Perception data transmission method and device

Abstract

The invention provides a sensing data transmission method and device. The method comprises the following steps: receiving first sensing data sent by a first communication device; first indication information is sent, the first indication information is used for indicating the first communication device to feed back second sensing data, and the information amount of the second sensing data is larger than that of the first sensing data. The overhead of transmitting sensing data can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication, and in particular to a sensing data transmission method and device. BACKGROUND

[0002] With the continuous development of communication technology, Internet of Things, artificial intelligence, big data and automation technology are reconfiguring traditional industries, giving birth to smart cities, autonomous driving and other intelligent applications. For example, with the advancement of 6G technology, important infrastructure is gradually evolving into integrated sensing and communication (ISAC) unified infrastructure. ISAC enables base stations to have sensing capabilities, enabling mobile communication systems to provide sensing services for users.

[0003] In an ISAC network, each node (also referred to as a station (STA) or a sensing node) with sensing capabilities, if it performs independent single-station sensing, will have limitations such as small sensing range, limited incident angle, and limited accuracy. Therefore, multi-node cooperative sensing can be used, i.e., multi-node, multi-mode, and multi-frequency point cooperative sensing and sensing data fusion, to perform sensing fusion on sensing data of multiple nodes and different modes to solve the problems of single-station sensing. However, cooperative sensing has the problem of large sensing transmission overhead. Therefore, how to reduce the transmission overhead of sensing data has become a problem to be solved. SUMMARY

[0004] The present application provides a sensing data transmission method and device, which can reduce the transmission overhead of sensing data.

[0005] In a first aspect, the present application provides a sensing data transmission method. The method is applied to a second communication device side, and specifically, the method is executed by the second communication device or a second node including the second communication device. The second communication device can be a chip, etc. The method includes: receiving first sensing data sent by a first communication device; and sending first indication information, the first indication information being used to indicate that the first communication device feeds back second sensing data, and an information amount of the second sensing data is greater than an information amount of the first sensing data.

[0006] In the present application, the second communication device first receives the first communication device's first reported sensing data, i.e., receives the first sensing data, and based on the first sensing data, sends the first communication device first indication information, instructing the first communication device to report at the second level, and instructing the second level reporting includes instructing the first communication device to send the second sensing data. Wherein, the first sensing data can be data extracted from the information of the scatterers perceived by the first communication device, such as, from the coordinates of the perceived scatterers, extracting the features that can represent the position distribution, to obtain rough data that can outline the scatterer coordinate situation; the second sensing data can be specific information of the scatterers perceived by the second communication device, such as, can include the coordinates, number, etc. of the scatterers. It should be understood that the more scatterers perceived by the first communication device, the less resources occupied (or required) by the transmission of the first sensing data obtained by the first communication device, compared with the second sensing data. For example, if the first communication device perceives the information of ten thousand scatterers, then the first sensing data extracted from these information may include several data to represent these information, and the second sensing data may include different information corresponding to each of the ten thousand scatterers. Thus, it can be seen that the amount of information of the second sensing data is much larger than that of the first sensing data.

[0007] The present application transmits the sensing data by reporting the first sensing data at the first level, and if the second communication device instructs to feedback the second sensing data, the first communication device further feedbacks the second sensing data, which greatly reduces the resources occupied by the transmission of the sensing data at the first level, reduces the transmission overhead, and reduces the waste of resources. At the same time, the second sensing data required by the second communication device is reported according to the indication, which can not only reduce the overhead caused by the reporting of useless sensing data, but also will not miss the sensing data that needs to be reported, thereby saving the transmission overhead and ensuring the transmission efficiency.

[0008] In a possible implementation, the first sensing data includes at least one of a target number perceived by the first communication device, position information of the target in space, target speed, or target type. Exemplarily, a plurality of scatterers (also referred to as scattering points) are spatially clustered, the scatterers clustered into a pile are referred to as a "scatterer cluster" (also simply referred to as a "cluster"), and the scatterers in each "scatterer cluster" are defined as belonging to the same target. The target number includes the number of "scatterer clusters"; the position information of the target in space includes the target distribution, which can include position information based on a first region divided in space, and the first region can be a grid; the target speed includes the average speed of the scatterers in each "scatterer cluster"; and the target type includes indicating which category the "scatterer cluster" belongs to, such as pedestrians, buildings, vehicles, etc.

[0009] It can be understood that the first perception data is related to a feature category extracted from information of at least one scatterer perceived, and the feature category includes a target quantity, position information of the target in space, a target speed, or a target type, etc. Different perception information can be expressed in a "scatterer cluster" unit in a relatively rough but concise manner. After the second communication device receives the first perception data reported at the first level, the feature category carried by the first perception data can be used to more easily determine whether the first communication device needs to send second perception data based on a perception task to be performed. That is, the data of the target quantity, the position information of the target in space, the target speed, or the target type in the first perception data in the "scatterer cluster" unit is more aggregated and more likely to represent the state of an object, so as to make the second communication device more accurate in determining whether corresponding second perception data is needed based on the first perception data.

[0010] In a possible implementation, the first perception data includes at least one of a target quantity, position information of the target in space, a target speed, or a target type, a scatterer quantity, an average signal-to-noise ratio, or an average power perceived by the first communication device. In addition to carrying data in the "scatterer cluster" unit, the first perception data can also carry a current scatterer quantity, an average signal-to-noise ratio, an average power, and the like, to help the second communication device determine whether the perception data of the first communication device meets the perception standard thereof. For example, the second communication device needs to perceive information of ten thousand scatterers in a current scene, and considers that the perception is reliable. If the scatterer quantity in the first perception data is less than ten thousand, the second communication device can determine that the perception is unreliable, and does not need to provide more accurate and detailed perception data, and thus does not send first indication information to the first communication device.

[0011] In a possible implementation, the first perception data can be carried in first information, and the first information can further include site information indicating related information of the first node or the first node. The site information can include at least one of a perception link identifier, a sending end identifier, a receiving end identifier, a time, a direction, a configuration, or a capability. The first perception data or the first information can be separate information, or can be carried in other perception data transmission information. The configuration mode is flexible, and can be applied in different scenarios to implement one-level reporting.

[0012] In a possible implementation, the method further includes: sending second indication information, the second indication information being used to indicate that the first node sends the first sensing data to the second node, that is, the second communication device can indicate the first communication device to feed back the data sensed by the first communication device through one indication information, and the data is sent in the form of the first sensing data. Alternatively, the second communication device sends the first sensing data and the content contained in the first sensing data, and indicates that the content contained in the first sensing data includes at least one of a target quantity, position information of the target in space, target speed or target type, scatterer quantity, average signal-to-noise ratio, average power, and the content contained in the first sensing data can be determined according to the current sensing task of the second communication device, so that the first sensing data is more targeted.

[0013] In a possible implementation, the second sensing data reported in the second level can be reported in different data modes. For example, the second sensing data includes information of scatterers sensed by the first communication device, and the scatterer information includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer; or the scatterer information includes at least one of a first region size corresponding to at least one scatterer sensed by the first communication device, a position range of the first region in space, or a first region matrix, and the first region is a region obtained by dividing the space. For example, the first region can be a grid, the grid is a data form in which the space is divided into regular grids, each grid is called a unit, and corresponding attribute values are assigned to the units to represent space entities, and the second sensing data can include at least one of a grid size, a grid range, or a grid matrix of the grid. The second sensing data is corresponding data of the first sensing data, and can be positively correlated with the number of scatterers, express more accurate and specific information of the scatterers, and have a larger amount of information than the first sensing data. When the second communication device needs to report in the second level, the second sensing data can provide more accurate and detailed sensing data.

[0014] In a possible implementation, before the first indication information is sent, the method further includes: determining, according to the first perception data and a perception task, whether the first communication device needs to feed back the second perception data. The second communication device can determine, according to the first perception data and the current perception task, whether the first communication device needs to feed back the second perception data, where the perception task can be one or more. The second communication device can also determine, based on the first perception data and the perception task, whether the first communication device needs to feed back the second perception data in combination with other factors, such as channel quality. If the first communication device needs to feed back the second perception data, the first indication information is sent to the first communication device, and if the first communication device does not need to feed back the second perception data, the first indication information is not sent to the first communication device, or other indication information is sent to indicate that the second perception data is not sent. The judgment rule (i.e., whether the first communication device needs to feed back the second perception data) of the second communication device and the indication mode to the first communication device can be flexibly adjusted according to the scene in which the perception data transmission method is applied, so that the perception data transmission method is more widely applied.

[0015] In a possible implementation, the first indication information is also used to indicate, to the first node, content contained in the second perception data, and the content contained in the second perception data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or at least one of a first region size corresponding to a scatterer, a location range of the first region in space, or a first region matrix. For example, if the second communication device has a requirement on the form of the second perception data, the second communication device can carry an indication of the content contained in the second perception data in the first indication information. For example, the second communication device needs to report in a data mode of each scatterer feature, and the first communication device can carry at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer in the second perception data. For example, the second communication device needs to report based on a first region, such as a grid, and the first communication device can carry at least one of a grid size, a grid range, or a grid matrix of a grid corresponding to a scatterer in the second perception data.

[0016] In a second aspect, the present application provides a perception data transmission method, which is applied to a first communication device side, and specifically, the method is executed by the first communication device or a first node including the first communication device, where the first communication device can be a chip or the like, and the method includes: sending first perception data; and feeding back second perception data according to first indication information if the first indication information is received, where an information amount of the second perception data is greater than an information amount of the first perception data.

[0017] In a possible implementation, the first perception data includes at least one of a number of targets perceived by the first communication device, position information of the targets in space, target speed, or target type.

[0018] In a possible implementation, the first perception data includes at least one of a number of targets perceived by the first communication device, position information of the targets in space, target speed, target type, a number of scatterers, average signal-to-noise ratio, or average power.

[0019] In a possible implementation, the second perception data includes information of scatterers perceived by the first communication device, and the information of the scatterers includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or the information of the scatterers includes at least one of a first region size corresponding to the scatterer, a position range of the first region in space, or a first region matrix.

[0020] In a possible implementation, the method further includes that the first communication device autonomously triggers sending of the first perception data based on the information of the scatterers perceived, or sends the first perception data to the second node according to an indication of the second indication information based on receiving the second indication information. The second indication information can be used to indicate sending of the first perception data to the second node, or used to indicate sending of the first perception data and content included in the first perception data, and the content included in the first perception data includes at least one of a number of targets perceived by the first communication device, position information of the targets in space, target speed, target type, a number of scatterers, average signal-to-noise ratio, or average power.

[0021] In a possible implementation, the first indication information is further used to indicate, to the first node, content included in the second perception data, and the content included in the second perception data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or the information of the scatterers includes at least one of a first region size corresponding to the scatterer, a position range of the first region in space, or a first region matrix.

[0022] It should be understood that the second aspect of the present application corresponds to the technical solution of the first aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding possible implementation are similar, which will not be repeated here.

[0023] In a third aspect, the present application provides a second communication device, comprising: a receiving module, configured to receive first sensing data sent by a first communication device; and a sending module, configured to send first indication information, the first indication information being used to instruct the first communication device to feed back second sensing data, the second sensing data having a larger information quantity than the first sensing data.

[0024] In a possible implementation, the first sensing data comprises at least one of a target quantity, position information of a target in space, target speed or target type sensed by the first communication device.

[0025] In a possible implementation, the first sensing data further comprises at least one of a scatterer quantity, average signal-to-noise ratio or average power.

[0026] In a possible implementation, the second sensing data comprises scatterer information sensed by the first communication device, the scatterer information comprising at least one of a scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, speed or credibility of each scatterer; or the scatterer information comprising at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix, wherein the first region is a region obtained by dividing space.

[0027] In a possible implementation, the second communication device further comprises a processing module, configured to determine, according to the first sensing data and a sensing task, that the first communication device needs to feed back the second sensing data.

[0028] In a possible implementation, the sending module is further configured to send second indication information, the second indication information being used to instruct the first node to send the first sensing data to a second node, or to send the first sensing data and content contained in the first sensing data, the content contained in the first sensing data comprising at least one of a target quantity, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio or average power sensed by the first communication device.

[0029] In a possible implementation, the first indication information is further used to instruct the first node about content contained in the second sensing data, the content contained in the second sensing data comprising at least one of a scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, speed or credibility of each scatterer; or comprising at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix.

[0030] It should be understood that the third aspect of the present application is the same as the technical solution of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation manners are similar, which will not be described here again.

[0031] In a fourth aspect, the present application provides a first communication device, comprising: a sending module, configured to send first sensing data; and the sending module is further configured to, if the receiving module receives first indication information, feed back second sensing data according to the first indication information, wherein the information amount of the second sensing data is greater than the information amount of the first sensing data.

[0032] In a possible implementation manner, the first sensing data comprises at least one of a target quantity, position information of a target in space, target speed or target type sensed by the first communication device.

[0033] In a possible implementation manner, the first sensing data further comprises at least one of a scatterer quantity, average signal-to-noise ratio or average power.

[0034] In a possible implementation manner, the second sensing data comprises scatterer information sensed by the first communication device, and the scatterer information comprises at least one of a scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, speed or credibility of each scatterer; or the scatterer information comprises at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix, wherein the first region is a region obtained by dividing space.

[0035] In a possible implementation manner, the receiving module is further configured to receive second indication information, wherein the second indication information is used to indicate that the first node sends the first sensing data to a second node, or the first sensing data and content contained in the first sensing data, and the content contained in the first sensing data comprises at least one of a target quantity, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio or average power sensed by the first communication device.

[0036] In a possible implementation manner, the first indication information is further used to indicate, to the first node, content contained in the second sensing data, and the content contained in the second sensing data comprises at least one of a scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, speed or credibility of each scatterer; or at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix.

[0037] It should be understood that the fourth aspect of the present application corresponds to the technical solutions of the first aspect of the present application, and is the same as the technical solutions of the second aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding possible implementation manners are similar, which will not be described here again.

[0038] In a fifth aspect, the present application provides a communication apparatus, which can be a node or a device (for example, a chip) in a node. The communication apparatus comprises a module for performing the method as described in any of the above aspects or any possible implementation manner of any of the aspects, for example, a processing module and a transceiver module.

[0039] In a sixth aspect, the present application provides a communication apparatus, which can be a node or a device (for example, a chip) in a node. The communication apparatus comprises a transceiver and a processor for performing the method as described in any of the above aspects or any possible implementation manner of any of the aspects, for example, the transceiver can be a radio frequency module, and the processor can include a memory or not include a memory.

[0040] Optionally, the communication apparatus comprises a transceiver, a memory and a processor for performing the method as described in any of the above aspects or any possible implementation manner of any of the aspects, for example, the memory can be arranged in the communication apparatus or can be an external device of the communication apparatus.

[0041] In a seventh aspect, the present application provides a communication apparatus, which comprises an input / output interface and a logic circuit, the input / output interface is used to acquire input information and / or output information; the logic circuit is used to perform the method as described in any of the above aspects or any possible implementation manner of any of the aspects, and processes and / or generates output information according to the input information.

[0042] In an eighth aspect, the present application provides a communication apparatus, which comprises at least one processor and a storage medium, the at least one processor is coupled with the storage medium, and the storage medium stores instructions, when the instructions are run by the processor, the processor is used to perform the method as described in any of the above aspects or any possible implementation manner of any of the aspects. The storage medium can be arranged in the communication apparatus or arranged outside the communication apparatus.

[0043] In a ninth aspect, the present application provides a computer readable storage medium, which stores a computer program, when the computer program is run by a processor, the method as described in any of the above aspects or any possible implementation manner of any of the aspects is realized.

[0044] In a tenth aspect, the present application provides a computer program product, which comprises instructions, when the instructions are run on a processor, the method as described in any of the above aspects or any possible implementation manner of any of the aspects is realized.

[0045] In a eleventh aspect, the present application provides a chip comprising: an interface circuit and a processor. The interface circuit is connected to the processor, and the processor is configured to cause the chip to perform the method of any one of the preceding aspects and / or any possible implementation of the method.

[0046] In a twelfth aspect, the embodiments of the present application further provide a chip comprising: at least one processor configured to execute code in a memory, and when the at least one processor executes the code, the chip implements the method of any one of the preceding aspects and / or any possible implementation of the method.

[0047] Optionally, the chip further comprises a memory. The memory can be integrated with the processor, or can be separately arranged from the processor. The memory can be integrated with the processor on the same chip, or can be separately arranged on different chips.

[0048] Optionally, the chip can be an integrated circuit.

[0049] In a thirteenth aspect, the present application provides a system comprising the second communication device of the third aspect and the first communication device of the fourth aspect.

[0050] In a fourteenth aspect, the present application provides a system comprising the device of any one of the third aspect to the twelfth aspect.

[0051] It should be understood that the fifth aspect to the fourteenth aspect of the present application are consistent or corresponding with the technical solutions of the first aspect and the second aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding possible implementation manner are similar, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0053] Figure 1 is a structural schematic diagram of a system 100 provided by the embodiments of the present application;

[0054] Figure 2 is one of the flow schematic diagrams of a perception data transmission method provided by the embodiments of the present application;

[0055] Figure 3Fig. 2 is a flowchart of a sensing data transmission method according to an embodiment of the present application;

[0056] Figure 4 Fig. 3 is a schematic diagram of gridding according to an embodiment of the present application;

[0057] Figure 5 Fig. 4 is a flowchart of a sensing data transmission method according to an embodiment of the present application;

[0058] Figure 6 Fig. 5 is a schematic diagram of an environment for a sensing data transmission method according to an embodiment of the present application;

[0059] Figure 7 Fig. 6 is a schematic diagram of a sensing data reporting structure according to an embodiment of the present application;

[0060] Figure 8 Fig. 7 is a schematic diagram of a sensing data reporting structure according to an embodiment of the present application;

[0061] Figure 9 Fig. 8 is a flowchart of a sensing data transmission method according to an embodiment of the present application;

[0062] Figure 10 Fig. 9 is a schematic diagram of an environment according to a sensing data transmission method according to an embodiment of the present application;

[0063] Figure 11 Fig. 10 is a schematic diagram of an environment according to a sensing data transmission method according to an embodiment of the present application;

[0064] Figure 12 Fig. 11 is a schematic diagram of an environment according to a sensing data transmission method according to an embodiment of the present application;

[0065] Figure 13 Fig. 12 is a schematic diagram of a second communication device according to an embodiment of the present application;

[0066] Figure 14 Fig. 13 is a schematic diagram of another second communication device according to an embodiment of the present application;

[0067] Figure 15 Fig. 14 is a schematic diagram of a first communication device according to an embodiment of the present application;

[0068] Figure 16 Fig. 15 is a schematic diagram of a device 60 according to an embodiment of the present application;

[0069] Figure 17 Fig. 16 is a schematic diagram of a device 70 according to an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to better understand the scheme in the application, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments.

[0071] The term "and / or" used in this document merely describes an association relationship of associated objects, and indicates that three relationships can exist, for example, A and / or B can represent three cases of existence of A alone, existence of A and B together, and existence of B alone, where A and B can be single or multiple. "At least one of the following" or similar expressions are used to represent any combination of the listed items, for example, at least one of A, B and (or) C can represent the following three cases: existence of A alone, existence of B alone, existence of C alone, existence of A and B together, existence of B and C together, existence of A and C together, and existence of A, B and C together, where A, B and C can be single or multiple.

[0072] The terms "first" and "second" and the like in the description and claims of the embodiments of the application are used to distinguish different objects, not to describe a specific order of the objects. For example, the first target object and the second target object are used to distinguish different target objects, not to describe a specific order of the target objects.

[0073] In the embodiments of the application, the words such as "exemplary" or "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplary" or "for example" are intended to present the relevant concept in a specific manner.

[0074] In the description of the embodiments of the application, unless otherwise specified, the meaning of "a plurality of" is two or more. For example, a plurality of processing units means two or more processing units; a plurality of systems means two or more systems.

[0075] In order to facilitate understanding, the related terms or terms used in the embodiments of the application will be explained first as follows:

[0076] 1. Mono-static sensing, also known as self-emission self-reception sensing or single station sensing

[0077] is a sensing mode in sensing technology, mainly referring to a mode in which a sensing node transmits a sensing signal, the sensing signal encounters a scatter after reflection, the sensing node receives the reflected sensing signal of the scatter, and determines the position of the scatter based on the reflected sensing signal.

[0078] 2、Bi-static sensing, also known as self-emission and other-reception sensing or multi-transmission and reception point sensing, etc.

[0079] is a sensing mode in sensing technology, mainly applied in a scene including two or more sensing nodes, assuming that the scene includes a sensing node as a sending end and a sensing node as a receiving end, the sensing node as the sending end sends a sensing signal, the sensing signal encounters a scatter and is reflected, and the sensing node as the receiving end receives the reflected sensing signal, and the receiving end determines the position of the scatter based on the reflected sensing signal.

[0080] 3、Sensing fusion

[0081] refers to, for a certain sensing node, the scatter determined by different sensing nodes (including other sensing nodes) can be acquired, and the scatters determined by different sensing nodes are fused, so that the distribution of the scatter in a larger space range is known, so as to expand the sensing range or improve the sensing accuracy.

[0082] 4、Cooperative sensing

[0083] Through cooperative sensing and sensing data fusion of multiple nodes, multiple modes and multiple frequency points, that is, sensing fusion of sensing data of multiple nodes and different modes.

[0084] 5、Scatter, also known as scattering point

[0085] refers to an object or region that can reflect, refract or diffuse incident light.

[0086] 6、Information amount

[0087] In the embodiments of the present application, the information amount can represent how much information, and can also be used to represent how much data occupies resources.

[0088] In some exemplary data transmission scenarios, a plurality of nodes can be included, including a communication and sensing integrated node, a communication node, or a sensing node, etc. With the continuous development of communication technology, the communication node can also realize the function of sensing information by deploying a corresponding device. In the embodiments of the present application, all nodes capable of sensing information are collectively referred to as nodes (or sensing nodes). The sensing data transmission method provided by the embodiments of the present application can be applied to a wireless communication system, such as a cellular network or a wireless local area network system. The method can be implemented by a sensing node or a device deployed in the sensing node. The sensing node can be a network device (including a base station), a user equipment (or terminal device, etc.), a sensing management function (SMF), etc. The device provided by the embodiments of the present application can be a whole machine device, or a chip or processing system installed in the whole machine device, etc. The device installed with the chip or processing system can realize the method and function of the embodiments of the present application under the control of the chip or processing system, such as the device can be a communication device or a chip or processor in the communication device, etc. Figure 1 is a structural schematic diagram of a system 100 provided by the embodiments of the present application, as shown in Figure 1 The system 100 includes a plurality of nodes, such as a first node 10, a second node 20, and a third node 30, etc. The first node 10 can be a base station, a RAN, etc. network device, a UE (or terminal device), an SMF, etc. Figure 1 Taking the first node 10 as an example, the second node 20 can be a base station (BS) (or RAN) network device, a UE (or terminal device), an SMF, etc. Figure 1 Taking the second node 20 as an example, the third node 30 can be a base station, a RAN, etc. network device, a UE (or terminal device), an SMF, etc. Figure 1 Taking the third node 30 as an example, the SMF, etc. Figure 1The system 100 can be a wireless local area network (WLAN), a narrow band-internet of things (NB-IoT), a global system for mobile communications (GSM), an enhanced data rates for GSM evolution (EDGE), a wideband code division multiple access (WCDMA), a code division multiple access 2000 (CDMA2000), a time division-synchronization code division multiple access (TD-SCDMA), an LTE system, satellite communication, a fifth-generation (5G) communication system, a sixth-generation (6G) communication system, or a new communication system to be developed in the future.

[0089] Examples of the UE involved in the embodiments of the present application include a terminal (terminal device), a mobile station (MS), a mobile terminal (MT), and the like. The UE can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on water, such as a ship, etc.; and can also be deployed in the air, such as an airplane, a balloon, a satellite, and the like. The UE can be a mobile phone, a pad, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self driving, a wireless terminal device in remote medical treatment, a wireless terminal device in smart grid, a wireless terminal in transportation safety, a wireless terminal device in smart city, a wireless terminal in smart home, a robot, a smart robot, and the like.

[0090] The network device involved in the embodiments of the present application is exemplified as follows: an apparatus providing a wireless communication function for a terminal device in a radio access network (RAN), referred to as a RAN device. The RAN can be an access network in the 3rd generation partnership project (3GPP), for example, a 4G, 5G, or future-oriented 6G network. The RAN can also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (CRAN), or a communication network of two or more of the above networks. The RAN device can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5th generation (5G) mobile communication system, a next-generation base station in a 6th generation (6G) mobile communication system, a base station in a future mobile communication system, an access node in a wireless fidelity (WiFi) system, a long-range radio (LoRa) system, or a vehicle-to-everything system. The RAN device can also be a module or unit that completes part of the functions of a base station, for example, a central unit (CU), a distributed unit (DU), or a radio unit (RU). The CU here completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP). The DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete part of the physical layer or the entire physical layer. For specific descriptions of the above-mentioned protocol layers, please refer to the relevant technical specifications of the 3rd generation partnership project (3GPP). The CU and the DU can be separately arranged or included in the same network element, such as a baseband unit (BBU).The RU can be included in a radio frequency device or a radio frequency unit, for example, included in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). In different systems, the CU, the DU, or the RU can also have different names, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, and the RU can also be referred to as an O-RU. Any of the CU (or CU-CP, CU-UP), the DU, and the RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module. The wireless access network device can be a macro base station, a micro base station, or an indoor station, and can also be a relay node, a donor node, or the like. The embodiments of the present application do not limit the specific technology and specific device form adopted by the wireless access network device. For ease of description, the base station is taken as an example of the wireless access network device.

[0091] The SMF involved in the embodiments of the present application is applicable to a sensing network element, which can be deployed alone or combined with other network elements.

[0092] In a possible implementation, the perception data transmission method provided by the embodiment of the present application can be applied in a scenario including a center node and other nodes (such as edge nodes), or the method can also be applied in a scenario without a center node. In the scenario of perception data transmission, a device with a perception fusion requirement (that is, with a perception task, and the perception data needs to be obtained by fusing the perception information obtained by other nodes) is referred to as a second communication device (or can be referred to as a superior device), a node in which the second communication device is located (that is, a node including the second communication device) is defined as a second node (or can be referred to as a superior node), or when the second communication device is a node, the node is defined as the second node, a device that sends perception data to the second node is referred to as a first communication device (or can be referred to as an inferior device), a node in which the first communication device is located (that is, a node including the first communication device) is defined as a first node (or can be referred to as an inferior node), or when the first communication device is a node, the node is defined as the first node. In the embodiment of the present application, the data, information and the like sent by the first communication device to the second communication device are referred to as reporting. In the embodiment of the present application, the functions of each node can also be performed by a module (such as a chip) therein, or can be performed by a control subsystem including the function, and the like. For example, if the node is a base station, the main body of the node performing each corresponding step of the embodiment of the present application can be a control center in intelligent power grids, industrial control, intelligent transportation, smart city and the like. Further, the perception data transmission method provided in the embodiment of the present application can also be applied in other systems, and accordingly, the name can also be replaced by the name of the corresponding function in other systems, without being limited by the examples of the embodiment of the present application.

[0093] The embodiment of the present application provides a perception data transmission method, which does not need to send all the perception data perceived by each first communication device to the second communication device, and therefore can reduce the overhead of transmitting the perception data. Figure 2 FIG. 1 is one of flow diagrams of a perception data transmission method provided by the embodiment of the present application, and the method is taken as an example to illustrate that the method is performed by a second communication device (for example, a chip). The second communication device can be a device in a second node, or can be a second node, the first communication device can be a device in a first node, or can be a first node, and the embodiment of the present application does not make a limitation, for example, as shown in FIG. 1, the method includes S101 to S102. Figure 2

[0094] S101, the second communication device receives first perception data sent by the first communication device.

[0095] Reference is made to FIG. 2. Figure 1 ​For example, the second communication device can be the base station 20, and the first communication device can be the UE 10, or the SMF 30; or the second communication device can be the UE 10, and the first communication device can be the base station 20, or the SMF 30; or the second communication device can be the SMF 30, and the first communication device can be the UE 10, or the base station 20, and the like.

[0096] The first perception data includes the first communication device perceiving the scatterers in the current scene, and the perception data is obtained in a predetermined manner according to the perceived information. For example, the first communication device can obtain a set of data as the first perception data by a predetermined algorithm or a predetermined summary manner from the information of each scatterer in the current scene. The first communication device usually perceives a large number of scatterers, for example, a large number (such as thousands or tens of thousands) of scatterers can be perceived at one time. By the predetermined manner, the large amount of scatterer information obtained is calculated or summarized to obtain a set of first perception data, which can greatly reduce the amount of information carried in the first perception data and still represent the information of the scatterers perceived by the first communication device.

[0097] For example, the second communication device can receive the first perception data sent by multiple first communication devices. For example, referring to FIG. 1, the base station 20 can receive the first perception data sent by the UE 10 and the UE 10'. Figure 1 For example, the second communication device can receive the first perception data sent by multiple first communication devices. For example, referring to FIG. 1, the base station 20 can receive the first perception data sent by the UE 10 and the UE 10'.

[0098] S102, the second communication device sends first indication information, the first indication information is used to instruct the first communication device to feed back second perception data, and the information amount of the second perception data is greater than that of the first perception data.

[0099] After receiving the first perception data, the second communication device can send the first indication information to the second communication device that needs to feed back the second perception data. For example, the communication device that needs to feed back the second perception data can be one or more. The embodiment of the present application takes the communication device as a first communication device for example, and other communication devices can refer to the first communication device provided by the embodiment of the present application, which will not be described in detail.

[0100] The second perception data can be, for example, data obtained by the first communication device perceiving information of scatterers. The second perception data can be, for example, information corresponding to each scatterer. Compared with the first perception data, it can be seen that the more scatterers perceived by the first communication device, the greater the amount of information of the second perception data than the amount of information of the first perception data. For example, the first communication device perceives information of ten thousand scatterers, and if a set of data related to a feature category is extracted from the information of the ten thousand scatterers according to a pre-set manner based on coordinates of the scatterers and the like, as the first perception data, and the first perception data is transmitted to the second communication device, the transmission overhead is much smaller than that of transmitting the information of the ten thousand scatterers perceived by the first communication device to the second communication device without any extraction, summarization or calculation. The amount of information to be transmitted for transmitting the first perception data is related to the feature category, and the amount of information to be transmitted for transmitting the second perception data is positively related to the number of scatterers. Assuming that there are four feature categories and ten thousand scatterers, the first perception data can carry data corresponding to the four features, for example, four pieces of data, and the second perception data needs to carry data related to the ten thousand scatterers. Through the example, it can be seen that the amount of information of the first perception data is much smaller than that of the second perception data, or in other words, the data carried by the first perception data occupies much less resource than the data carried by the second perception data.

[0101] The first communication device performs one-level reporting, that is, the first communication device transmits the first perception data, and the second communication device transmits first indication information to the communication device (that is, the first communication device) that needs to provide the second perception data based on the first perception data. The first communication device that receives the first indication information needs to report the second perception data with a larger amount of information and more data resource occupation to the second communication device, that is, performs two-level reporting. Through the two-level reporting transmission method of perception data determined according to the indication of the second communication device, the resource occupied by the transmission data in one-level reporting can be greatly reduced, and the waste of resources can be reduced. At the same time, the second perception data required by the second communication device can also be reported according to the indication, and the perception data that needs to be reported will not be missed, which not only saves the transmission overhead, but also guarantees the transmission efficiency.

[0102] Figure 3 FIG. 2 is a flowchart of another example of a perception data transmission method provided by the present application, which is described by taking the first communication device (for example, a chip) as an example. The first communication device can be a device in the first node or the first node, and the second communication device can be a device in the second node or the second node, which is not limited in the present application. As shown in FIG. 2, the method includes S201 to S202. Figure 3

[0103] ​S201, The first communication device sends the first sensing data.

[0104] For example, the first sensing data can be data obtained from the information of the sensed scatterers (such as extraction, calculation or summarization). For example, the first sensing data can include at least one of the following: target number, target position information in space, target velocity (also known as target Doppler), and target category.

[0105] Optionally, before S201, the first communication device may first perform sensing to sense the information of the scattering bodies and obtain first sensing data based on the information of all the scattering bodies sensed.

[0106] For example, the first communication device can first perform spatial clustering on all the sensed scatterers. The scatterers clustered into a group are called a "scatterer cluster" (or simply "cluster"). In this embodiment, the scatterers in each "scatterer cluster" can be defined as belonging to the same target. The first communication device can count the number of "clusters" obtained by clustering, which is the target number; it can calculate the average velocity of the scatterers (such as multiple scatterers) within each "cluster" as the target velocity of each target; it can calculate the average spatial position coordinates of the scatterers (such as multiple scatterers) within each "cluster". For example, it can obtain a grid matrix of target distribution based on a rasterization method to obtain the position information of the target in space, which can be represented by the target distribution; it can use a target recognition algorithm to identify and classify the type of the target for each "cluster". For example, the target recognition algorithm used can be a machine learning-based algorithm or a non-machine learning recognition algorithm. This application embodiment does not limit this.

[0107] It should be understood that the rasterization method can be referenced. Figure 4 The current environment (also referred to as the scene in this embodiment) sensed by the first communication device can be as follows: Figure 4 The left figure shows the positions of multiple scatterers in the environment. This environment is then rasterized, meaning... Figure 4The left grid of the figure is rasterized into a grid map to obtain grid data, where the grid map refers to an environment representation method that divides the environment into a plurality of grids and stores or occupies quantity information in each grid. One possible expression is that when a grid does not store or occupy quantity information (i.e., there is no scatterer in the grid), the grid cell area is in an idle state, and the grid cell value can be represented by 0. Correspondingly, when a grid stores or occupies quantity information (i.e., there is a scatterer in the grid), the grid cell area is in an occupied state, and the grid cell value can be represented by 1. One possible expression is that the value of each grid can represent the number of scatterers in the grid, and at this time the grid value can be determined according to the number of scatterers and is not limited to using 0 or 1 to represent.

[0108] Optionally, the first sensing data obtained by the first communication device can further include at least one of the number of scatterers, the average signal-to-noise ratio, the average power, and the like, in addition to the above-mentioned target-related features, and is not limited to the above-mentioned examples.

[0109] In S202, if the first communication device receives the first indication information, the second sensing data is fed back according to the first indication information, and the information amount of the second sensing data is greater than that of the first sensing data.

[0110] Corresponding to the step of S102, if the second communication device indicates to the first communication device that the second sensing data needs to be reported by the first communication device, the first communication device can trigger the reporting of the second sensing data to the second communication device according to the reception of the first indication information.

[0111] For example, the second perception data can correspond to information of all scatterers perceived by the first communication device, and be reported to the second communication device in different formats through different data modes. For example, the second perception data can be reported based on a data mode of features, and include at least one of a feature of each scatterer, such as a scatter ID, a three-dimensional coordinate (x, y, z), an angle, a likelihood, a power, a velocity, a scatter type (scatter_type=3), and a confidence.

[0112] The first communication device first performs first-level reporting. If an indication of the second communication device is received, the second communication device needs to report the second perception data, and then the first communication device reports the second perception data with a larger amount of information and more data resource occupation to the second communication device, that is, performs second-level reporting. This two-level reporting method can effectively reduce the data transmission cost of the first communication device. When the second communication device does not need information of scatterers perceived by the first communication device, the second perception data is not reported, which greatly reduces the resource occupation of the transmission of the perception data and reduces the waste of resources. When the second communication device needs information of scatterers perceived by the first communication device, the second perception data is reported, which can also ensure that no perception data needs to be reported is missed, and the accuracy of transmission is ensured.

[0113] In collaborative sensing and sensing data fusion scenarios involving multiple nodes, multiple modes, and multiple frequencies, one method of collaborative sensing is to report the information of the scatterer sensed by the first node to the second node without discrimination. This transmission method leads to the uploading of a large amount of redundant and invalid data, resulting in resource waste. The two-level reporting sensing data transmission method provided in this application can reduce the transmission overhead of sensing data and reduce resource waste.

[0114] The following example illustrates the two-level reporting method for sensing data transmission in a collaborative sensing scenario. This method is illustrated using the execution of the first and second nodes as examples, but is not limited to these examples. Figure 5 This is the third flowchart illustrating a sensing data transmission method provided in this application embodiment, as shown below. Figure 5 As shown, the method includes: S301 to S309.

[0115] It should be understood that, as Figure 6 As shown, the first node provided in this embodiment refers to a node capable of sensing information from the scatterer and reporting it to a node (i.e., the second node) that needs to aggregate the sensed information. The second node provided in this embodiment refers to a node that needs to aggregate the sensed information. Optionally, the first node can be any one of a UE, a base station, or an SMF, and the second node can be any one of a UE, a base station, or an SMF. For example, in one possible implementation, the first node can be mobile phone 1, the second node can be base station 1, and the first node reporting sensed data to the second node is an uplink data transmission mode. In another possible implementation, the first node can be mobile phone 1, the second node can be mobile phone 2, and the first node reporting sensed data to the second node is a side-channel data transmission mode. In yet another possible implementation, the first node can be an SMF, the second node can be vehicle 1, and the first node reporting sensed data to the second node is an uplink data transmission mode. In yet another possible implementation, the first node can be base station 1, the second node can be mobile phone 1, and the first node reporting sensed data to the second node is a downlink data transmission mode, and so on.

[0116] S301, The first node reports its perception capabilities to the second node.

[0117] The sensing capability of a node can include, but is not limited to, the capability of sensing optical information, the capability of sensing sound information, the capability of sensing motion information, and the capability of sensing spatial information, etc. For example, the capability of sensing optical information includes that the node can acquire image information of a scatterer in a scene where the node is located through a camera, a laser radar, etc.; the capability of sensing sound information includes that the node can acquire sound and sound wave information of a scatterer in a scene where the node is located through a microphone, a sonar, etc.; the capability of sensing motion information includes that the node can acquire state information such as target speed and angle of a scatterer in an environment where the node is located through an acceleration sensor, a gyroscope, etc.; and the capability of sensing position information includes that the node can acquire latitude and longitude information of a scatterer in an environment through a GPS, etc.

[0118] For example, if the first node is a UE and the second node is a base station, the UE can report the sensing capability of the UE to the base station, such as reporting one or more of the sensing capabilities in the above examples, or other sensing capabilities, etc.

[0119] It should be understood that in a scene, at least one first node can report its sensing capability to a second node, and embodiments of the present application take the interaction between one first node and a second node as an example for description, and other first nodes can refer to the operation of the first node in the method shown in Figure 4

[0120] S302, the second node sends sensing control information to the first node according to the sensing capability of the first node.

[0121] Optionally, the second node can also send sensing control information to the first node whose sensing capability is related to a current sensing task of the second node according to the sensing capability reported by the first node and in combination with the current sensing task of the second node. For example, if the current sensing task of the second node is to sense the position, type, and motion of a scatterer in a current scene, and the sensing capability of the first node includes at least one of acquiring position, type, and motion information of the scatterer, such as the capability of sensing position information and the capability of sensing motion information, etc., the second node can determine that the first node needs to report the information sensed by the first node, and thus sends second indication information, such as sensing control information, to the first node to instruct the first node to report first sensing data. Optionally, the second indication information can further indicate which data the first sensing data specifically includes in addition to instructing the first node to report the first sensing data.

[0122] ​Optionally, the second indication information can be certain current perception control information, and an indication bit is added in the second indication information to inform the first node to report the perceived first perception data through the first information. Alternatively, the second indication information can be separately generated indication information to instruct the first node to report the perceived first perception data through the first information (or through a format corresponding to the first information).

[0123] For example, the second node needs different perception information for different perception tasks in different scenarios. For example, in the scenario of a certain detection task, the perception task of the second node can be to perceive whether there is a moving person in the current environment, and the second node can instruct the first node to report the first perception data related to the target type of a person and the movement of the person.

[0124] For example, the first node can carry the first perception data through the first information. The first information can be information for indicating the reported information, or information for other purposes, which is not limited in the embodiments of the present application. Figure 5 The examples described above take the first perception information carried by the first information as an example, but are not limited thereto. Only the first perception data or the first perception data in other forms reaching the second node can also be implemented by referring to the method provided in the embodiments of the present application, and will not be described in detail.

[0125] S303, the first node calculates the first perception data according to the perceived information, and generates the first information.

[0126] In a possible implementation, there is no sequence relationship between S302 and S303. The first node can trigger the calculation after perceiving the information of the scatterer to obtain the first perception data. For example, the format of the first perception data is preset in the first node. After the first node perceives the information of the scatterer, the corresponding first perception data is obtained according to the required characteristics of the format, and the first information is generated. The method for obtaining the first perception data can refer to S201, which will not be described in detail.

[0127] In a possible implementation, S303 is executed after S302. The first node can temporarily store the perceived information of the scatterer, and trigger the calculation to obtain the first perception data after receiving the second indication information. For example, if the second indication information also indicates the perception data that the first node should report, the first node can determine the first perception data according to the indication of the second indication information, carry the first perception data in the first information, and report to the second node.

[0128] Exemplarily, the first information generated by the first node can include site information and first perception data, wherein the first perception data can include at least one of a scatter number, an average SNR, an average power, a target number perceived, a target distribution, a target velocity (also referred to as target Doppler), and a target category.

[0129] Table 1

[0130]

[0131] Table 1 is an example of the first information provided by the embodiments of the present application. As shown in Table 1, the site information in the first information refers to the information of the first node, which can be obtained by self-sensing, self-other-sensing and other modes, and the related information of at least one scatterer in the scene where the first node is located. The site information (site info) can include at least one of a sensing link ID, a TX ID, an RX ID, a time (Time), an orientation, and a config / capability. Table 1 takes the site information (site info) including the sensing link ID, the TX ID, the RX ID, the time (Time), the orientation, and the config / capability as an example for illustration, but is not limited thereto. The sensing link ID includes the identification of the link where the line of sight (LOS) is located. The TX ID includes the identification of the sensing node (e.g., the first node in the embodiments of the present application) that transmits the sensing signal. The RX ID includes the identification of the sensing node (e.g., the first node in the embodiments of the present application) that receives the sensing signal. The time (Time) includes the time stamp corresponding to the sensing signal, such as the time stamp of generating, transmitting or receiving the sensing signal. The orientation includes the transmission direction of the link where the sensing signal is located. The config / capability includes the configuration of the sensing link, such as the bandwidth configuration, and the capability includes the sensing capability provided in the above example. The config / capability refers to at least one of the configuration (config) or the capability (capability).

[0132] As shown in Table 1, the first sensing data in the first information is related to the number of feature types extracted from the scatterer. Compared with the second sensing data which is positively related to the number of scatterers, the first sensing data occupies less resource, and can be regarded as being coarser than the second sensing data. Therefore, the first sensing data can be defined as coarse sensing results, and the second sensing data can be defined as accurate sensing results.

[0133] Exemplarily, the scatter number, the average SNR, the average power, the target number, the target distribution, the target velocity, and the target category in the first perception data can be obtained by the first node according to the information of the scatterers perceived by the first node, statistical analysis and feature extraction. For example, the first node perceives the information of N scatterers, and obtains the position, power, SNR and other information corresponding to the N scatterers, where N is a positive integer. The first node can obtain a group of data related to the feature category by different statistical analysis and feature extraction methods according to the information of each scatterer, as the first perception data, and does not report all the information of the scatterers to the second node, thereby effectively saving the transmission overhead. For example, the first node can obtain the scatter number according to formula one, and the scatter number is N in this example.

[0134] scatter number = N

[0135] Formula one

[0136] The first node can obtain the average SNR according to formula two, and the average SNR is the average of the SNRs of the N scatterers in this example.

[0137]

[0138] The first node can obtain the average power according to formula three, and the average power is the average of the powers of the N scatterers in this example.

[0139]

[0140] The first node can obtain the target velocity according to formula four, and the target velocity can be obtained by averaging the velocities of the N scatterers and the target number perceived in this example.

[0141]

[0142] In this example, the target number can be obtained by a statistical clustering algorithm, such as a "sactter cluster number" function of KMeans. The target distribution can be obtained by a clustering algorithm, such as a "cluster centers" function of KMeans, based on the attributes of the clustering model center points. The target distribution can be used to indicate the position information or position distribution in the space. The target category can be determined by a target recognition algorithm. For example, the target category can be determined as a building, a vehicle, a pedestrian, and an unmanned aerial vehicle (UAV), each of which has different characteristics and behavior patterns. The perceived information can be used to determine the target category using different algorithms and techniques, which will not be described in detail.

[0143] Optionally, the format of the first perception data can be pre-set or generated according to the received first information indicating the perception data to be carried. Assuming that the first node can obtain the scatter number, the average SNR, the average power, the target number, the target distribution, the target velocity, and the target category according to the information of the multiple scatters perceived. Table 2 is an example of a pre-set format of the first perception data of the first node.

[0144] Table 2

[0145]

[0146] In one possible implementation, after the first node perceives the information of the N scatterers, the first node obtains the scatter number, the perceived target number, the target distribution, the target velocity and the target category. If the second node does not indicate the perception data to be carried, the first node can obtain the first perception data in the first information in the format of Table 2(a) or Table 3. Table 2(a) or Table 3 is an example, Table 2 is an example of the format that can be used by the first node with different perception capabilities, Table 3 is an example of the format based on the types of features that can be obtained by the perception capability of the first node, and Table 2(a) is an example based on the format of Table 2 that has been generated by the first node, in which the positions of the perception data that are not obtained by the first node are left empty.

[0147] For example, the first perception data carried in the first information can refer to Table 2(a).

[0148] Table 2(a)

[0149]

[0150] Table 3

[0151]

[0152]

[0153] If the second node indicates the perception data to be carried in the second indication information, for example, the first node obtains the data corresponding to the five types of features of the scatter number, the perceived target number, the target distribution, the target velocity and the target category, but the second node indicates that the data corresponding to the three types of features of the target distribution, the target velocity and the target category need to be carried, the first node can carry the first perception data in the first information in the format of Table 2(b), Table 4 or Table 5, wherein Table 2(b) is an example based on the format of Table 2 that has been generated by the first node, in which the positions of the data that do not need to be carried are left empty, Table 4 is an example based on the format of Table 3 that has been generated by the first node, in which the positions of the data that do not need to be carried are left empty, and Table 5 is an example of carrying the perception data required by the second node.

[0154] Table 2(b)

[0155]

[0156] Table 4

[0157]

[0158] Table 5

[0159]

[0160] It should be understood that in the embodiments of the present application, examples such as value 1 to value 4 are provided, which do not represent specific values, and the values can be determined according to the actual applicable scene.

[0161] S304, the first node sends first information to the second node.

[0162] S305, the second node determines whether the first node needs to report second information according to the first perception data and the current perception task.

[0163] After the second node receives the first information, the first perception data is obtained, and whether the first node needs to report more accurate perception data, i.e., second perception data, can be determined based on the current perception task of the second node. The embodiments of the present application are described by taking the second perception data carried in the second information as an example, but are not limited thereto.

[0164] Exemplarily, the second node can judge whether the first node reports the second information according to different rules. For example, when the scatter number is greater than a first preset threshold, and the first perception data corresponds to the requirement of the current perception task of the second node, it is judged that the first node needs to report the second information (i.e. more accurate perception data) to the second node. Otherwise, the first node does not need to report the second information to the second node. In this example, the second node has a basic requirement for the scatter number perceived by the first node. If the scatter number does not meet the requirement, it is judged that the data provided by the first node cannot meet the accuracy required by the second node, and thus it is determined that the first node does not need to report the second information. Alternatively, if the scatter information perceived by the first node is irrelevant to the requirement of the current perception task of the second node, for example, the perception task needs to determine the target Doppler (target velocity), but the first node can only provide data of the target distribution, then the first node does not need to report the second information. Alternatively, if the perception task requires data of a scatter body with a target Doppler (target velocity) of 0, but the target Doppler (target velocity) provided by the first node is not 0, it means that the scatter body perceived by the first node does not have a target Doppler (target velocity) of 0, i.e. it does not meet the requirement of the perception task, and thus the first node does not need to report more accurate perception data.

[0165] It should be understood that the requirement that the first perception data corresponds to the requirement of the perception task includes the requirement that the comprehensive value calculated from the first perception data according to the predetermined algorithm meets the threshold value corresponding to the perception task, etc. For example, the current perception task of the second node obtains a threshold value according to different weights or confidence levels of certain data, etc. When the second node receives the first perception data, the comprehensive value calculated according to the predetermined algorithm corresponding to the algorithm of the threshold value obtained by the perception task, if the comprehensive value meets the requirement of the threshold value, the first perception data corresponds to the requirement of the perception task, otherwise, the first perception data does not correspond to the requirement of the perception task. For example, assuming that a perception task needs to be implemented according to target number, target distribution, target velocity and target category, wherein the weights of the target number and the target distribution are higher, and the weights of the target velocity and the target category are lower, the second node can obtain a threshold value according to the weights and the values of the expected characteristic categories, and then calculate a comprehensive value corresponding to the received first perception data based on the same weights, if the comprehensive value is greater than the threshold value, it is judged that the first node requiring the first perception data needs to provide the second perception data, otherwise, it is not needed; or, if the comprehensive value is less than the threshold value, it is judged that the first node requiring the first perception data needs to provide the second perception data, otherwise, it is not needed; or, assuming that the threshold value is a numerical range, when the comprehensive value calculated according to the first perception data is within the numerical range, it is judged that the first node requiring the first perception data needs to provide the second perception data, otherwise, it is not needed.

[0166] In another possible implementation, the first node can also determine whether the first node needs to report the second information (i.e., more accurate perception data) to the second node according to whether the values corresponding to one or more feature categories in the first perception data meet the requirements of the current perception task of the second node. For example, if the current perception task of the second node is to perceive pedestrians, the power of the perceived signal is not less than A watts, the accuracy of perceiving pedestrians is not less than B, and the like. Suppose the feature categories corresponding to the perception task and the expected values are that the target category is pedestrians, the average SNR is not less than A watts, and the scatter number is greater than C, where C is obtained according to B, and A and B are positive numbers and C is a positive integer. If the target category in the first perception data includes pedestrians, the average power is not less than A watts, or the scatter number is not less than C, the first node needs to send the second information again.

[0167] The following is an example. The second node can receive the first information sent by multiple first nodes. Assuming that the first information sent by the first node 1 carries the first perception data, the target category is building, the average power is greater than A watts, and the scatter number is greater than C; the first information sent by the first node 2 carries the first perception data, the target category includes building and pedestrians, the average power is greater than A watts, and the scatter number is greater than C; the first information sent by the first node 3 carries the first perception data, the target category includes pedestrians, the average power is greater than A watts, and the scatter number is less than C; the second node can determine, according to the current judgment rule, that the first node corresponding to the first perception data that meets the target category including pedestrians, the average power not lower than A watts, and the scatter number not lower than C is a node that needs to continue to provide more accurate perception data, that is, the second node determines that the first node 2 should continue to report more accurate second perception data, and the first node 1 and the first node 3 do not report again.

[0168] Reference Figure 7 and Figure 8 , Figure 7 is a structural schematic diagram of a common perception scene 200 provided by an embodiment of the present application, Figure 8 is a perception data reporting schematic diagram of the common perception scene 200 provided by an embodiment of the present application. As shown in Figure 7 , the first node 1, the first node 2, and the first node 3 all send the first information to the second node. Assuming that the second node determines that the first node 2 should continue to report more accurate second perception data, and the first node 1 and the first node 3 do not report again, reference Figure 8 , in subsequent transmission, the second information is continued to be sent by the first node 2, and the perception data of the first node 1 and the first node 3 does not meet the demand of the current perception task of the second node, and does not need to report information again, thereby effectively reducing the transmission cost and reducing the waste of resources.

[0169] For example, each first perception data can include information of a "cluster" or multiple "clusters" of relevant features, and the second communication device can determine to send the first indication information to the first communication device if the data of at least one "cluster" meets the perception task of the second communication device. For example, if the perception task of the second node corresponds to obtaining data of a scatterer with a target velocity of 0, the first perception data includes a target velocity including the velocity of at least one "cluster", and the value of the at least one "cluster" is 0, the second node can determine that the first node needs to send the first perception data, and send second perception data.

[0170] The first node provided by S306 to S309 of the embodiment of the application refers to a node determined by the second node to need to report second information, such as the first node 2. For a node that does not need to report second information, the second node does not send the first indication information, or sends the first indication information to inform that the node does not need to continue to report information in the perception data reporting of the current round, and therefore the execution steps of the node are not described.

[0171] S306, the second node sends the first indication information to the first node, and the first indication information is used to instruct the first node to feed back second information.

[0172] Optionally, the first indication information can only instruct the first node to feed back second information to the second node. Alternatively, the first indication information can instruct the first node to feed back second information to the second node, and instruct that the perception data carried in the second perception data of the second information should be carried.

[0173] S307, the first node generates second information according to the first indication information.

[0174] The amount of information of the second perception data in the second information generated by the second node is greater than the amount of information of the first perception data, that is, the first perception data is a group of relatively rough (low information amount) data obtained by the first node after perceiving information of multiple scatterers, and is used to be sent to the second node. The second node determines, based on the first perception data, whether the data perceived by the first node is needed for the perception task of the second node. If yes, the first node carries the second perception data (data of each scatterer, with a large amount of information) in the second information according to the indication of the second node, and sends the second information to the second node.

[0175] Exemplarily, the second information can carry different forms of second perception data. In some scenarios, the scatterers perceived by the first node can include multiple types. In order to facilitate the second node to fuse the perception information, in the second information, the scatter_type and the confidence of each scatterer can be respectively indicated in the data part of the scatter info. It should be understood that in different application scenarios, the perception data included in the second information sent by the first node to the second node can also be different. In order to facilitate the second node to identify, the data format of the second information can be indicated in the data format part of the scatter info of the second information, and the corresponding information of the scatterer is characterized by different feature types.

[0176] In a possible implementation, the second information can include scatter info, data format, site info and data. In the scatter info, the content included in the second information is included. The data format includes a feature-based data format, a grid-based data format, etc. For example, different numerical values can be used to represent different data formats. If the data format takes 0, it means that the second information is a feature-based data format. If the data format takes 1, it means that the second information is a grid-based data format. The site info includes the information of the receiving and sending sites. The content of the site info can refer to the example in Table 1, and will not be described in detail. The data is the corresponding information of the scatterer corresponding to the data format.

[0177] The following two examples are used to illustrate the second information, but are not limited thereto.

[0178] Table 6 is an example of the second information based on the feature-based data format. Table 6 takes the corresponding information of N scatterers currently perceived by the first node as an example.

[0179] Table 6

[0180]

[0181] In Table 6, data_format = 0, indicating that the second information is a feature-based data format, that is, the data corresponding to the scatterer can be expressed in the form of a set of information of N (N is a positive integer greater than or equal to 1) scatterers, and the information of each scatterer in the set can include: scatter ID, three-dimensional coordinates (x, y, z), angle, likelihood, power, velocity, scatter_type, confidence, etc. Taking scatterer 1 as an example, the scatter ID refers to the unique identification of scatterer 1; the three-dimensional coordinates refer to the three-dimensional coordinates of scatterer 1 in the current scene (or current environment); the angle includes the angle of departure (AoD) of the scatterer 1; the likelihood can be used to represent the corresponding weight size of the scatterer 1 in the perception fusion process; the power includes the power of the perception signal; the velocity refers to the moving speed of the scatterer 1, etc. The scatter_type can be different types of scatterers existing in the current scene, identified by different numerical values, for example, there can be scatterers determined by the self-initiated self-reception perception mode in the current scene, which can be denoted as 1, there can be scatterers determined by the self-initiated other-reception perception mode, which can be denoted as 2, there can be scatterers through which the first reflection of the self-initiated other-reception perception mode occurs, which can be denoted as 3, there can be scatterers through which the last reflection of the self-initiated other-reception perception mode occurs, which can be denoted as 4, there can be scatterers with known position information in the current scene, which can be denoted as 5, or 0, etc. The scatter_type can be two or more of the above five types of scatterers, or can not be limited to the five types, and the embodiments of the present application only illustrate the possible scatter_type, but do not make any limitation. Referring to Table 6, the scatter_type of scatterer 1 is scatter_type = 3, indicating that the scatterer 1 is a scatterer through which the first reflection of the self-initiated other-reception perception mode occurs, and the self-initiated other-reception perception mode occurs at least twice. Confidence; the confidence can be used to indicate the probability of the scatterer 1 being at the measurement position. The characteristics of the scatterers in Table 6 are only an example, and the characteristics included by the scatterers in different application scenarios can be different from the example, for example, the data of the scatterers can include other information, or the data of the scatterers can include one or more of the examples, and the embodiments of the present application do not make any limitation.

[0182] Table 7

[0183]

[0184] Table 7 is an example of the second information based on the grid-based data format.

[0185] In Table 7, data_format = 1, indicating that the second information is a grid-based data format, that is, the data corresponding to the scatterer can be a set of information of each scatterer, which refers to a certain type of scatterer, such as the information of a certain type of scatterer in the current scene as a grid can include: grid size (grid_size), the default value is 1m, which can be adjusted according to the perceived environment; grid range (grid_range), that is, the maximum and minimum values of the grid on each axis in three-dimensional space, grid matrix (grid_matrix), which refers to the value of each unit of the matrix is the probability value of the presence of the scatterer in the current grid.

[0186] It should be understood that the first node can generate the second information according to the preset rules of the node and the perceived information, for example, the preset rule can be a preset data format, when the preset data format is 1, the second information in the format shown in Table 7 is generated, etc. Alternatively, the second node can indicate the data format to the first node in the first indication information according to its perception task, for example, if the first indication information includes data_format = 0, the first node generates the second information according to the format shown in Table 6. Alternatively, the first node can combine the preset rule and the first indication information to generate the second information according to the perceived information, for example, the preset rule can include that if the data_format = 0, the second information is generated in the format of Table 6, if the data_format = 1, the second information is generated in the format of Table 7, and if the first indication information indicates that the data_format = 0, the first node generates the second information according to the format of Table 6 according to the perceived information.

[0187] In a possible implementation, the second node can further indicate the perception data that needs to be carried to the first node according to the perceived demand, for example, the perception task of the second node is to determine whether a person enters the environment, according to the perception task, the second node can require the information of the scatterer reported by the first perception node to at least include the velocity, and the first node can determine that the information of the perception includes the velocity in the reported information when generating the second information, so as to avoid missing the data required by the second node when reporting. Alternatively, based on the requirement of the second node for the velocity, the format of Table 6 providing the velocity of the scatterer is selected to generate the second information.

[0188] S308, the first node sends the second information to the second node.

[0189] S309, the second node completes the data fusion of cooperative perception according to the received second information.

[0190] For example, the second node can receive the second information reported by multiple first nodes, and the second node can perform the data fusion of cooperative perception according to the received multiple groups of second information, such as performing fusion processing on the same type of scatterer, or performing fusion processing on several types of scatterers according to different design methods, to achieve the effect of expanding the perception range and improving the fusion efficiency.

[0191] In the following, the embodiments of the present application are used in the scene of different perception tasks, and the method is exemplarily described.

[0192] For example, it is assumed that the first node 1 reports the perception capability of the node to the second node, including the capability of perceiving optical information and the capability of perceiving sound information; the first node 2 reports the perception capability of the node to the second node, including the capability of perceiving optical information and the capability of perceiving motion information; and the first node 3 reports the perception capability of the node to the second node, including the capability of perceiving spatial information. The second node determines the first node with the corresponding perception capability of the perception task according to the current perception task, and sends the second indication information to the first node. It is assumed that the perception capability of multiple first nodes corresponds to the current perception task of the second node, and the second indication information can be sent to these first nodes.

[0193] Optionally, the current perception task of the second node can be one or more, and the embodiments of the present application are exemplarily described by taking one perception task, and other perception tasks can refer to the examples of the embodiments of the present application, and are not expanded.

[0194] The above steps can also not be performed in the scene in which the first node and the second node have already performed the interaction of the perception capability. Figure 9is a flowchart of a fourth perception data transmission method provided by an embodiment of the present application. The method is exemplarily described by taking the execution of a first node and a second node as an example, but is not limited thereto. As shown in Figure 9 The method includes S401 to S407.

[0195] Exemplarily, it is assumed that the current perception task of the second node is an environment reconstruction task, that is, the target in the current scene (environment) that needs to be perceived is relatively stable in position and will not move at a high speed or move at a speed higher than the reconstruction environment speed. In this case, the second node can instruct the first node to report the first perception data related to the environment reconstruction task in the second indication information. For example, the environment reconstruction task requires the first node with the ability of optical information and the ability of perceiving motion information to report the corresponding perceived information. The second node can send the second indication information to the first node 1 and the first node 2. Optionally, since the perception abilities of the first perception node 1 and the first perception node 2 are different, the second indication information sent by the second node to the first node 1 and the second node 2 can be the same, for example, the second indication information can be used to instruct the reporting of the first information, or the second indication information can be used to instruct the reporting of the first information, and the first information needs to carry the perceived information related to the ability of optical information and the ability of perceiving motion information, for example, target distribution, target velocity, target category, etc. Alternatively, the second indication information sent by the second node to the first node 1 and the second node 2 can be different, for example, the second indication information sent to the first node 1 can be used to instruct the reporting of the first information, and the first information needs to carry the perceived information related to the ability of perceiving motion information, such as target velocity. The second indication information sent to the first node 2 can be used to instruct the reporting of the first information, and the first information needs to carry the perceived information related to the ability of optical information and the ability of perceiving motion information, such as target distribution, target velocity, target category, etc. The perceived data carried in the first information is only an example, and in actual application, the first information can be determined according to the requirements of the perception task, and is not limited by the present example.

[0196] The subsequent steps are described by taking the first node as the first node 2 as an example, and other first nodes can perform operations according to the present example.

[0197] S401, the first node calculates the first perception data according to the perceived information, and generates the first information.

[0198] If the second indication information received by the first node only indicates that the first information is reported to the second node, the first information can be generated according to the format in Table 2. If the second indication information received by the first node further indicates that the target distribution, the target velocity, the target category and other perception data need to be carried, the first information can be generated according to the format in Table 2(c) or Table 8.

[0199] Table 2(c)

[0200]

[0201] Table 8

[0202]

[0203] S402, the first node sends the first information.

[0204] S403, the second node determines whether the first node needs to report the second information according to the first perception data and the current perception task.

[0205] For example, the second node determines that the first node whose target velocity corresponding to the target velocity in the first information is close to 0 needs to report more accurate perception data according to the perception task. In other words, the second node can determine whether the first node corresponding to the target velocity in the first information needs to report the second information according to the value of the target velocity. For example, if the value of the target velocity in the first information sent by the first node 1 is 5, the target velocity corresponding to the value is close to 0, the value of the target velocity in the first information sent by the first node 2 is 8, the target velocity corresponding to the value is close to 0, and the value of the target velocity in the first information sent by the first node 3 is 9, the target velocity corresponding to the value is greater than 0, the second node can determine that the first node 1 and the first node 2 need to report the second information.

[0206] It should be understood that the values 5 to 9 provided in the embodiments of the present application are examples and do not represent specific values. The values can be determined according to actual scenarios. For example, in a certain scenario, it is determined that the values within the range of 0.01 are close to 0, and whether the first node needs to further report the second information can be determined according to whether the value of the target velocity in the first information is within the range of 0.01.

[0207] S404. The second node sends first indication information to the first node, and the first indication information is used to indicate that the first node feeds back second information.

[0208] Taking the example in S403 as an example, the second node can send the first indication information to the first node 1 and the first node 2 respectively, and the first indication information indicated by the first indication information can be the same. For example, the second node needs to have the characteristics of each scatterer in the second information reported by the first node, and can indicate that the data format (Data_Format) = 0 in the first indication information. Further, it can also be indicated in the first indication information that the velocity and other characteristics need to be carried in the second information. The first indication information can also correspond to the characteristics that can be sensed according to the sensing capabilities of the first node 1 and the first node 2, and respectively indicate the data that needs to be carried in the second information by the first node 1 and the first node 2, which is not limited by the example.

[0209] The sensing data carried in the second information is only an example. In actual application, the example in Table 6 or Table 7 can be referred to to determine according to the needs of the sensing task, which is not limited by the example. For example, if the first indication information indicates that the target distribution needs to be carried, the first node can preferably generate the second information in the format shown in Table 7 corresponding to the grid.

[0210] S405. The first node generates second information according to the first indication information.

[0211] S406. The first node sends the second information to the second node.

[0212] S407. The second node completes data fusion of cooperative sensing according to the received second information.

[0213] The steps of S405 to S407 can refer to the example of S307 to S309, and will not be expanded.

[0214] In the embodiments of the present application Figure 9 The method provided in the present application can make the second node that needs to perform an environment reconstruction task focus on the information about the target Doppler (target velocity) reported by the first node, judge the first node that can sense the speed of the scatterer (or the target determined by the scatterer) close to 0 or equal to 0, or the speed lower than a threshold A (the threshold A can be determined according to the speed standard of low-speed motion in the scene), and continue to report more accurate sensing data. The first node does not need to report the sensing data of other motion targets with too high speed (such as higher than the threshold A), so as to effectively reduce the transmission of sensing data useless for the sensing task and reduce the transmission overhead.

[0215] By Figure 9The method provided, the second node can be according to each target velocity provided by each first node, fusion is as Figure 10 The environment schematic diagram shown in FIG. 1, Figure 10 The different stationary objects generated by the cooperative perception are included in the environment schematic diagram.

[0216] In a possible implementation, the perception task of the second node is to detect a moving target, for example, the first node whose target category is pedestrians and target velocity is greater than a threshold B is scheduled, and the first information of the first node whose target category is pedestrians and target velocity is greater than the threshold B is sent to the second node. The first node corresponding to the first information continues to send the second information. For example, the first node 2 is the scheduled node, and the second node sends the first indication information to the first node 2, where the first indication information indicates that the first node 2 reports the second information. Optionally, the first indication information can indicate only that the first node 2 reports the second information, or can specifically indicate the perception data that should be included in the second information. The content indicated by the first indication information can refer to S306 or S404, and is not described in detail herein.

[0217] With reference to Figure 11 The second node can determine whether a pedestrian enters the current environment or moves in the current environment according to the received perception data, to detect whether a person intrudes into the current environment. The second node can obtain accurate data for the perception task of detecting a moving target by using the method for transmitting the perception data provided in the embodiments of the present application, and can reduce the transmission of the perception data irrelevant to the perception task, thereby reducing the transmission overhead.

[0218] In a possible implementation, the perception task of the second node is to perceive a target category, for example, the first information of the first node whose target category is a vehicle, a pedestrian, a drone, an animal, or a tree is sent, and the first indication information is sent by the first node corresponding to the first information, and the first node corresponding to the first information continues to send the second information. For example, the first node 2 is the scheduled node, and the second node sends the first indication information to the first node 2, where the first indication information indicates that the first node 2 reports the second information. Optionally, the first indication information can indicate only that the first node 2 reports the second information, or can specifically indicate the perception data that should be included in the second information. The content indicated by the first indication information can refer to S306 or S404, and is not described in detail herein.

[0219] With reference toFigure 12 The second node can determine a vehicle, a pedestrian, a drone, an animal, a tree, etc. in a current scene according to the received perception data, and the second node can obtain accurate data of a detection task for a moving target by the method for transmitting the perception data, and can reduce transmission of perception data irrelevant to the perception task, thereby reducing transmission overhead.

[0220] Figure 13 FIG. 4 is a structural schematic diagram of a second communication device provided by an embodiment of the present application. The second communication device 40 includes a receiving module 401 and a sending module 402.

[0221] The receiving module 401 is configured to receive first perception data sent by a first communication device.

[0222] The sending module 402 is configured to send first indication information, where the first indication information is used to instruct the first communication device to feed back second perception data, and an information amount of the second perception data is greater than an information amount of the first perception data.

[0223] In a possible implementation manner, the first perception data includes at least one of a target quantity perceived by the first communication device, position information of a target in space, a target speed or a target type.

[0224] In a possible implementation manner, the first perception data further includes at least one of a scatterer quantity, an average signal-to-noise ratio or an average power.

[0225] In a possible implementation manner, the second perception data includes scatterer information perceived by the first communication device, and the scatterer information includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed or a credibility of each scatterer; or the scatterer information includes at least one of a grid size, a grid range or a grid matrix of a grid corresponding to the scatterer.

[0226] Figure 14 FIG. 5 is another structural schematic diagram of a second communication device provided by an embodiment of the present application. The second communication device 40 includes a receiving module 401, a sending module 402 and a processing module 403.

[0227] The processing module 403 is configured to determine, according to the first perception data and a perception task, that the first communication device needs to feed back the second perception data.

[0228] In a possible implementation, the sending module 402 is further configured to send second indication information, where the second indication information is used to indicate that the first node sends the first sensing data to the second node, or the first sensing data and content contained in the first sensing data, and the content contained in the first sensing data includes at least one of a target quantity sensed by the first communication device, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio, and average power.

[0229] In a possible implementation, the first indication information is further used to indicate, to the first node, content contained in the second sensing data, where the content contained in the second sensing data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or at least one of a first region size corresponding to a scatterer, a position range of the first region in space, or a first region matrix, where the first region is a region obtained by dividing space. For example, the first region can be a grid, and the content contained in the second sensing data includes at least one of a grid size, a grid range, or a grid matrix of the grid.

[0230] It should be understood that, Figure 13 and Figure 14 The modules shown in the figures are merely examples, and each module can perform its operation according to the method part of the embodiments of the present application or a variant of the operation. In the examples provided by the embodiments of the present application, other operations can also be performed, and the examples are not limited to the embodiments of the present application.

[0231] Figure 15 FIG. 1 is a structural schematic diagram of a first communication device provided by an embodiment of the present application, where the first communication device 50 includes a receiving module 501 and a sending module 502.

[0232] The sending module 502 is configured to send first sensing data, and the sending module 502 is further configured to, if the receiving module 501 receives first indication information, feed back second sensing data according to the first indication information, where an information quantity of the second sensing data is greater than an information quantity of the first sensing data.

[0233] In a possible implementation, the first sensing data includes at least one of a target quantity sensed by the first communication device, position information of a target in space, target speed, or target type.

[0234] In a possible implementation, the first sensing data further includes at least one of a scatterer quantity, an average signal-to-noise ratio, and an average power.

[0235] In a possible implementation, the second perception data includes information of scatterers perceived by the first communication device, and the scatterer information includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed or a credibility of each scatterer; or the scatterer information includes at least one of a grid size, a grid range or a grid matrix of a grid corresponding to the scatterer.

[0236] In a possible implementation, the receiving module 501 is further configured to receive second indication information, where the second indication information is used to indicate that the first node sends the first perception data to the second node, or the first perception data and content contained in the first perception data, and the content contained in the first perception data includes at least one of a target quantity, position information of a target in space, a target speed, a target type, a scatterer quantity, an average signal-to-noise ratio or an average power perceived by the first communication device.

[0237] In a possible implementation, the first indication information is further used to indicate, to the first node, content contained in the second perception data, where the content contained in the second perception data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed or a credibility of each scatterer; or includes at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix, where the first region is a region obtained by dividing the space. For example, the first region is a grid, and the content contained in the second perception data includes at least one of a grid size, a grid range or a grid matrix of the grid.

[0238] It should be understood that, Figure 15 The modules shown are only examples, and each module can perform its operation according to the method part of the embodiments of the present application or a variation of the operation. In the examples provided by the embodiments of the present application, other operations can also be performed, and the examples of the embodiments of the present application are not limited. For example, the first communication device can further include a perception module for perceiving scatterer information.

[0239] In addition, as Figure 16 shown, Figure 16 is a structural schematic diagram of the device 60 of the embodiments of the present application. Figure 16 The device 60 shown includes a transceiver 601 and a processor 602. The device 60 corresponds to the second communication device or the second node in the examples of the method, and is used to perform the method S101 to S102 in the above embodiments or perform S301 to S309, or perform S401 to S407. Alternatively, the device 60 corresponds to the first communication device or the first node in the examples of the method, and is used to perform the method S201 to S202 in the above embodiments or perform S301 to S309, or perform S401 to S407.

[0240] It should be noted that the division of each part in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, another division manner can be used. Each function in the embodiments of the present application can be integrated in a processor, or the transceiver and the processor can exist separately. In addition, the device 60 can include a built-in memory, or can not include a memory, and can further include an external memory, and the like, and is not limited to the division of the embodiments of the present application. The integrated device can be realized in the form of hardware, for example, a chip, or in the form of a software function unit, or in the form of a combination of software and hardware.

[0241] In addition, the embodiments of the present application further provide a device 70, as shown in Figure 17 Figure 17 is a structural schematic diagram of a device 70 provided by the embodiments of the present application. As shown in Figure 17 ​As shown, the device 70 can include a processor 701, a memory 702 coupled to the processor 701, and a transceiver 703. The transceiver 703 can include an MR, an LR, a communication interface, an optical module, etc., for receiving a packet or data information, etc. The processor 701 can include a central processing unit (CPU), a network processor (NP), or a combination of the CPU and the NP, for performing the related steps of the wake-up signal processing in the device exemplified in the above embodiments. The processor can also be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a feld-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. The processor 701 can refer to one processor, or can include a plurality of processors. The memory 702 can include a volatile memory, such as a random-access memory (RAM); the memory can also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the memory 702 can also include a combination of the above-mentioned memories. The memory 702 can refer to one memory, or can include a plurality of memories, for storing program instructions. In an embodiment, the memory 702 stores computer-readable instructions, which include a plurality of software modules, such as a sending module, a processing module, and a receiving module. The processor 701 performs operations according to the instructions of each software module after executing each software module. In the embodiment, the operation performed by one software module actually refers to the operation performed by the processor 701 according to the instructions of the software module. Alternatively, the processor 701 can also store program codes or instructions for executing the solutions of the embodiments of the present application, in which case the processor 701 does not need to read the program codes or instructions from the memory 702.

[0242] The device 70 can be configured to perform the methods in the above embodiments. Specifically, the device 70 corresponds to the second communication device or the second node in the examples of the methods, and can perform the methods S101-S102 in the above embodiments or perform S301-S309 or perform S401-S407. The device 70 corresponds to the first communication device or the first node in the examples of the methods, and is configured to perform the methods S201-S202 in the above embodiments or perform S301-S309 or perform S401-S407.

[0243] In addition, the embodiments of the present application further provide a communication device. The communication device comprises a storage medium and a processor connected with the storage medium. The storage medium stores instructions, and the processor is configured to implement part or all of the operations in any of the methods in any of the above embodiments when the instructions are run.

[0244] In addition, the embodiments of the present application further provide a communication device. The communication device comprises a processor, and the processor is connected with a storage medium. The storage medium can be arranged in the communication device or arranged outside the communication device, and the storage medium stores instructions, and the processor is configured to implement part or all of the operations in any of the methods in any of the above embodiments when the instructions are run.

[0245] The embodiments of the present application further provide a computer readable storage medium, and the computer readable storage medium stores instructions, and the instructions are run on the processor to implement part or all of the operations in any of the methods in any of the above embodiments.

[0246] The embodiments of the present application further provide a computer program product, and the computer program product comprises a computer program, and the computer program is run on the processor to implement part or all of the operations in any of the methods in any of the above embodiments.

[0247] The embodiments of the present application further provide a chip, and the chip comprises an interface circuit and a processor. The interface circuit and the processor are connected, and the processor is configured to cause the chip to perform part or all of the operations in any of the methods in any of the above embodiments.

[0248] The embodiments of the present application further provide a chip system, and the chip system comprises a processor and a memory. The memory is coupled with the processor, and is configured to store programs or instructions. When the programs or instructions are executed by the processor, the chip system is caused to implement part or all of the operations in any of the methods in any of the above embodiments.

[0249] Optionally, the processor in the chip system can be one or more. The processor can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor, which is implemented by reading software code stored in a memory.

[0250] Optionally, the memory in the chip system can also be one or more. The memory can be integrated with the processor or arranged separately from the processor, which is not limited in the embodiments of the present application. For example, the memory can be a non-transient processor, such as a read-only memory (ROM), which can be integrated on the same chip as the processor or arranged on different chips respectively, and the embodiments of the present application do not make specific limitations on the type of the memory and the arrangement of the memory and the processor.

[0251] For example, the chip system can be an FPGA, an ASIC, a system on chip (SoC), a CPU, an NP, a digital signal processor (DSP), a micro controller unit (MCU), a programmable logic device (PLD) or other integrated chips.

[0252] The embodiments of the present application also provide a system including one or more of the above-mentioned devices, apparatuses, computer readable storage media, computer program products, chips or chip systems, which can be applied in Figure 1 the scenarios shown, but are not limited thereto.

[0253] In a possible implementation, the system provided by the embodiments of the present application includes at least one first communication device and at least one second communication device.

[0254] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0255] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0256] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of units is only a logical business division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0257] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0258] In addition, each business unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software unit.

[0259] If the integrated unit is realized in the form of software unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, all or part of the technical solutions of the present application can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0260] Those skilled in the art should understand that, in one or more examples described above, the businesses described in the present application can be implemented by hardware, software, firmware or any combination thereof. When implemented by software, the businesses can be stored in a computer readable medium or transmitted as one or more instructions or codes on a computer readable medium. The computer readable medium includes computer storage medium and communication medium, wherein the communication medium includes any medium that facilitates transfer of a computer program from one place to another. The storage medium can be any available medium accessible by a general or special purpose computer.

[0261] The above detailed description of the application serves to further explain the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above is only a specific implementation of the present application.

[0262] The above, the above examples are only to illustrate the technical solutions of the present application, but not to limit it; although the present application is described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for transmitting sensing data, characterized in that, include: Receive first sensing data sent by the first communication device; Send a first instruction message, which is used to instruct the first communication device to feed back second sensing data, wherein the amount of information in the second sensing data is greater than the amount of information in the first sensing data.

2. The method according to claim 1, characterized in that, The first sensing data includes at least one of the following: the number of targets sensed by the first communication device, the location information of the targets in space, the target speed, or the target type.

3. The method according to claim 2, characterized in that, The first sensing data also includes at least one of the following: number of scatterers, average signal-to-noise ratio, and average power.

4. The method according to any one of claims 1 to 3, characterized in that, The second sensing data includes information about the scatterers sensed by the first communication device. The scatterer information includes at least one of the following: scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, velocity, or confidence level for each scatterer; or... The scatterer information includes at least one of the following: the size of the first region corresponding to the scatterer, the spatial range of the first region, or the first region matrix, wherein the first region is a region obtained by dividing space.

5. The method according to any one of claims 1 to 4, characterized in that, Before sending the first indication information, the following is also included: Based on the first sensing data and the sensing task, it is determined that the first communication device needs to feed back the second sensing data.

6. The method according to any one of claims 1 to 5, characterized in that, Also includes: Send a second instruction message, which instructs the first node to send the first sensing data to the second node, or send the first sensing data and the content contained in the first sensing data. The content contained in the first sensing data includes at least one of the following: the number of targets sensed by the first communication device, the target's position information in space, the target's speed, the target's type, the number of scatterers, the average signal-to-noise ratio, and the average power.

7. The method according to any one of claims 1 to 6, characterized in that, The first indication information is also used to indicate to the first node the content contained in the second sensing data. The content contained in the second sensing data includes at least one of the following: scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, velocity, or confidence of each scatterer; or, at least one of the following: the size of the first region corresponding to the scatterer, the spatial location range of the first region, or the first region matrix.

8. A method for transmitting sensing data, characterized in that, include: Send the first sensing data; If a first instruction is received, second sensing data is fed back based on the first instruction, and the amount of information in the second sensing data is greater than the amount of information in the first sensing data.

9. The method according to claim 8, characterized in that, The first sensing data includes at least one of the following: the number of targets sensed by the first communication device, the location information of the targets in space, the target speed, or the target type.

10. The method according to claim 9, characterized in that, The first sensing data also includes at least one of the following: number of scatterers, average signal-to-noise ratio, and average power.

11. The method according to any one of claims 8 to 10, characterized in that, The second sensing data includes information about the scatterers sensed by the first communication device. The scatterer information includes at least one of the following: scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, velocity, or confidence level for each scatterer; or... The scatterer information includes at least one of the following: the size of the first region corresponding to the scatterer, the spatial range of the first region, or the first region matrix.

12. The method according to any one of claims 8 to 11, characterized in that, Also includes: The first node receives a second instruction, which instructs the first node to send the first sensing data to the second node, or to send the first sensing data and the content contained in the first sensing data. The content contained in the first sensing data includes at least one of the following: the number of targets sensed by the first communication device, the target's position information in space, the target's speed, the target's type, the number of scatterers, the average signal-to-noise ratio, and the average power.

13. The method according to any one of claims 8 to 12, characterized in that, The first indication information is also used to indicate to the first node the content contained in the second sensing data. The content contained in the second sensing data includes at least one of the following: scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, velocity, or confidence of each scatterer; or, at least one of the following: the size of the first region corresponding to the scatterer, the spatial location range of the first region, or the first region matrix.

14. A communication device, characterized in that, The communication device includes a module for performing the method according to any one of claims 1 to 7, or includes a module for performing the method according to any one of claims 8 to 13.

15. A communication device, characterized in that, The communication device includes a processor configured to perform the method of any one of claims 1 to 7, or configured to perform the method of any one of claims 8 to 13.

16. A communication device, characterized in that, include: The input / output interface and logic circuit are provided, wherein the input / output interface is used to acquire at least one of input information or output information; and the logic circuit is used to perform the method of any one of claims 1 to 7, or to perform the method of any one of claims 8 to 13.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed, cause the method of any one of claims 1 to 7 to be implemented, or cause the method of any one of claims 8 to 13 to be implemented.

18. A computer program product, characterized in that, The computer program product includes instructions that, when executed, cause the method of any one of claims 1 to 7 to be implemented, or cause the method of any one of claims 8 to 13 to be implemented.

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