scenario in which the first device is located or the task that the second device needs to perform. When the third category is predefined, the first device and the second device may call the third category stored in the device.

[0185] It should be understood that the second device obtains T third categories, which may be received, used in the call history, or predefined T third categories.

[0186] S224: The second device determines R second registration points from the second perception data according to the T third categories.

[0187] Among them, the second perception data includes A categories of registration points. The corresponding category of registration points can be selected from the second perception data according to T third categories. The categories corresponding to the R second registration points belong to the T third categories, or the registration points belonging to T third categories are selected from the A categories of registration points. T, R and A are all positive integers.

[0188] S226: The second device determines third data according to the R second registration points, the N first registration points, and the second data.

[0189] Optionally, the second data is the same as the M first data, or the second data is obtained by compressing the M first data.

[0190] It should be understood that the R second registration points and the N first registration points can be processed by an AI model or training algorithm to obtain a correspondence between the R second registration points and the N first registration points of the same or different categories. Based on this correspondence, the second data can be processed to obtain the third data.

[0191] Optionally, the second device may determine a second conversion method based on the R second registration points and the N first registration points, and determine the third data based on the second conversion method and the second data.

[0192] It should be understood that the second conversion method is a conversion method determined by the perception center and can be obtained using the same algorithm or method as the perception device, or a different algorithm or method. Therefore, the second conversion method can be the same as the first conversion method or different from the first conversion method.

[0193] It should be understood that the first conversion method or the second conversion method can be a transformation matrix, and each data in the second data can be transformed by the transformation matrix to obtain the third data. There are many methods for obtaining the transformation matrix, for example, it can be based on the Random Sample Consensus (RANSAC) algorithm, or obtained through an AI training model, etc. This application does not limit this.

[0194] For example, it is assumed that the N first registration points extracted and sent by the first device are {Y j , j∈[1,N]}, the R second registration points extracted by the second device are {Z k , k∈[1, R]}. Thus, the steps for obtaining the first conversion method or the second conversion method, i.e., the transformation matrix, are as follows: (1) Randomly select {Y j , select E first registration points (for example, E = 3) from j∈[1, N]} to form S E . The initial set W is an empty set.

[0195] (2) For S E Each registration point Y in j , randomly select R second registration points {Z k , find a registration point Z in k∈[1,R]} k (If there is a registration point of the same category as Yj, it can be preferred to j The same category of registration points) put (Y j , Z k ) is added to the set W.

[0196] (3) According to the E registration point pairs (Y j , Z k)Calculate the corresponding transformation matrix H, where j∈[1, E], k∈[1, E].

[0197] (4) Use H for each Y in W j Transform and obtain Y′ j , Y′ j =H×Y j , thus we get F = {Y′ j , j∈[1,E]}, G={Z k , b∈[1,E]}, calculate the mean square error (MSE) between F and G. If the obtained MSE is less than the threshold T, H is the final transformation matrix and the calculation ends; otherwise, the calculation starts again from step (1) until the maximum number of loops is reached and enters step (5). The maximum number of loops can be agreed in advance.

[0198] (5) If the maximum number of cycles is reached, the H corresponding to the minimum MSE in the cycle of step (4) above is used as the final transformation matrix.

[0199] It should be understood that the above process is only one possible implementation method and does not constitute a limitation to this application.

[0200] Optionally, the second data may be transformed by the second conversion method or the first conversion method to obtain the third data.

[0201] For example, after the second device obtains the first transformation mode, that is, the transformation matrix H, it can perform the transformation on the received second data {X i Each X in i , transform to obtain X′ i , then transform the third data {X′ i} and the second perception data are fused.

[0202] For example, the second data is coordinate data including H is the transformation matrix, that is, the first transformation mode or the second transformation mode, where R 3×3 It can be considered as the rotation matrix between the perspective of the second device and the first device. is the translation vector. Thus we can get:

[0203] in

[0204] X′ i =H×X i ,Right now

[0205] It should be understood that the registration point extraction algorithm, transformation matrix calculation method, and semantic / entity segmentation model can all be determined by the first device and / or the second device, and the specific registration point extraction algorithm, transformation matrix calculation method, and semantic / entity segmentation model can be indicated through signaling. The registration point extraction algorithm, transformation matrix calculation method, and semantic / entity segmentation model can also be predefined.

[0206] S227, the second device fuses the third data and the second perception data.

[0207] It should be understood that the fusion of the third data and the second perception data can be a merging of the two data, or a joint, correlating, combining or intelligently synthesizing information processing process. This application does not limit the specific fusion method.

[0208] It should be understood that the fused data is used by the second device to perform tasks, which may be to perceive the surrounding environment, identify and track moving objects, or perform path planning in combination with navigation and map data. This application does not limit the specific content of the tasks.

[0209] Through the embodiments of the present application, a category-based data transmission method can be used to reduce the amount of transmitted data and reduce the waste of transmission resources. At the same time, combined with the use of a category-based registration point alignment method, the perspective mismatch problem of different devices can be solved while using fewer transmission resources.

[0210] FIG4 is a flow chart of another data fusion method 300 provided in an embodiment of the present application. As shown in FIG4 , the method includes at least the following steps:

[0211] S311: The first device obtains Q first categories.

[0212] S312, the first device obtains S first perception data.

[0213] S313: The first device determines M first data from the S first perception data according to the Q first categories.

[0214] In step S314 , the first device sends the second data. Correspondingly, in step S322 , the second device receives the second data.

[0215] S315: The first device obtains P second categories.

[0216] S316: The first device determines N first registration points from the S first perception data according to the P second categories.

[0217] S321: The second device obtains second perception data.

[0218] S323: The second device obtains T third categories.

[0219] S324: The second device determines R second registration points according to the T third categories and the second perception data.

[0220] The above steps are consistent with those in method 200 and will not be repeated here.

[0221] S325: The second device sends R second registration points. Correspondingly, S317: The first device obtains R second registration points.

[0222] It should be understood that the first device may receive R second registration points, or may call R second registration points that have been used historically.

[0223] S318: The first device determines a first conversion method according to the R second registration points and the N first registration points.

[0224] It should be understood that the first conversion method can be a transformation matrix, and each of the M first data can be transformed by the transformation matrix to obtain the second data. There are many methods for obtaining the transformation matrix, for example, based on a random sampling consistency algorithm, or obtained through an AI training model, etc., which is not limited in this application.

[0225] It should be understood that the first conversion method is a conversion method determined by the sensing device, and can be obtained using the same algorithm or method as the sensing center, or a different algorithm or method. Therefore, the first conversion method can be the same as or different from the second conversion method.

[0226] In step S319, the first device sends the first conversion method. Correspondingly, in step S326, the second device obtains the first conversion method.

[0227] Optionally, the first device sends the second data based on the first cycle and sends the first conversion method based on the second cycle. Correspondingly, the second device receives the second data based on the first cycle and obtains the first conversion method based on the second cycle.

[0228] It should be understood that the first device can send the second data and the first conversion method based on the same period, that is, the sending steps of S314 and S319 can be combined to send the second data and the first conversion method at the same time.

[0229] It should be understood that data transmission and conversion mode transmission can be based on different periods, which can be determined by the first device and / or the second device. Because the conversion mode is used to align the data, when the data type or angle does not change much, the previously used alignment mode can be used. Therefore, the data and conversion mode transmission periods can be different.

[0230] Through the embodiments of the present application, by sending data and transformation matrices based on different periods, the amount of transmitted data can be further reduced and the waste of transmission resources can be reduced.

[0231] S327: The second device determines third data according to the first conversion method and the second data.

[0232] Optionally, the second data is the same as the M first data, or the second data can be obtained by compressing the M first data.

[0233] It should be understood that the second device aligns the second data based on the acquired first transformation method, and the first transformation method may be a transformation matrix, or may be other transformation methods such as a formula, a model or a mapping relationship.

[0234] It should be understood that the registration point extraction algorithm, transformation matrix calculation method, and semantic / entity segmentation model can all be determined by the first device and / or the second device, and the specific registration point extraction algorithm, transformation matrix calculation method, and semantic / entity segmentation model can be indicated through signaling. The registration point extraction algorithm, transformation matrix calculation method, and semantic / entity segmentation model can also be predefined.

[0235] S328, the second device fuses the third data and the second perception data.

[0236] It should be understood that the fusion of the third data and the second perception data can be a merging of the two data, or a joint, correlating, combining or intelligently synthesizing information processing process. This application does not limit the specific fusion method.

[0237] It should be understood that the fused data is used by the second device to perform the first task. The first task can be to perceive the surrounding environment, identify and track moving objects, or perform path planning in combination with navigation and map data. This application does not limit the specific content of the task.

[0238] It should also be understood that the second device and the first device may determine the second category and the first category according to the content and needs of the task to be performed.

[0239] It should be understood that allowing the perception device, i.e., the first apparatus, to determine the first conversion method can reduce the amount of data calculation by the perception center, i.e., the second apparatus, reduce the load on the perception center, and improve processing efficiency.

[0240] Through the embodiments of the present application, a category-based data transmission method can be used to reduce the amount of transmitted data and reduce the waste of transmission resources. At the same time, combined with the use of a category-based registration point alignment method, the perspective mismatch problem of different devices can be solved while using fewer transmission resources.

[0241] FIG5 is a flow chart of another data fusion method 400 provided in an embodiment of the present application. As shown in FIG5 , the method includes at least the following steps:

[0242] S411: The first device obtains Q first categories.

[0243] S412, the first device obtains S first perception data.

[0244] S413: The first device determines M first data from the S first perception data according to the Q first categories.

[0245] S414: The first device obtains P second categories.

[0246] S415: The first device determines N first registration points from the S first perception data according to the P second categories.

[0247] S421: The second device obtains second perception data.

[0248] S422: The second device obtains T third categories.

[0249] S423: The second device determines R second registration points from the second perception data according to the T third categories.

[0250] S424: The second device sends R second registration points. Correspondingly, S416: The first device obtains R second registration points.

[0251] The above steps are consistent with those in method 300 and will not be repeated here.

[0252] S417 , determining second data according to the R second registration points, the N first registration points, and the M first data.

[0253] It should be understood that the R second registration points and the N first registration points can be processed by an AI model or training algorithm to obtain a correspondence between the R second registration points and the N first registration points of the same or different categories. Based on this correspondence, the M first data can be processed to obtain the second data.

[0254] It should be understood that the processing may also include compression processing. After the M first data are registered according to the R second registration points and the N first registration points, the registered data may be compressed.

[0255] Optionally, the first device may determine a first conversion method based on the R second registration points and the N first registration points, and determine the second data based on the first conversion method and the M first data.

[0256] It should be understood that the first conversion method can be a transformation matrix, and each of the M first data can be transformed by the transformation matrix to obtain the second data. There are many methods for obtaining the transformation matrix, for example, based on a random sampling consistency algorithm, or obtained through an AI training model, etc., which is not limited in this application.

[0257] In step S418 , the first device sends the second data, and in step S425 , the second device receives the second data.

[0258] S426: The second device fuses the second data and the second perception data.

[0259] It should be understood that the fusion of the second data and the second perception data can be a merging of the two data, or a joint, correlating, combining or intelligently synthesizing information processing process. This application does not limit the specific fusion method.

[0260] It should be understood that the fused data is used by the second device to perform tasks, which may be to perceive the surrounding environment, identify and track moving objects, or perform path planning in combination with navigation and map data. This application does not limit the specific content of the tasks.

[0261] It should also be understood that the second device and the first device may determine the second category and the first category according to the content and needs of the task to be performed.

[0262] It should be understood that allowing the perception device, i.e., the first apparatus, to determine the second data can reduce the amount of data calculation by the perception center, i.e., the second apparatus, reduce the load on the perception center, and improve processing efficiency.

[0263] It should be understood that the order in which the steps in methods 100 to 400 are described does not limit the order of execution; the order of the steps can be swapped as long as the corresponding effects are achieved.

[0264] It should also be understood that, depending on the computing and transmission capabilities of the second device and the first device, the corresponding computing steps can be performed on different devices. For example, determining the second data based on R second registration points, N first registration points, and M first data can be performed on either the first device or the second device. This can reduce the computing load on the perception center or perception device and improve computing efficiency.

[0265] Through the embodiments of the present application, a category-based data transmission method can be used to reduce the amount of transmitted data and reduce the waste of transmission resources. At the same time, combined with the use of a category-based registration point alignment method, the perspective mismatch problem of different devices can be solved while using fewer transmission resources.

[0266] According to the aforementioned method, FIG6 is a schematic diagram of a data transmission device 500 provided in an embodiment of the present application.

[0267] As shown in FIG. 6 , the data transmission device 500 may include an interface unit 510 and a processing unit 520 .

[0268] In one possible design, the data transmission device 500 may correspond to the first device (or sensing device) in the above method embodiment.

[0269] Exemplarily, the data transmission device 500 may correspond to the first device in the method according to an embodiment of the present application, and the interface unit in the device 500 may include a receiving unit for obtaining S first perception data, the S first perception data including C categories of data, and there is at least one category in the C categories that is different from the Q first categories; a processing unit, the processing unit or the receiving unit is used to obtain Q first categories, and the Q first categories are data categories used by the second device to perform the first task; the processing unit is also used to determine M first data from the S first perception data based on the Q first categories, and the categories corresponding to the M first data belong to the Q first categories, Q, S, M and C are all positive integers, and M is less than S; a sending unit is used to send second data, and the second data corresponds to the M first data.

[0270] In one possible implementation, it includes a receiving unit for obtaining S first perception data, where the S first perception data include C categories of data; a processing unit, where the processing unit or the receiving unit is used to obtain Q first categories, where the Q first categories are data categories used by the second device to perform the first task; the processing unit is also used to determine M first data from the S first perception data based on the Q first categories, where the categories corresponding to the M first data belong to the Q first categories, and Q, S, M and C are all positive integers; and a sending unit for sending second data, where the second data corresponds to the M first data.

[0271] Optionally, the M first data correspond to D categories, and D is smaller than C.

[0272] Optionally, the processing unit or the receiving unit is also used to obtain P second categories; the processing unit is also used to determine N first registration points from S first perception data based on the P second categories, the S first perception data include registration points of B categories, and the categories corresponding to the N first registration points belong to the P second categories, and P, N and B are all positive integers.

[0273] Optionally, the Q first categories are determined by the first device and / or the second device or are predefined.

[0274] Optionally, the P second categories are determined by the first device and / or the second device or are predefined.

[0275] Optionally, the second data is the same as the first data.

[0276] Optionally, the sending unit is used to send N first alignment points; or the receiving unit is also used to obtain R second alignment points, where the R second alignment points are determined by the second device, and R is a positive integer; the sending unit is used to send the first conversion method, where the first conversion method is determined based on the N first alignment points and the R second alignment points; or the receiving unit is also used to obtain R second alignment points, where the R second alignment points are determined by the second device, and R is a positive integer; the processing unit is also used to determine the second data based on the R second alignment points, the N first alignment points and the M first data.

[0277] Further optionally, the sending unit sends the second data based on the first cycle; sends N first registration points based on the second cycle; or sends the second data based on the first cycle; sends the first conversion mode based on the second cycle.

[0278] The interface unit 510 in the data transmission device 500 performs the receiving and sending operations performed by the first device in the above-mentioned method embodiments, and the processing unit 520 performs operations other than the receiving and sending operations.

[0279] FIG7 is a schematic diagram of a data transmission device 600 provided in an embodiment of the present application.

[0280] As shown in FIG. 7 , the data transmission device 600 may include an interface unit 610 and a processing unit 620 .

[0281] In one possible design, the communication device 600 may correspond to the second device (or perception center) in the above method embodiment.

[0282] Exemplarily, the communication device 600 may correspond to the second device in the method according to an embodiment of the present application, and the interface unit 610 in the communication device 600 may include a receiving unit; the receiving unit is used to receive second data, and the second data corresponds to M first data, and the M first data are determined by the first device from S first perception data based on Q first categories, and the Q first categories are data categories used by the second device to perform the first task. The S first perception data are obtained by the first device and include C categories of data, and there is at least one category in the C categories that is different from the Q first categories. The categories corresponding to the M first data belong to the Q first categories, and Q, S, M and C are all positive integers, and M is less than S.

[0283] In one possible implementation, a receiving unit is used to receive second data, where the second data corresponds to M first data, where the M first data are determined by the first device from S first perception data based on Q first categories, where the Q first categories are data categories used by the second device to perform the first task, and the S first perception data are acquired by the first device and include C categories of data, where the categories corresponding to the M first data belong to the Q first categories, and Q, S, M, and C are all positive integers.

[0284] According to the solution of the present application, the amount of data transmitted for fusion data can be reduced by extracting data in a category-based manner and then sending it.

[0285] Optionally, the processing unit is used to fuse the second data and the second perception data.

[0286] Optionally, the S first perception data include data of C categories, the M first data correspond to D categories, and D is less than C.

[0287] Optionally, the receiving unit is used to obtain second perception data, and the receiving unit or the processing unit is used to obtain T third categories; the processing unit is also used to determine R second registration points from the second perception data based on the T third categories, the second perception data includes A categories of registration points, and the categories corresponding to the R second registration points belong to the T third categories, and T, R and A are positive integers.

[0288] Optionally, the Q first categories are determined by the first device and / or the second device or are predefined.

[0289] Optionally, the T third categories are determined by the first device and / or the second device or are predefined.

[0290] Optionally, the sending unit sends R second registration points.

[0291] Optionally, the receiving unit or the processing unit is used to obtain N first registration points, which are determined by the first device, and N is a positive integer; the processing unit is also used to determine the second conversion method based on R second registration points and N first registration points; determine the third data based on the second conversion method and the second data; and fuse the third data with the second perception data; or the receiving unit or the processing unit is used to obtain the first conversion method, which is determined based on R second registration points and N first registration points; the processing unit is also used to determine the third data based on the first conversion method and the second data; and fuse the third data with the second perception data; or optionally, the receiving unit is also used to receive second data, which is determined by the first device based on R second registration points, N first registration points and M first data; and the processing unit is also used to fuse the second data with the second perception data.

[0292] Further optionally, the receiving unit receives the second data based on the first cycle; obtains N first registration points based on the second cycle; or receives the second data based on the first cycle; and obtains the first conversion mode based on the second cycle.

[0293] The interface unit 610 in the data transmission device 600 performs the receiving and sending operations performed by the second device in the above-mentioned method embodiments, and the processing unit 620 performs operations other than the receiving and sending operations.

[0294] According to the aforementioned method, FIG8 is a schematic diagram of a data device 700 provided in an embodiment of the present application. As shown in FIG8 , the device 700 can be a first device or a second device.

[0295] The apparatus 700 may include a processor 710 (i.e., an example of a processing unit) and a memory 720. The memory 720 is configured to store instructions, and the processor 710 is configured to execute the instructions stored in the memory 720 to enable the apparatus 700 to implement the steps performed by the first apparatus (or sensing device) or the second apparatus (or sensing center) in the method.

[0296] Furthermore, the device 700 may also include an interface 730 (i.e., an example of a receiving unit module or an example of a sending unit). Furthermore, the processor 710, memory 720, and interface 730 can communicate with each other through an internal connection path to transmit control and / or data signals. The memory 720 is used to store a computer program, and the processor 710 can be used to call and run the computer program from the memory 720 to control the interface 730 to receive signals or send signals, thereby completing the steps of the first device or the second device in the above method. The memory 720 can be integrated into the processor 710 or can be provided separately from the processor 710.

[0297] Optionally, if the communication apparatus 700 is a communication device, the interface 730 is a receiver or a transmitter. The receiver and the transmitter may be the same or different physical entities. When they are the same physical entity, they may be collectively referred to as a transceiver.

[0298] Optionally, if the communication device 700 is a chip or a circuit, the interface 730 is an input interface or the interface 730 is an output interface.

[0299] As an implementation method, the function of the interface 730 may be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 710 may be implemented by a dedicated processing chip, a processing circuit, a processor, or a general-purpose chip.

[0300] As another implementation, a general-purpose computer may be used to implement the communication device provided in the embodiments of the present application. Specifically, the program code implementing the functions of the processor 710 and the interface 730 is stored in the memory 720, and the general-purpose processor implements the functions of the processor 710 and the interface 730 by executing the code in the memory 720.

[0301] For the concepts, explanations, detailed descriptions and other steps involved in the device 700 and related to the technical solutions provided in the embodiments of the present application, please refer to the descriptions of these contents in the aforementioned methods or other embodiments, and will not be repeated here.

[0302] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions for implementing the method executed by the first device or the second device in the above method embodiment.

[0303] For example, when the computer program is executed by a computer, the computer can implement the method performed by the first device or the second device in the above method embodiment.

[0304] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed by a computer, enables the computer to implement the method executed by the first device (or perception device) in the above method embodiment, or the method executed by the second device (or perception center).

[0305] An embodiment of the present application further provides a communication system, which includes the first device and the second device in the above embodiment.

[0306] The explanation of the relevant contents and beneficial effects of any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, which will not be repeated here.

[0307] It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0308] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0309] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0310] It should be understood that the term "and / or" in this document simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0311] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0312] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. Those skilled in the art will clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. On the other hand, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, which may be electrical, mechanical or other forms.

[0313] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. If the functions are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the portion that contributes to the prior art, or the portion of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0314] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A data transmission method, characterized in that: The method is applicable to a first device, comprising: Acquire Q first categories, where the Q first categories are data categories used by the second device to perform the first task; Acquire S first perception data, where the S first perception data include C categories of data, and there is at least one category in the C categories that is different from the Q first categories; Determine M first data from the S first perception data according to the Q first categories, the categories corresponding to the M first data belong to the Q first categories, Q, S, M and C are all positive integers, and M is less than S; Sending second data to a second device, where the second data corresponds to the M first data.

2. The method according to claim 1, characterized in that The method further comprises: Get P second categories; According to the P second categories, N first registration points are determined from the S first perception data, the S first perception data include registration points of B categories, the categories corresponding to the N first registration points belong to the P second categories, and P, N and B are all positive integers.

3. The method according to claim 1 or 2, characterized in that: The second data is the same as the M first data, or the second data is obtained by compressing the M first data.

4. The method according to claim 2, characterized in that: The method further comprises: Sending the N first registration points; or Acquire R second registration points, where the R second registration points are determined by a second device, and R is a positive integer; send a first conversion method, where the first conversion method is determined according to the N first registration points and the R second registration points; or Acquire R second registration points, where the R second registration points are determined by a second device, and R is a positive integer; determine the second data according to the R second registration points, the N first registration points, and the M first data.

5. The method according to any one of claims 1 to 4, characterized in that The Q first categories are determined by the first device and / or the second device or are predefined.

6. The method according to claim 2 or 4, characterized in that: The P second categories are determined by the first device and / or the second device or are predefined.

7. The method according to claim 4, characterized in that The method further includes: sending the second data based on the first cycle; sending the N first registration points based on the second cycle; or Based on the first cycle, the second data is sent; based on the second cycle, the first conversion mode is sent.

8. The method according to any one of claims 1 to 7, characterized in that The M first data correspond to D categories, where D is a positive integer and D is less than C.

9. A data transmission method, characterized in that: The method is applicable to a second device, comprising: Receive second data, where the second data corresponds to M first data, where the M first data are determined by the first device from the S first perception data according to Q first categories, where the Q first categories are data categories used by the second device to perform the first task, and the S first perception data are acquired by the first device and include C categories of data, where there is at least one category among the C categories that is different from the Q first categories, and the categories corresponding to the M first data belong to the Q first categories, where Q, S, M and C are all positive integers, and M is less than S.

10. The method according to claim 9, characterized in that The method further comprises: Acquiring second perception data; Get T third categories; According to the T third categories, R second registration points are determined from the second perception data, the second perception data includes registration points of A categories, the categories corresponding to the R second registration points belong to the T third categories, and T, R and A are positive integers.

11. The method according to claim 10, characterized in that The method further comprises: The R second registration points are sent.

12. The method according to claim 10, characterized in that The method further comprises: Acquire N first registration points, where the N first registration points are determined by a first device, and N is a positive integer; determine a second conversion method according to the R second registration points and the N first registration points; determine third data according to the second conversion method and the second data; and fuse the third data with the second perception data; or Acquire a first conversion method, where the first conversion method is determined according to the R second registration points and the N first registration points; determine third data according to the first conversion method and the second data; and fuse the third data with the second perception data; or The second data and the second perception data are fused, and the second data is determined by the first device based on the R second registration points, the N first registration points and the M first data.

13. The method according to any one of claims 9 to 12, characterized in that The Q first categories are determined by the first device and / or the second device or are predefined.

14. The method according to any one of claims 10 to 12, characterized in that The T third categories are determined by the first device and / or the second device or are predefined.

15. The method according to claim 12, characterized in that Based on the first cycle, receiving the second data; based on the second cycle, acquiring the N first registration points; or Based on the first cycle, receiving the second data; Based on the second period, the first conversion mode is obtained.

16. The method according to any one of claims 9 to 15, characterized in that The M first data correspond to D categories, where D is smaller than C.

17. A data transmission device, characterized in that: include: A receiving unit, configured to obtain S first perception data, wherein the S first perception data include C categories of data, and at least one category among the C categories is different from the Q first categories; A processing unit, wherein the processing unit or the receiving unit is used to obtain Q first categories, where the Q first categories are data categories used by the second device to perform the first task; the processing unit is also used to determine M first data from the S first perception data according to the Q first categories, where the categories corresponding to the M first data belong to the Q first categories, and Q, S, M and C are all positive integers, and M is less than S; A sending unit is used to send second data, where the second data corresponds to the M first data.

18. The device according to claim 17, characterized in that The receiving unit or the processing unit is further configured to obtain P second categories; The processing unit is also used to determine N first registration points from the S first perception data according to the P second categories, the S first perception data include registration points of B categories, the categories corresponding to the N first registration points belong to the P second categories, and P, N and B are all positive integers.

19. The device according to claim 17, characterized in that The second data is the same as the M first data, or the second data is obtained by compressing the M first data.

20. The device according to claim 18, characterized in that The sending unit is configured to send the N first registration points; or The receiving unit or the processing unit is further configured to obtain R second registration points, where the R second registration points are determined by a second device, and R is a positive integer; the sending unit is configured to send a first conversion method, where the first conversion method is determined according to the N first registration points and the R second registration points; or The receiving unit or the processing unit is also used to obtain R second registration points, where the R second registration points are determined by the second device, and R is a positive integer; the processing unit is used to determine the second data based on the R second registration points, the N first registration points and the M first data.

21. The device according to any one of claims 17 to 20, characterized in that The Q first categories are determined by the first device and / or the second device or are predefined.

22. The device according to claim 18 or 20, characterized in that The P second categories are determined by the second device and / or the first device or are predefined.

23. The device according to claim 20, characterized in that The sending unit sends the second data based on the first period; sends the N first registration points based on the second period; or Based on the first cycle, sending the second data; Based on a second period, the first conversion mode is sent.

24. The device according to any one of claims 17 to 23, characterized in that The M first data correspond to D categories, where D is a positive integer and D is less than C.

25. A data transmission device, characterized in that: include: A receiving unit is used to receive second data, where the second data corresponds to M first data, the M first data are determined by a first device from the S first perception data according to Q first categories, the S first perception data are acquired by the first device and include C categories of data, there is at least one category among the C categories that is different from the Q first categories, the categories corresponding to the M first data belong to the Q first categories, Q, S, M and C are all positive integers, and M is less than S.

26. The device according to claim 25, characterized in that The receiving unit is also used to receive second perception data; The receiving unit or the processing unit is used to obtain T third categories; The processing unit is also used to determine R second registration points from the second perception data based on the T third categories, the second perception data includes A categories of registration points, the categories corresponding to the R second registration points belong to the T third categories, and T, R and A are positive integers.

27. The device according to claim 26, characterized in that The device also includes: a sending unit, sending the R second registration points.

28. The device according to claim 26, characterized in that The receiving unit or the processing unit is used to obtain N first registration points, where the N first registration points are determined by the first device, and N is a positive integer; the processing unit is further used to determine a second conversion method according to the R second registration points and the N first registration points; determine third data according to the second conversion method and the second data; and fuse the third data with the second perception data; or The receiving unit or the processing unit is used to obtain a first conversion mode, where the first conversion mode is determined according to the R second registration points and the N first registration points; the processing unit is further used to determine third data according to the first conversion mode and the second data; and fuse the third data with the second perception data; or The processing unit is also used to fuse the second data and the second perception data, where the second data is determined by the first device based on the R second registration points, the N first registration points and the M first data.

29. The device according to any one of claims 25 to 28, characterized in that The Q first categories are determined by the first device and / or the second device or are predefined.

30. The device according to any one of claims 26 to 28, characterized in that The T third categories are determined by the first device and / or the second device or are predefined.

31. The device according to claim 28, characterized in that The receiving unit receives the second data based on the first cycle; and obtains the N first registration points based on the second cycle; or Based on the first cycle, receiving the second data; Based on the second period, the first conversion mode is obtained.

32. The device according to any one of claims 25 to 31, characterized in that The M first data correspond to D categories, where D is smaller than C.

33. A data transmission device, characterized in that: The data transmission device includes a processor and a storage medium, wherein the storage medium stores instructions, and when the instructions are executed by the processor, the method according to any one of claims 1 to 8 is implemented, or the method according to any one of claims 9 to 16 is implemented.

34. A computer-readable storage medium, characterized in that: The computer-readable storage medium comprises instructions, which, when executed by a processor, enable the method according to any one of claims 1 to 8 to be implemented, or enable the method according to any one of claims 9 to 16 to be implemented.

35. A computer program product, characterized in that The computer program product comprises instructions, which, when executed by a processor, enable the method according to any one of claims 1 to 8 to be implemented, or enable the method according to any one of claims 9 to 16 to be implemented.

36. A data transmission system, characterized in that: The data transmission system comprises: a unit or module for executing the method according to any one of claims 1 to 8, and a unit or module for executing the method according to any one of claims 9 to 16.

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