Perception method and device

Abstract

The invention discloses a sensing method and device. And the first device determines first point cloud information corresponding to the first sensing target according to the measurement result of the received first signal and the first density. The first device sends first information, wherein the first information comprises the first point cloud information. For example, the first density can be set more reasonably, so that the first point cloud information can be used for sensing the target object, the information amount of the first point cloud information is not too large as much as possible, and the transmission overhead of the first point cloud information can be reduced on the premise of ensuring the sensing performance.

Description

TECHNICAL FIELD

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

[0002] For sensing services, such as environmental imaging or reconstruction application scenarios, the reflection, scattering or diffraction of signals sent by a user equipment (UE) or a base station on a sensing target when the signals propagate in space can be used to sense the position or shape of the sensing target in the environment. The base station or the UE can measure the signals reflected, scattered or diffracted by the sensing target and report the measurement results to a sensing network element, and the sensing network element can implement sensing of the sensing target based on the measurement results.

[0003] The measurement results reported by the base station or the UE can include point cloud information corresponding to the sensing target, and the point cloud information can include coordinates of the sensing target determined by measurement. For one sensing target, the point cloud information determined by the base station or the UE can include multiple coordinates of the sensing target, resulting in a large amount of information of the point cloud information and a large transmission overhead of the point cloud information. SUMMARY

[0004] Embodiments of the present application provide a sensing method and apparatus for reducing the transmission overhead of point cloud information.

[0005] In a first aspect, a first sensing method is provided, which can be applied to a first apparatus. Optionally, the first apparatus is a terminal-side apparatus, which is also referred to as a terminal apparatus. The terminal apparatus is, for example, a terminal device, or another device including a terminal device function, or a circuit, or a chip system (or a chip, such as a modem chip, also referred to as a baseband chip, or a system on chip (SoC) chip or a system in package (SIP) chip containing a modem core) or another functional module, which can implement the function of a terminal device. The chip system or functional module is, for example, arranged in a terminal device. Alternatively, the first apparatus is a network-side apparatus, which is also referred to as a network apparatus. The network apparatus is, for example, a network device, or another device including a network device function, or a circuit, or a chip system (or a chip) or another functional module, which can implement the function of a network device. The chip system or functional module is, for example, arranged in a network device. The network device includes, for example, a core network device and / or an access network device. The method includes: determining first point cloud information corresponding to a first sensing target according to a measurement result of a received first signal and a first density; and sending first information, wherein the first information includes the first point cloud information.

[0006] In the embodiments of the present application, the first device can determine the first point cloud information according to the first density, so that the information amount of the first point cloud information can be controlled through the first density. For example, the first density can be set reasonably, so that the first point cloud information can be used for perceiving the target object, and the information amount of the first point cloud information can be as small as possible, thereby reducing the transmission overhead of the first point cloud information while ensuring the perception performance.

[0007] In an optional embodiment, the first point cloud information corresponding to the first perception target is determined according to the measurement result of the received first signal and the first density, including: determining second point cloud information according to the measurement result; and determining the first point cloud information according to the second point cloud information and the first density. The first device can first obtain the second point cloud information, and then obtain the first point cloud information according to the first density, so that the density of the first point cloud information is the first density.

[0008] In an optional embodiment, the first density is smaller than the density of the second point cloud information. For example, the density of the second point cloud information is large, and the first device can process the second point cloud information to reduce the density of the second point cloud information. Through such processing, the information amount of the point cloud information (the first point cloud information) reported by the first device can be reduced, thereby reducing the transmission overhead.

[0009] In an optional embodiment, the first density is smaller than the density of the second point cloud information, and the first point cloud information is obtained by clustering the points corresponding to the second point cloud information; or, the first density is greater than the density of the second point cloud information, and the first point cloud information is obtained by interpolating the points corresponding to the second point cloud information. The density of the second point cloud information can be greater than the first density or less than the first density, which indicates that the density of the second point cloud information does not meet the reporting condition. Therefore, if the density of the second point cloud information is greater than the first density or less than the first density, the first device can process the first point cloud information. For example, if the density of the second point cloud information is greater than the first density, it indicates that the density of the second point cloud information is large, and the first device can perform clustering processing on the second point cloud information to reduce the density of the second point cloud information, or the first device can remove some points (for example, randomly remove) from the points corresponding to the second point cloud information to reduce the density of the second point cloud information. For another example, if the density of the second point cloud information is less than the first density, it indicates that the density of the second point cloud information is small, and the perception network element can not be sufficient to perceive according to the second point cloud information, so the first device can perform interpolation processing on the second point cloud information to increase the density of the second point cloud information. It can be seen that through the scheme of the embodiments of the present application, the first device can obtain the point cloud information (the first point cloud information) meeting the reporting condition.

[0010] In an optional implementation, the first point cloud information is determined according to the second point cloud information and the first density, including: removing M points from the points corresponding to the second point cloud information, the accuracy of the M points being lower than a first threshold, M being a positive integer; and determining the first point cloud information satisfying the first density according to information of the remaining points corresponding to the second point cloud information except the M points. The accuracy of the M points being lower than the first threshold indicates that the perception result may not be accurate enough when the M points are used to perceive the first perception target, and therefore the first device can remove the M points from the points corresponding to the second point cloud information to improve the accuracy of the determined first point cloud information, and further improve the perception accuracy.

[0011] In an optional implementation, the first information is further used to indicate one or more of: the number of points corresponding to the first point cloud information, the number of points corresponding to the second point cloud information, the similarity of the first point cloud information to the first perception target, whether the points corresponding to the first point cloud information are obtained by interpolation, the points corresponding to the first point cloud information obtained by interpolation, whether the points corresponding to the first point cloud information are (or include) edge points, the edge points corresponding to the first point cloud information, the points corresponding to the first perception target that do not participate in determining the first point cloud information, or the number of points corresponding to the first perception target that do not participate in determining the first point cloud information. The first device can provide more information to the perception network element to improve the perception accuracy of the perception network element.

[0012] In an optional implementation, the method further includes: receiving second information, the second information being used to indicate the first density by one or more of: information of the first density; perception accuracy information; perception resolution information; or the number of points. The first density is predefined by a protocol, or pre-configured in the first device, or can also be indicated by another network element (such as the perception network element), and this implementation is taken as an example that the first density is indicated by another network element. For example, the second information can indicate the first density by one or more of the above, and the first device can determine the first density. Or, the first information indicates one or more of the above, and does not indirectly indicate the first density; the first device can determine one or more of the above according to the first information, and thus determine the first point cloud information satisfying one or more of the above (i.e., the first device can not determine the first point cloud information according to the first density, but determine the first point cloud information according to one or more of the above).

[0013] In an optional implementation, the first sensing target has edge point cloud information with a density different from the first density, and the first information further comprises the edge point cloud information. The edge point cloud information of a sensing target plays an important role in the sensing process, for example, the edge point cloud information can be used to better reconstruct the sensing target. Therefore, the first device can report the edge point cloud information of the first sensing target according to a density different from the first density, for example, the first device can report the edge point cloud information separately, so that the sensing network element can obtain more accurate edge point cloud information.

[0014] In an optional implementation, the method further comprises: receiving third information, wherein the third information is used to indicate that the edge point cloud information of the first sensing target is not reported according to the first density, or the third information is used to indicate that the edge point cloud information of the first sensing target is reported according to a second density, and optionally, the second density is greater than the first density. Other network elements (for example, a sensing network element) can instruct the first device on how to report the edge point cloud information. For example, the third information indicates that the edge point cloud information is not reported according to the first density, in which case, the first device can determine the second density by itself, or the first device can not determine the density, but directly report the measured edge point cloud information. Alternatively, the third information can indicate the second density, or indicate that the edge point cloud information of the first sensing target is reported according to the second density, and the first device can determine the edge point cloud information that meets the second density. Optionally, the second density can be greater than the first density, which means that the first device can report more dense edge point cloud information, so that the sensing network element can obtain more abundant edge point information, to better sense the sensing target and improve the sensing accuracy.

[0015] In an optional implementation, the first point cloud information comprises edge point information, or the first point cloud information does not comprise edge point information. The edge point information, for example, comprises coordinates of the edge points. The first point cloud information can comprise edge point information, for example, the first device can report the edge point information in the first point cloud information together, without separately reporting the edge point cloud information; or the first device can report the edge point information in the first point cloud information together, and also separately report the edge point cloud information. Alternatively, the first point cloud information can not comprise edge point information, for example, the first device does not report the edge point information in the first point cloud information together, but separately reports the edge point cloud information, so that the sensing network element can more clearly obtain the edge point cloud information, and this also helps to reduce the transmission overhead.

[0016] In an optional implementation, the method further includes: receiving fourth information, the fourth information being used to indicate that the first point cloud information is determined based on the first density, or the fourth information being used to indicate that the point cloud information is reported based on a scheme of an embodiment of the present application. The reporting manner of the embodiment of the present application can be used as a function, which can be turned on or turned off. For example, the function can be turned on under the indication of another network element (for example, a perception network element), so that the application of the function is more in line with the current situation.

[0017] In a second aspect, a second perception method is provided, which can be applied to a perception network element. The network side device, for example, is also referred to as a network device. The perception network element, for example, is a network equipment or a server, or is another equipment including a network equipment function or a server, or is a circuit, or is a chip system (or, a chip) or another functional module, which is capable of realizing the function of the network equipment or the server, and is, for example, arranged in the network equipment or the server. The network equipment, for example, includes a core network equipment and / or an access network equipment. The method includes: sending second information, the second information being used to indicate a first density; and receiving first information, the first information including first point cloud information, the first point cloud information satisfying the first density, and the first point cloud information being point cloud information corresponding to a first perception target.

[0018] In an optional implementation, the second information is used to indicate the first density by one or more of the following: information of the first density; perception accuracy information; perception resolution information; or, a number of points.

[0019] In an optional implementation, the method further includes: sending third information, wherein the third information is used to indicate that edge point cloud information of the first perception target is not reported according to the first density; or the third information is used to indicate that the edge point cloud information of the first perception target is reported according to a second density, and the second density is greater than the first density.

[0020] In an optional implementation, the first information is further used to indicate one or more of the following: a number of points corresponding to the first point cloud information, a similarity of the first point cloud information to the first perception target, whether the points corresponding to the first point cloud information are obtained by interpolation, the points obtained by interpolation corresponding to the first point cloud information, or points of the first perception target that do not participate in determining the first point cloud information.

[0021] In an optional implementation, the method further includes: sending fourth information, the fourth information being used to indicate that the first point cloud information is determined based on the first density.

[0022] As to the technical effects brought by the second aspect or various optional implementations, reference can be made to the introduction of the technical effects of the first aspect or corresponding implementations.

[0023] In a third aspect, a communication apparatus is provided. The communication apparatus can be the first apparatus of any one of the first aspect to the second aspect. The communication apparatus has the functions of the first apparatus. For example, the communication apparatus has the functions of any one of the first aspect to the second aspect, for example, the communication apparatus includes modules or units or means corresponding to the operations of any one of the first aspect to the second aspect, and the modules or units or means can be implemented by software or by hardware, or by a combination of software and hardware. The communication apparatus, for example, is a terminal device, or is another device including a function of the terminal device, or is a chip system (or, a chip or a circuit) or another functional module, which can implement the function of the terminal device, and the chip system or the functional module is, for example, arranged in the terminal device. Alternatively, the communication apparatus, for example, is a network device, or is another device including a function of the network device, or is a chip system (or, a chip or a circuit) or another functional module, which can implement the function of the network device, and the chip system or the functional module is, for example, arranged in the network device. The network device, for example, includes a core network device and / or an access network device. In an optional implementation, the communication apparatus includes a baseband device and a radio frequency device. In another optional implementation, the communication apparatus includes a processing unit (sometimes also referred to as a processing module) and a transceiver unit (sometimes also referred to as a transceiver module). The transceiver unit can implement a sending function and a receiving function. When the transceiver unit implements the sending function, it can be referred to as a sending unit (sometimes also referred to as a sending module). When the transceiver unit implements the receiving function, it can be referred to as a receiving unit (sometimes also referred to as a receiving module). The sending unit and the receiving unit can be the same functional module, which is referred to as a transceiver unit and can implement the sending function and the receiving function. Alternatively, the sending unit and the receiving unit can be different functional modules, and the transceiver unit is a general term for these functional modules.

[0024] In an optional implementation, the processing unit is configured to determine first point cloud information corresponding to the first sensing target according to the measurement result of the received first signal and the first density; and the transceiver unit (or the sending unit) is configured to send first information, where the first information includes the first point cloud information.

[0025] In an alternative implementation, the communication apparatus further includes a storage unit (also referred to as a storage module), and the processing unit is configured to be coupled with the storage unit and execute programs or instructions in the storage unit to enable the communication apparatus to perform the functions of the first device in any one of the first aspect to the second aspect.

[0026] In a fourth aspect, a communication apparatus is provided. The communication apparatus can be the sensing network element in any one of the first aspect to the second aspect. The communication apparatus has the functions of the sensing network element. For example, the communication apparatus has the functions of any one of the first aspect to the second aspect, e.g., the communication apparatus includes modules or units or means corresponding to the operations in any one of the first aspect to the second aspect, which can be implemented in software, or implemented in hardware, or implemented in a combination of software and hardware. The sensing network element can be a network device or a server, or other device including the functions of the network device or the server, or a chip system (or a chip or a circuit) or other functional module, which can implement the functions of the network device or the server, e.g., the chip system or the functional module is arranged in the network device or the server. The network device can include a core network device and / or an access network device. In an alternative implementation, the communication apparatus includes a baseband device and a radio frequency device. In another alternative implementation, the communication apparatus includes a processing unit (also referred to as a processing module) and a transceiver unit (also referred to as a transceiver module). The implementation of the transceiver unit can refer to the related description of the third aspect.

[0027] In an alternative implementation, the transceiver unit (or the sending unit) is configured to send second information, the second information being used to indicate a first density; and the transceiver unit (or the receiving unit) is configured to receive first information, the first information including first point cloud information, the first point cloud information satisfying the first density, and the first point cloud information being point cloud information corresponding to a first sensing target.

[0028] In an alternative implementation, the communication apparatus further includes a storage unit (also referred to as a storage module), and the processing unit is configured to be coupled with the storage unit and execute programs or instructions in the storage unit to enable the communication apparatus to perform the functions of the sensing network element in any one of the first aspect to the second aspect.

[0029] In a fifth aspect, a communication apparatus is provided, which comprises a memory and one or more processors. The memory is configured to store part or all of a computer program or instructions necessary to implement the functions related to the first aspect or the second aspect described above. The one or more processors are configured to execute the computer program or instructions, when the computer program or instructions are executed, to enable the communication apparatus to implement the method in any possible design or implementation manner of the first aspect or the second aspect described above.

[0030] In a possible design of the communication apparatus, the communication apparatus further comprises an interface circuit, and the processor is configured to communicate with other apparatuses or components through the interface circuit.

[0031] In a possible design of the communication apparatus, the communication apparatus further comprises the memory.

[0032] The communication apparatus described above can be a terminal, or a communication module in the terminal, or a chip responsible for communication functions in the terminal, such as a modem chip (also referred to as a baseband chip) or an SoC or SIP chip containing a modem module. Optionally, the terminal can implement the method in any possible design or implementation manner of the first aspect.

[0033] In a sixth aspect, a communication apparatus is provided, which comprises a memory and one or more processors. The memory is configured to store part or all of a computer program or instructions necessary to implement the functions related to the first aspect or the second aspect described above. The one or more processors are configured to execute the computer program or instructions, when the computer program or instructions are executed, to enable the communication apparatus to implement the method in any possible design or implementation manner of the first aspect or the second aspect described above.

[0034] In a possible design of the communication apparatus, the communication apparatus further comprises an interface circuit, and the processor is configured to communicate with other apparatuses or components through the interface circuit.

[0035] In a possible design of the communication apparatus, the communication apparatus further comprises the memory.

[0036] The communication apparatus described above can be a network device or a server, or a communication module in the network device or the server, or a chip responsible for communication functions in the network device or the server, such as a modem chip (also referred to as a baseband chip) or an SoC or SIP chip containing a modem module. Optionally, the network device or the server can implement the method in any possible design or implementation manner of the first aspect, or can implement the method in any possible design or implementation manner of the second aspect.

[0037] In a seventh aspect, a communication system is provided, comprising a network side device and a sensing network element, wherein the network side device is configured to perform the method performed by the first device in any one of the first aspect to the second aspect; and the sensing network element is configured to perform the method performed by the sensing network element in any one of the first aspect to the second aspect. For example, the network side device can be implemented by the communication device in the fourth aspect or the sixth aspect; and the sensing network element can be implemented by the communication device in the fourth aspect or the sixth aspect.

[0038] Optionally, the communication system further comprises a terminal side device, wherein the terminal side device is configured to perform the method performed by the first device in any one of the first aspect to the second aspect. For example, the terminal side device can be implemented by the communication device in the third aspect or the fifth aspect.

[0039] Optionally, the network side device is further configured to send the first signal; or the terminal side device is further configured to send the first signal.

[0040] In an eighth aspect, a computer readable storage medium is provided, configured to store a computer program or instructions, which, when executed, cause the method performed by the first device or the sensing network element in the above aspects to be implemented.

[0041] In a ninth aspect, a computer program product containing instructions, which, when executed on a computer, cause the method in the above aspects to be implemented.

[0042] In a tenth aspect, a chip system is provided, comprising a processor and an interface, wherein the processor is configured to call and execute instructions from the interface, so that the chip system implements the method in the above aspects. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1A Fig. 1 is a schematic diagram of an access network device structure under an ORAN architecture;

[0044] Figure 1B Fig. 2 is a schematic diagram of a structure of a RAN chip;

[0045] Figure 2 Fig. 3 is a schematic diagram of a plurality of base stations measuring a same sensing target;

[0046] Figure 3 Fig. 4 is a schematic diagram of a single station sensing mode and a double station sensing mode; Figure 4 Fig. 5 is a schematic diagram of two network architectures to which embodiments of the present application are applied;

[0047] Figure 5A Fig. 6 is a schematic diagram of a single station sensing mode and a double station sensing mode; Figure 5B

[0048] ​Figure 6 A flow chart of a sensing method provided in an embodiment of the present application;

[0049] Figure 7 A schematic diagram for determining coordinates of a sensing target of a first device in an embodiment of the present application;

[0050] Figures 8-11 Flow charts of several sensing methods provided in an embodiment of the present application;

[0051] Figure 12 A schematic diagram of a device provided in an embodiment of the present application;

[0052] Figure 13 A schematic diagram of another device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0054] In the embodiments of the present application, the number of a noun, unless otherwise specified, represents "a singular noun or a plural noun", that is, "one or more". "At least one" means one or more, and "multiple" means two or more. "And / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the following cases: A exists alone, A and B exist together, B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. For example, A / B means A or B. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c means a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0055] The ordinal numbers "first", "second", and the like mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the size, content, order, time sequence, priority, or importance of the multiple objects. In addition, the numbering of steps in each embodiment introduced in the present application is only used to distinguish different steps, and is not used to limit the order of the steps.

[0056] In the following, some terms or concepts in the embodiments of the present application are explained and described, so as to facilitate the understanding of the skilled in the art.

[0057] A point cloud refers to a point set of surface characteristics of a target, and can represent a three-dimensional shape or object. In embodiments of the present application, a point cloud can refer to a point cloud containing coordinates acquired after sensing by a sensing device (such as a network device or a UE, etc.). For example, in embodiments of the present application,

[0058] A “point cloud” can refer to a “point”, for example, a “point” can also be referred to as a “point cloud”, and the two features can be replaced with each other. One or more point clouds can belong to a point cloud set, and information of the point cloud set can include coordinates (such as three-dimensional coordinates) of the one or more point clouds. For example, a point cloud set corresponding to a sensing target is considered as a point cloud set.

[0059] Alternatively, in embodiments of the present application, a “point cloud” can refer to a set of “points”, and a point cloud can include one or more points. Point cloud information corresponds to a point cloud, for example, the point cloud information can include coordinates (such as three-dimensional coordinates) of one or more points in the corresponding point cloud. For example, a point cloud corresponding to a sensing target is considered as a point cloud. For example, a sensing target 1 corresponds to a point cloud 1, the point cloud 1 can include one or more points on the sensing target 1, the point cloud 1 corresponds to a point cloud information 1, and the point cloud information 1 includes coordinates of the one or more points. Embodiments of the present application are introduced based on this example.

[0060] In the embodiments of the present application, the terminal device is a device with wireless transceiving function, which can be a fixed device, a mobile device, a handheld device (for example, a mobile phone), a wearable device, a vehicle-mounted device, or a wireless device (for example, a communication module, a modem, or a chip system, etc.) built in the above devices. The terminal device is used to connect people, objects, machines, etc., and can be widely used in various scenarios, for example, including but not limited to the following scenarios: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle to everything (V2X) communication, machine-to-machine / machine-type communications (M2M / MTC), internet of things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self driving, remote medical, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, unmanned aerial vehicle, robot, indoor commercial scenarios (such as mobile phone screen projection, file sharing, mobile phone to VR glasses video transmission) and other scenarios. When the terminal device is applied to V2X, it can also be referred to as a V2X device, for example, a smart car, a digital car, an unmanned car, a self-driving car, a pure EV, a hybrid electric vehicle (HEV), a range extended EV (REEV), a plug-in HEV (PHEV), a new energy vehicle, a road site unit (RSU), etc. The terminal device can also be a device in D2D communication, for example, a water meter, a gas meter, etc.

[0061] In addition, in the embodiments of the present application, the terminal device can also be a terminal device in an internet of things (IoT) system. The IoT is an important part of future information technology development. Its main technical feature is to connect objects to a network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-object interconnection.

[0062] As introduced above, various terminal devices can be considered as vehicle-mounted terminal devices if they are located on a vehicle (for example, placed in or installed in a vehicle), and the vehicle-mounted terminal device is also referred to as an on-board unit (OBU). The terminal device of the present application can also be a vehicle-mounted module, a vehicle-mounted module group, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit built in a vehicle as one or more components or units, and the vehicle can implement the method of the present application through the built-in vehicle-mounted module, vehicle-mounted module group, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit.

[0063] The terminal device can also be referred to as a UE, a terminal, an access station, a UE station, a remote station, a wireless communication device, or a user device, etc.

[0064] In the embodiments of the present application, the communication device for implementing the function of the terminal device can be a terminal device, which can be a terminal device or a device capable of supporting the terminal device to implement the function, such as a chip system, which can be installed in the terminal device. In the technical solutions provided in the embodiments of the present application, the device for implementing the function of the terminal device is taken as an example of the terminal device to describe the technical solutions provided in the embodiments of the present application.

[0065] The network device in the embodiments of the present application, for example, includes an access network device (or an access network network element) and / or a core network device (or a core network network element). The access network device is a device with wireless transceiving function, used for communicating with the terminal device. The access network device includes but is not limited to a base station (a base transceiver station (BTS), a Node B, an evolved Node B (eNodeB) / eNB, or a next generation Node B (gNodeB) / gNB), a transceiving point (TRP), a base station evolved in the future of the 3rd generation partnership project (3GPP), an access node in a wireless fidelity (Wi-Fi) system, a wireless relay node, a wireless backhaul node, and the like. The base station can be a macro base station, a micro base station, a pico base station, a small station, a relay station, and the like. A plurality of base stations can support a network of the same access technology or a network of different access technologies. A base station can include one or more co-sited or non-co-sited transmission reception points. The access network device can also be a wireless controller, a centralized unit (CU), and / or a distributed unit (DU) in a cloud radio access network (CRAN) scenario. The access network device can also be a server and the like. For example, the network device in the V2X technology can be a road side unit (RSU). The access network device is described below by taking a base station as an example. The base station can communicate with the terminal device or communicate with the terminal device through a relay station. The terminal device can communicate with a plurality of base stations in different access technologies. The core network device is used to implement mobile management, data processing, session management, policy and charging, and the like. The names of devices implementing core network functions in systems of different access technologies can be different, and the embodiments of the present application do not limit this.Taking a 5th generation (5G) system as an example, the core network device includes, for example, an access and mobility management function (AMF), a session management function (SMF), a policy control function (PCF), a user plane function (UPF), and the like.

[0066] In the CU-DU architecture, or in an open RAN (ORAN) system, the access network device can include one or more of a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), and the like. The CU and the DU can be separately arranged, or can also be 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, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). For a structure of the access network device, refer to Figure 1A . Among them, the core network device and the access network device can communicate through a backhaul link; within the access network device, the CU and the DU can communicate through a middlehaul link, and the DU and the RU can communicate through a front-haul link.

[0067] Alternatively, another structure of the access network device can refer to Figure 1B , Figure 1BTaking an access network device implemented by a chip as an example, for example, a RAN chip. The RAN chip can include a CU, a DU, and a RU. The CU can perform L2 functions and L3 functions, etc. The DU can perform L1 functions and part of L2 functions, etc. The RU can perform L1 computing and radio frequency (RF) digital part functions, etc. The CU communicates with the core network device through a backhaul interface, and the backhaul interface carries traffic between the CU and the core network device. The CU can include a central processing unit (CPU) of an X86 architecture or an ARM architecture, and an accelerator including a field programmable gate array (FPGA), a graphics processing unit (GPU), or other accelerators, etc. The CPU and the FPGA, GPU, or other accelerators can communicate through a peripheral component interconnect express (PCIe) interface.

[0068] The CU communicates with the DU through a midhaul interface, and the midhaul interface carries traffic between the CU and the DU. The DU can include a CPU of an X86 architecture or an ARM architecture, and an accelerator including an FPGA, a GPU, or other accelerators, etc. The CPU and the FPGA, GPU, or other accelerators can communicate through a PCIe interface.

[0069] The DU communicates with the RU through a fronthaul interface, and the fronthaul interface carries traffic between the DU and the RU. If the access network device adopts an integrated DU, the integrated DU can include the functions of the DU and the RU described above, and the RAN can no longer separately include the RU. The RU can include a RAN fronthaul processing unit (RAN FH processing unit), a digital processing unit, and a radio frequency processing unit (RF processing unit). The RAN FH processing unit is implemented by, for example, an FPGA or an application specific integrated circuit (ASIC). The digital processing unit is implemented by, for example, an FPGA or an ASIC.

[0070] The RU can be connected with an antenna to communicate with the UE through the antenna.

[0071] The CU (or CU-CP and CU-UP), DU or RU can also have different names in different systems, 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 open CU (O-CU), the DU can also be referred to as an open DU (O-DU), the CU-CP can also be referred to as an open CU-CP (O-CU-CP), the CU-UP can also be referred to as an open CU-UP (O-CU-UP), and the RU can also be referred to as an open RU (O-RU). For the convenience of description, the CU, CU-CP, CU-UP, DU and RU are taken as examples for description in the embodiments of the present application. Any one of the CU (or CU-CP, CU-UP), DU and RU in the embodiments of the present application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0072] The CU and the DU can be configured according to the protocol layer functions of the wireless network they implement. For example, the CU is configured to implement the functions of the packet data convergence protocol (PDCP) layer and the protocol layers above the PDCP layer (such as the radio resource control (RRC) layer and / or the service data adaption protocol (SDAP) layer, etc.); the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as one or more of the radio link control (RLC) layer, the media access control (MAC) layer, or the physical (PHY) layer). For another example, the CU is configured to implement the functions of the PDCP layer and the protocol layers above the PDCP layer (such as the RRC layer and / or the SDAP layer), and the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as one or more of the RLC layer, the MAC layer, or the PHY layer).

[0073] The configuration of the above CU and DU is merely an example, and the CU and DU can be configured to have functions as needed. For example, the CU or the DU can be configured to have more protocol layer functions, or the CU or the DU can be configured to have partial processing functions of the protocol layer. For example, partial functions of the RLC layer and functions of protocol layers above the RLC layer are arranged in the CU, and the remaining functions of the RLC layer and functions of protocol layers below the RLC layer are arranged in the DU. For another example, the functions of the CU or the DU can be divided according to a service type or other system requirements, for example, according to a delay requirement. Functions that require a processing time to meet a relatively low delay requirement are arranged in the DU, and functions that do not require the processing time to meet the delay requirement are arranged in the CU.

[0074] The DU and the RU can cooperate to jointly implement the functions of the PHY layer. One DU can be connected to one or more RUs. The functions of the DU and the RU can be configured in various ways according to design. For example, the DU is configured to implement baseband functions, and the RU is configured to implement intermediate radio frequency functions. For another example, the DU is configured to implement high-layer functions in the PHY layer, and the RU is configured to implement low-layer functions in the PHY layer or to implement the low-layer functions and radio frequency functions. The high-layer functions in the PHY layer can include a part of the functions of the PHY layer that are closer to the MAC layer, and the low-layer functions in the PHY layer can include another part of the functions of the PHY layer that are closer to the intermediate radio frequency side.

[0075] In the embodiments of the present application, the communication device for implementing the function of the network device can be referred to as a network device, which can be a network element or a network device, or a device capable of supporting the network device or the network element to implement the function, such as a chip system, which can be installed in the network device. In the technical solutions provided in the embodiments of the present application, the device for implementing the function of the network device is taken as an example (for example, the device for implementing the function of the access network device is the access network device, and the device for implementing the function of the core network device is the core network device), and the technical solutions provided in the embodiments of the present application are described.

[0076] A sensing signal is a signal used for sensing (or detecting) a target (or target object). The sensing signal is also referred to as a detection signal, a chirp signal, a radar signal, a radar sensing signal, a radar detection signal, or an environment sensing signal, etc. The sensing signal can be a pulse signal, or a signal in a wireless communication system. For example, the sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal modulated on a subcarrier with a specific sequence, which can be any one of the following sequences: a Zadoff-Chu sequence (ZC sequence), a pseudo-random sequence, or a predefined sequence. The pseudo-random sequence includes any one of the following sequences: a maximum length linear feedback shift register sequence (m-sequence), or a Gold sequence. The predefined sequence is, for example, a random data symbol, for example, a random data symbol modulated by quadrature phase shift keying (QPSK) or 16 quadrature amplitude modulation (QAM).

[0077] A communication signal is a signal used for communication transmitted between communication devices. For example, the communication signal can include a signal transmitted between a network device and a terminal device. The communication signal is, for example, carried on a physical downlink shared channel (PDSCH) or a physical uplink shared channel (PUSCH), etc.

[0078] A return signal is a signal generated by reflection of a sensing signal by a target. The return signal and the sensing signal can reflect parameters of the target. For example, a time delay of the return signal relative to the sensing signal can reflect a distance of the target relative to a transmitter, and a Doppler frequency shift of the return signal relative to the sensing signal can reflect a speed of the target.

[0079] A communication-sensing fusion signal is also referred to as a communication-sensing fusion signal, a communication-sensing signal, or a communication-sensing integrated signal, etc. The communication-sensing fusion signal is a signal used for both communication and sensing. The communication-sensing fusion signal used for communication can be understood as a signal carrying communication data or a communication reference signal sequence to be transmitted between communication devices. The communication-sensing fusion signal used for sensing can be understood as the communication-sensing fusion signal being used for sensing (or detecting) a target.

[0080] For a long time, wireless sensing is a technology developed independently. Sensing services are provided by various specialized sensing devices, such as ordinary radar, laser radar, computer tomography, magnetic resonance imaging, and the like. In 5G and earlier communication systems, positioning is a sensing service that can be provided by a mobile communication system. In the 6th generation (6G) mobile communication system, in addition to positioning, general sensing will be integrated into the communication system as a new function, opening up new services such as high-precision positioning, tracking, environment reconstruction, gesture and motion recognition, and the like.

[0081] Among them, the sensing network element can reconstruct the environment of the target area through laser, radar, or base station, etc. For example, the sensing network element can reconstruct the real physical environment based on the measurement results reported by the laser, radar, or base station, etc. For example, the sensing network element can reconstruct the environment information based on the measurement results, using methods such as scattering polygons, etc. to depict various scatterers (also known as sensing targets, targets, or target objects, etc.) such as walls and furniture in the environment.

[0082] For sensing services such as environment imaging or reconstruction application scenarios, the reflection, scattering or diffraction of signals sent by UEs or base stations on sensing targets when propagating in space can be used to sense the position or shape of sensing targets in the environment. Among them, the base station or UE can measure the signal reflected, scattered or diffracted by the sensing target, and report the measurement result to the sensing network element to realize sensing of the sensing target by the sensing network element. Among them, the measurement result reported by the base station or UE can include point cloud information corresponding to the sensing target, which can include coordinates of the sensing target determined by measurement. Among them, the sensing network element can sense according to the point cloud information reported by a single base station or UE, or can also sense according to the point cloud information reported by multiple base stations or UEs. Among them, multiple base stations or UEs can report point cloud information for the same sensing target, and the sensing network element can combine the point cloud information reported by multiple base stations or UEs to improve the accuracy of sensing. For example, reference Figure 2 , two base stations (base station 1 and base station 2 in Figure 2 ) both measure the same sensing target, and the two base stations can report point cloud information corresponding to the sensing target to the sensing network element, for example, the point cloud information corresponding to the sensing target reported by the two base stations both includes the coordinates of the points in the circle in Figure 2 , which may indicate that these points are key points for reconstructing the sensing target. Among them, Figure 2Taking the two base stations using a two-station sensing mode as an example, the sensing mode is also referred to as an A-transmitting and B-receiving sensing mode, or a two-end sensing mode, or a bi-static sensing mode, etc. For example, a UE transmits a sensing signal A, and a base station receives a sensing signal B which is a signal reflected, scattered or diffracted by a sensing target after the sensing signal A. Among them, base station 1 and UE 1 are a group of devices using two-station sensing, and base station 2 and UE 2 are another group of devices using two-station sensing.

[0083] For a sensing target, the point cloud information determined by the base station or the UE can include multiple coordinates of the sensing target, resulting in a large amount of information of the point cloud information, thereby resulting in a large transmission overhead of the point cloud information.

[0084] In view of this, in the embodiments of the present application, the first device can determine the first point cloud information according to the first density, so that the first density can control the amount of information of the first point cloud information. For example, the first density can be reasonably set, which can make the first point cloud information be used for sensing target objects, and can also try to make the amount of information of the first point cloud information not too large, thereby reducing the transmission overhead of the first point cloud information on the premise of ensuring the sensing performance. Optionally, the first device is a terminal device or a network device. Optionally, the first device can also be referred to as a sensing device.

[0085] For reference Figure 3 , a schematic diagram of a potential sensing network architecture, Figure 3 is based on a 5G core network (5G core, 5GC). Figure 3 The network architecture shown can also be an application scenario of the embodiments of the present application.

[0086] In Figure 3 the architecture shown, a sensing function (SF) network element is added, which can also be referred to as a sensing network element. The SF can be a device or component that provides sensing functions for the network, which can also be referred to as a sensing management function (SMF), or can also have other names. The SF can be deployed on the core network side or the RAN side, Figure 3 Taking deployment on the core network as an example. In Figure 3In the illustrated network architecture, the SF can reuse the interface between the location management function (LMF) and the AMF, network exposure function (NEF), unified data management (UDM), network data analytics function (NWDAF), PCF, and other 5GC network elements for sensing interaction. The sensing signaling between the SF and the radio access network (RAN) or the UE can be transmitted through the AMF. The sensing measurement data obtained by the RAN or the UE can be transmitted to the SF via the control plane, for example, by reusing the long term evolution (LTE) positioning protocol (LPP) or new radio (NR) positioning protocol annex (NRPPa) protocol, or can be transmitted to the SF through the user plane by being forwarded by the UPF or directly transmitted to the SF.

[0087] The newly added SF in the network architecture can implement basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. Among them, interfaces are set between the SF and the AMF, NEF, UDM, NWDAF, PCF, LMF, and UPF, and other 5GC network elements, and interaction is performed, which are specifically defined as follows.

[0088] NS1: The newly added interface between the SF and the AMF, which can transmit sensing control signaling. In addition, for the scenario of transmitting sensing measurement data on the control plane, the interface can also transmit sensing measurement data.

[0089] NS2: The newly added interface between the SF and the NEF, which can transmit signaling messages exchanged between the sensing network element and the application function (AF) through the NEF, and open the sensing result to the AF.

[0090] NS3: The newly added interface between the SF and the UDM, through which authentication or authorization can be implemented, and UE sensing subscription information, service AMF information, or other information can be obtained.

[0091] NS4: The newly added interface between the SF and the NWDAF, through which the SF can jointly complete artificial intelligence (AI) processing related to sensing services with the NWDAF.

[0092] NS5: An interface newly added between the SF and the PCF, through which the SF can deliver information such as sensing requirements of a sensing service, quality of service (QoS) requirements, or sensing results to the PCF, and the PCF can decide to generate a policy control and charging (PCC) policy related to the sensing service.

[0093] NS6: An interface newly added between the SF and the LMF, through which the SF can obtain location-related information such as a sensing area, RAN information of a sensing target, and location information of a sensed UE.

[0094] NS7: An interface newly added between the SF and the UPF, through which sensing measurement data can be directly transmitted from the (R)AN to the SF via the UPF or indirectly forwarded to the SF via the UPF. In the scenario in which the (R)AN performs sensing via the UPF, the function of the UPF can be improved to support (R)AN-granularity data transmission.

[0095] In addition to the above-mentioned newly added interfaces, existing interfaces (for example, N1, N2, N5, N8, N33, etc.) can also support the delivery of information related to a sensing service, such as one or more of authentication information, a sensing service type, sensing service quality requirements, sensing measurement data, or sensing results.

[0096] Figure 3 The SF is taken as an example of a separate device; or the SF and the LMF can be combined, that is, a network element for processing a sensing service and a network element for processing a positioning service can be the same network element; or the SF and other core network network elements such as an AMF can also be combined. The LMF is a core network network element in the 5GC that provides a control plane positioning, can complete the calculation and feedback of location information in the 5G network, and provides functions such as positioning process management, UE capability acquisition, assistance data provision, and UE location estimation. Optionally, if the SF and the LMF are combined, the LMF and a gateway mobile location center (GMLC) can be functionally enhanced to support basic sensing functions. The GMLC can be the first network element in the operator network that processes a sensing request, performs privacy checks or authorization functions, routes a sensing request to an AMF, or performs LMF selection, etc.

[0097] For example, if the SF is co-located with the LMF, a new interface between the LMF and the GMLC can be added to deliver the perception service related information, such as a new NL9 interface. In addition, the interfaces related to the LMF and the GMLC (such as one or more of the NL1 interface between the AMF and the LMF, the NL2 interface between the AMF and the GMLC, the NL5 interface between the NEF and the GMLC, or the NL6 interface between the UDM and the GMLC) can also support the delivery of the perception service related information, which is described as follows.

[0098] N33: The interface between the AF and the NEF, through which the perception service type information, service requirements, perception results, etc. can be delivered.

[0099] NL5: The interface between the NEF and the GMLC, through which the perception service type information, service requirements, perception results, etc. can be delivered.

[0100] NL6: The interface between the GMLC and the UDM, through which the privacy check data can be delivered.

[0101] NL2: The interface between the NEF and the AMF, through which the perception service type information, service requirements, perception results, etc. can be delivered.

[0102] NL1: The interface between the AMF and the LMF, through which the perception service type information, service requirements, perception results, etc. can be delivered.

[0103] NL9: The newly added interface between the GMLC and the LMF, through which the perception service type information, service requirements, perception results, etc. can be delivered.

[0104] Reference can also be made to Figure 4 , which is another potential possible perception network architecture diagram, Figure 4 based on 5GC. Figure 4 The network architecture shown can also be another application scenario of the embodiments of the present application.

[0105] In Figure 4In the illustrated network architecture, the SF is relatively independent of the existing core network elements, and the SF does not need to interact with the core network elements or performs less interaction. For scenarios where there is only a sensing demand in a specific area or only a sensing demand, this network architecture can provide sensing services without the control of the 5GC or with the participation of only part of the network elements, and can also achieve that the sensing measurement data or sensing results do not go out of the park through local deployment of the SF, thereby meeting the needs of enterprises for the security and privacy of sensing measurement data or sensing results, and reducing the sensing latency. This network architecture is relatively simple, flexible, efficient, has fewer transmission nodes, and is easy to deploy. Optionally, this network architecture can support UE-related sensing needs, and can consider implementation schemes for authorization, mobility management, and billing functions as needed.

[0106] In this network architecture, the SF can directly establish a connection with the RAN node, and the sensing signaling of the control plane and the sensing measurement data of the user plane can be transmitted via the newly defined interface NS1. When the UE participates in sensing, the control plane signaling can be forwarded to the SF through the AMF, and the sensing measurement data can be transmitted via NS1. In addition, there can be an interface between the SF and the 5GC network elements (such as AMF, NEF, or NWDAF) to control the AF to provide sensing service requirements to the SF through the core network functions. The interface between the SF and the 5GC network elements is described as follows.

[0107] NS1: A newly added interface between the SF and the (R)AN, which can transmit sensing control signaling or sensing measurement data. In an implementation manner, the SF can also be deployed on the RAN side, for example, the SF can be co-located with the access network device (such as a base station), or the SF can be a separate device within the access network.

[0108] NS2: A possible newly added interface between the SF and the AMF, which can receive sensing service requirements from the UE or transmit signaling between the SF and other network elements in the core network, such as transmitting interaction messages between the SF and the UDM.

[0109] NS3: A possible newly added interface between the SF and the NEF, which can transmit signaling for interaction between the SF and the service-side AF through the NEF, and can also expose the sensing results to the AF, wherein the interaction between the SF and the AF can also not pass through the NEF. In actual deployment, NS2 and NS3 can be selected from one of them, that is, the AF can send a sensing service request to the SF indirectly through NS2 (NEF) or directly to the SF (without NEF); or the AF can send a sensing service request to the SF through N33 (NEF) and NS2 (AMF).

[0110] NS4: A possible newly added interface between the SF and the NWDAF, through which the SF and the NWDAF can jointly perform intelligent analysis and prediction to generate sensing results.

[0111] The technical solutions provided by the embodiments of the present application can be applied in a fourth generation mobile communication technology (4th Generation, 4G) system, such as an LTE system, or can be applied in a 5G system, such as an NR system, or can also be applied in a next generation mobile communication system or other similar communication systems, such as a 6G system, etc., or can be applied in an existing satellite mobile communication technology system, and the specific application is not limited. For example Figure 3 and Figure 4 are based on 5GC, in addition to this, SF can also be deployed in other networks, such as a 6G network, or other future communication networks, etc.

[0112] For sensing, according to the difference between the sender and the receiver of the sensing signal, the sensing mode can be divided into two modes: single-station sensing and double-station sensing. Among them, the single-station sensing mode is also called self-transmission and self-reception mode, or single-end sensing mode, or single-base sensing mode, etc. It refers to the device that transmits the sensing signal and the device that receives the echo signal reflected by the target of the sensing signal are the same device, such as shown in Figure 5A , the device that transmits the sensing signal and the device that receives the echo signal are both device 1; the double-station sensing mode is also called A-transmission and B-reception mode or self-transmission and other-reception mode, which refers to the device that transmits the sensing signal and the device that receives the echo signal reflected by the target of the sensing signal are different devices, such as shown in Figure 5B , the device that transmits the sensing signal is device 2, and the device that receives the echo signal is device 3. Figure 5A and Figure 5B take the vehicle as an example of the sensing target. For example Figure 5A , device 1 is a base station or a UE, in the single-station sensing mode, device 1 transmits the sensing signal, and device 1 receives the echo signal generated by the sensing signal reflected, scattered or diffracted by the sensing target (such as the vehicle in Figure 5A ) in the environment to perform environmental sensing. For another example, Figure 5B , device 2 is a base station or a UE, device 3 is a base station or a UE, in the double-station sensing mode, device 1 transmits the sensing signal, and device 2 receives the echo signal generated by the sensing signal reflected, scattered or diffracted by the scattering body (such as the vehicle in Figure 5B ) in the environment to perform environmental sensing.

[0113] The embodiments of the present application can be applied to the scenarios shown in Figure 3 , Figure 4 , Figure 5A or Figure 5B , or can also be used in other scenarios, such as any scenario involving sensing services.

[0114] The method provided by the embodiments of the present application is described below with reference to the drawings. In the embodiments of the present application, a signal used to implement a sensing function or a sensing service is referred to as a sensing signal. The sensing signal is transmitted through reflection, scattering, diffraction, or the like, and a sensing device (for example, a first device) can determine a related feature of a sensing target according to the received sensing signal, for example, estimate time delay, Doppler, or angle spectrum information to determine distance, angle, or speed information of the sensing target. In addition, the sensing device can also send a measurement result to a sensing network element, for example, point cloud information, distance, angle, or speed information of the sensing target. In the drawings corresponding to the embodiments of the present application, the steps represented by dashed lines are optional steps. In the embodiments of the present application, the first device and the second device can be the same device or different devices. The embodiments of the present application can be applied to the network architecture shown in Figure 3 、 Figure 4 、 Figure 5A or Figure 5B . For example, the first device described in the embodiments of the present application can be a UE as shown in Figure 3 or Figure 4 , the second device described in the embodiments of the present application can be a (R)AN as shown in Figure 3 or Figure 4 ; or the first device described in the embodiments of the present application can be a (R)AN as shown in Figure 3 or Figure 4 , the second device described in the embodiments of the present application can be a UE as shown in Figure 3 or Figure 4 ; or the first device described in the embodiments of the present application can be a (R)AN as shown in Figure 3 or Figure 4 , the second device described in the embodiments of the present application can also be the (R)AN; or the first device described in the embodiments of the present application can be a UE as shown in Figure 3 or Figure 4 , the second device described in the embodiments of the present application can also be the UE. For another example, the first device described in the embodiments of the present application can be a device 1 as shown in Figure 5A , the second device described in the embodiments of the present application can also be a device 1 as shown in Figure 5A . For another example, the second device described in the embodiments of the present application can be a device 2 as shown in Figure 5B , the first device described in the embodiments of the present application can be a device 3 as shown in Figure 5B .

[0115] The embodiments of the present application provide a sensing method, please refer to Figure 6 , which is a flowchart of the method.

[0116] S601, the first device determines first point cloud information according to the measurement result of the received first signal and the first density. The first point cloud information is the point cloud information corresponding to the first perception target.

[0117] The measurement result of the first signal is the result obtained by the first device measuring the first signal. Alternatively, S601 can also be understood as that the first device determines the first point cloud information based on the measurement of the first signal and the first density. That is, it is not emphasized that the first device measuring the first signal must obtain the "measurement result", but the first device can determine the first point cloud information based on the measurement of the first signal and the first density. This paper takes the first device determining the first point cloud information according to the measurement result of the first signal and the first density as an example for introduction.

[0118] For example, the first device can determine one or more point cloud information according to the measurement result of the first perception signal and the first density, for example, each of which corresponds to a perception target. The first point cloud information is, for example, the point cloud information corresponding to the first perception target, and this paper takes the first point cloud information as an example for introduction.

[0119] The first device can measure the received first signal to obtain a measurement result, and determine the first point cloud information according to the measurement result and the first density. The first point cloud information corresponds to the first point cloud, which can include K1 points on the first perception target, and the first point cloud information can include the coordinates of the K1 points, K1 being a positive integer. The density of the first point cloud (or also can be simply understood as the density of the first point cloud information, this paper takes this as an example) is the first density.

[0120] Optionally, the first device can first determine the second point cloud information according to the measurement result, and then determine the first point cloud information according to the second point cloud information and the first density. The second point cloud information corresponds to the second point cloud, which can include K2 points on the first perception target, and the second point cloud information can include the coordinates of the K2 points, K2 being a positive integer. K1 can be greater than K2, or less than K2, or equal to K2. The density of the second point cloud (or also can be simply understood as the density of the second point cloud information, this paper takes this as an example) can be greater than, equal to or less than the first density. If the density of the second point cloud information is greater than or less than the first density, the first device can process the second point cloud information accordingly to obtain the first point cloud information satisfying the first density; or if the density of the second point cloud information is equal to the first density, the first device can not need to process the second point cloud information, and the second point cloud information can be the first point cloud information at this time; or even if the density of the second point cloud information is equal to the first density, the first device can process the second point cloud information to obtain the first point cloud information satisfying the first density.

[0121] Alternatively, the first device may not obtain the second point cloud information, but instead directly determine the first point cloud information based on the measurement result and the first density. This application embodiment will be described using the example of the first device obtaining the second point cloud information first and then obtaining the first point cloud information.

[0122] The first device determines the second point cloud information, for example, by determining the coordinates of each point included in the second point cloud. An optional method for the first device to determine the coordinates of one of the points included in the second point cloud is described below, where the coordinates are, for example, (x0, y0).

[0123] For reference Figure 7 Assuming the first device is an access network device, which can communicate with UE1 and U2, for example, the access network device and UE1 can use a dual-site sensing mode for sensing. UE1 sends a signal, which can reach the access network device through scattering, reflection, or diffraction of the sensing target. Figure 7 Taking reflection as an example, the access network device receives and measures the signal; alternatively, the access network device and UE2 can also use a dual-site sensing mode for sensing, where UE2 sends a signal that can reach the access network device through scattering, reflection, or diffraction from the sensing target. Figure 7 Taking reflection as an example, the access network device receives and measures the signal. For example, the coordinates of the first device are (x, y), the coordinates of UE1 are (x1, y1), and the coordinates of UE2 are (x2, y2). In addition to the paths of reflection, scattering, or diffraction from the sensing target, the signal sent by UE1 also has a direct path to reach the access network device; the signal sent by UE2 also has a direct path to reach the access network device, in addition to the paths of reflection, scattering, or diffraction from the sensing target. These two direct paths are as follows... Figure 7 As shown by the dashed arrow.

[0124] in, This indicates the distance of the direct path between UE1 and the access network equipment. This indicates the distance of the direct path between UE2 and the access network equipment. This represents the distance along the reflection path of UE1 from the sensed target to the access network device. This represents the distance traveled by UE2 after being reflected from the sensing target to the access network equipment. This indicates the distance from UE1 to the perceived target. d represents the distance from UE1 to the perceived target. BS,Srepresents the distance from the sensing target to the access network device (e.g., identifies the distance from (x0, y0) on the sensing target to the access network device). a0-a1 represents the angle between the reflection path corresponding to UE1 and the direct path corresponding to UE1, and a0-a2 represents the angle between the reflection path corresponding to UE2 and the direct path corresponding to UE1.

[0125] Optionally, the access network device can obtain and the access network device can obtain and The access network device can determine the distance difference between the reflection path corresponding to UE1 and the direct path corresponding to UE1 according to the distance of the direct path and the distance of the reflection path, which is represented as The access network device can determine the distance difference between the reflection path corresponding to UE2 and the direct path corresponding to UE2 according to the distance of the direct path and the distance of the reflection path, which is represented as In addition, the access network device can obtain a0-a1 through measurement of the signal from UE1, e.g., through angle estimation technology, and can obtain a0-a2 through measurement of the signal from UE2, e.g., through angle estimation technology. The access network device can determine (x0, y0) according to the obtained parameters.

[0126] For example, according to the cosine theorem, there can be the following formula 1 and / or formula 2:

[0127]

[0128]

[0129] The access network device can determine d according to one or more of a0-a1 or a0-a2. BS,S , for example, d BS,S satisfies the following relationship:

[0130]

[0131] Alternatively, the access network device can determine d according to one or more of a0-a1 or a0-a2. BS,S , for example, d BS,S satisfies the following relationship:

[0132]

[0133] Further, the access network device can determine (x0, y0), for example, (x0, y0) satisfies the following relationship:

[0134]

[0135] The first sensing target can correspond to one or more points, for example, the second point cloud includes K2 points, and the first device can determine the coordinates of the K2 points included in the second point cloud according to a similar method as the way of determining the coordinates of one point of the first device as introduced above.

[0136] After determining the second point cloud information, the access network device can determine the first point cloud information according to the second point cloud information and the first density. According to the size relationship between the density of the second point cloud information and the first density, the access network device can adopt different processing methods, which are exemplarily introduced as follows.

[0137] 1. The density of the second point cloud information is greater than the first density.

[0138] It can be understood that the density of the second point cloud is greater than the required first density, so the second point cloud is relatively dense relative to the first point cloud. In this case, the access network device can reduce the amount of information of the second point cloud information, for example, reduce the coordinates included in the second point cloud information (or it can be understood as reducing the points included in the second point cloud), to obtain the first point cloud information satisfying the first density.

[0139] As an optional implementation for the first device to process the second point cloud information, the first device can fuse the second point cloud information to obtain the first point cloud information satisfying the first density. Optionally, a fusion manner is, for example, clustering, and the second point cloud information is processed by a clustering algorithm according to the coordinates of the points included in the second point cloud information to obtain clustered point cloud information, which can be the first point cloud information. The clustering algorithm includes, for example, a K-means algorithm, a density-based spatial clustering of applications with noise (DBSCAN), a graph clustering algorithm, or a hierarchical clustering algorithm, or can be another clustering algorithm, which is not limited. Through clustering, one coordinate can be obtained according to a plurality of coordinates included in the second point cloud information, which is equivalent to replacing the plurality of coordinates with the one coordinate, thereby reducing the coordinates included in the second point cloud information and reducing the density of the second point cloud information. Through the clustering manner, the density of the point cloud information is reduced, and the accuracy of the point cloud information can be improved. For example, before clustering, the number of points included in the second point cloud is large, and the spatial distribution of the points lacks regularity, which leads to low accuracy of the second point cloud information. After clustering, the number of points included in the first point cloud is reduced, and the points included in the first point cloud have a certain distribution regularity or the correspondence (or similarity) between the points included in the first point cloud and the first perception target is better, so that the accuracy of the first point cloud information is high, and perception based on the first point cloud information is beneficial to improving the perception accuracy.

[0140] Alternatively, in addition to the clustering manner, the first device can process the second point cloud information in other manners, which are not limited as long as the first device can obtain the first point cloud information satisfying the first density.

[0141] 2. The density of the second point cloud information is less than the first density.

[0142] It can be understood that the density of the second point cloud is less than the required first density, and therefore the second point cloud is relatively sparse compared with the first point cloud. If the second point cloud is too sparse, the perception network element can not be able to perceive according to the second point cloud, for example, the perception network element can not be able to reconstruct the first perception target according to the second point cloud. In this case, the access network device can increase the amount of information of the second point cloud information, for example, increase the coordinates included in the second point cloud information (or understand as increasing the points included in the second point cloud), to obtain the first point cloud information satisfying the first density.

[0143] As an optional implementation of the first device processing the second point cloud information, the first device can interpolate the second point cloud information to obtain the first point cloud information satisfying the first density. Through interpolation, new coordinates can be obtained according to one or more coordinates included in the second point cloud information (for example, interpolation can be performed according to two or more coordinates included in the second point cloud information to obtain new coordinates), which is equivalent to adding coordinates in the second point cloud information, thereby increasing the coordinates included in the second point cloud information and increasing the density of the second point cloud information. Through the processing by interpolation, the density of the point cloud information is increased, and the accuracy of the point cloud information can also be improved.

[0144] Alternatively, in addition to the interpolation method, the first device can process the second point cloud information by other methods, which is not limited as long as the first device can obtain the first point cloud information satisfying the first density.

[0145] 3. The density of the second point cloud information is equal to the first density.

[0146] It can be understood that the density of the second point cloud satisfies the requirement. As an optional implementation, the first device can not process the second point cloud information, and at this time the second point cloud information is the first point cloud information.

[0147] Optionally, regardless of whether the density of the second point cloud information is greater than, equal to, or less than the first density, before processing the second point cloud information according to the clustering algorithm, the interpolation method, or other methods, the first device can also remove M points from the points corresponding to the second point cloud information (for example, points included in the second point cloud), or the first device can remove M coordinates from the second point cloud information, and the M coordinates can be the coordinates of the M points. M is an integer greater than or equal to 0. After removing the M points or the M coordinates, the first device determines the first point cloud information satisfying the first density according to the remaining coordinates (or the first device determines the first point cloud information satisfying the first density according to the coordinates of the remaining points) of the second point cloud information excluding the M coordinates (or the M points). For example, after removing the M points or the M coordinates, the first device can cluster, interpolate, or process other methods on the remaining coordinates of the second point cloud information excluding the M coordinates to obtain the first point cloud information satisfying the first density. For example, after removing the M points or the M coordinates, the first device can obtain third point cloud information. If the density of the third point cloud information is greater than the first density, the first device can cluster or process other methods on the third point cloud information to obtain the first point cloud information; or if the density of the third point cloud information is less than the first density, the first device can interpolate or process other methods on the third point cloud information to obtain the first point cloud information; or if the density of the third point cloud information is equal to the first density, the first device can not process the third point cloud information, and at this time the third point cloud information can be the first point cloud information.

[0148] Optionally, the accuracy of the M points or the M coordinates is lower than a first threshold. The accuracy of a point or a coordinate, for example, is the accuracy of the point or the coordinate in describing the corresponding perception target. For example, a coordinate represents a point on the first perception target, but the difference between the coordinate and the actual coordinate of the point is large, which indicates that the accuracy of the coordinate is low. The first device can determine the accuracy of each coordinate of part or all of the coordinates included in the second point cloud information, so that the M coordinates with insufficient accuracy can be removed from the second point cloud information to improve the accuracy of the determined first point cloud information.

[0149] Optionally, the first threshold is determined by the first device itself, or is pre-configured in the first device, or is predefined by a protocol, or is configured by another device, for example, a perception network element, or an access network device (for example, the first device is a UE), etc. If the first threshold is configured by another device, optionally, the first device can receive information from the other device, for example, referred to as fifth information, which can indicate the first threshold.

[0150] In S601, the first device can measure the first signal, which is a signal received by the first device. Therefore, optionally, before S601, the method can further include S602, the second device sends the second signal, and correspondingly, the first device receives the first signal.

[0151] The first signal can be a signal reflected, scattered or diffracted by the perception target (for example, the first perception target) in the environment after the second signal (for example, the first signal is an echo signal of the second signal). Figure 6 For example, the first signal can be a signal reflected, scattered or diffracted by the perception target (for example, the first perception target) in the environment after the second signal (for example, the first signal is an echo signal of the second signal).

[0152] In the embodiments of the present application, the first signal (or the second signal) can be the sensing signal as described above, for example, the first signal is used for sensing. Alternatively, the first signal (or the second signal) can be a sensing-communication fusion signal, for example, the first signal can be used for sensing and communication. Alternatively, the first signal (or the second signal) can also be a communication signal, for example, the first signal can be used for communication, for example, the first signal includes communication data. In the embodiments of the present application, even if the first signal is a communication signal, the first signal can also realize the sensing function. It can be seen that the embodiments of the present application do not limit the type or function of the first signal, and therefore the method provided by the embodiments of the present application can be a “sensing method”, or can also be a “communication method”, or can also be a “communication-sensing integrated method”, or can also be an “integrated sensing and communication (ISAC) method”, and the like, and the type or name of the method provided by the embodiments of the present application is not limited.

[0153] In the embodiments of the present application, the first device and the second device can be the same device, or can also be different devices, Figure 6 For example, in the embodiments of the present application, the first device and the second device are different devices.

[0154] In addition, in S601, the first device processes the first point cloud information according to the first density, for example, the first density is predefined by a protocol, or is preconfigured in the first device, or can also be configured by another device, for example, a sensing network element. If the first density is configured by another device, optionally, the method can further include S603, the other device sends second information, and correspondingly, the first device receives the second information, and the second information can indicate the first density. Optionally, S603 occurs before S601. Optionally, S603 occurs before S602. In S603, for example, the sensing network element configures the first density. Optionally, if there are multiple devices for performing sensing (for example, multiple access network devices and / or multiple UEs, etc.), the densities configured by different devices can be the same or different. For example, the sensing network element configures the density for the device for performing sensing, and optionally, for the devices in different positions, the sensing network element can configure different densities for them. Specifically, the device is configured with which density can be determined according to the requirements of the sensing network element for the sensing accuracy and the like.

[0155] As an optional implementation, the second information can indicate the first density through one or more of the following: information of the first density, sensing area information, sensing accuracy information, sensing resolution information, number of points, or number of coordinates.

[0156] The perception area information can indicate a perception area. It can be understood that the perception area indicated by the perception area information includes one point. For example, the number of points corresponding to the first point cloud information can be determined according to the perception area indicated by the perception area information, so as to determine the first density by the perception area information. For example, the perception area indicated by the perception area information is 1 meter (m) x 1 m, which means that one point is included in an area of 1 square meter. For example, in the second point cloud, the number of points included in the area of 1 square meter is greater than 1, and the first device can cluster the second point cloud information to obtain the first point cloud information. For another example, the perception area indicated by the perception area information is 0.1 m x 0.1 m, which means that one point is included in an area of 0.01 square meters.

[0157] The perception accuracy information can indicate a perception accuracy. The perception accuracy can be represented by a distance. It can be understood that the perception accuracy indicated by the perception accuracy information includes one point. For example, the number of points corresponding to the first point cloud information can be determined according to the perception accuracy indicated by the perception accuracy information, so as to determine the first density by the perception accuracy information. For example, the perception accuracy indicated by the perception accuracy information is 1 m, which means that one point is included in a distance of 1 m. For example, in the second point cloud, the number of points included in the distance of 1 m is greater than 1, and the first device can cluster the second point cloud information to obtain the first point cloud information.

[0158] The perception resolution information can indicate a perception resolution. The perception resolution can also be represented by a distance. It can be understood that the perception resolution indicated by the perception resolution information includes one point. For example, the number of points corresponding to the first point cloud information can be determined according to the perception resolution indicated by the perception resolution information, so as to determine the first density by the perception resolution information. For example, the perception resolution indicated by the perception resolution information is 0.2 m, which means that one point is included in a distance of 0.2 m. For example, in the second point cloud, the number of points included in the distance of 0.2 m is greater than 1, and the first device can cluster the second point cloud information to obtain the first point cloud information.

[0159] The number of points indicated by the second information is, for example, the number of points that the first point cloud corresponding to the first point cloud information should include. For example, the number of points indicated by the second information is 100, which means that the first point cloud should include 100 points. The number of coordinates indicated by the second information is, for example, the number of coordinates that the first point cloud information should include. For example, the number of points indicated by the second information is 100, which means that the first point cloud information should include 100 coordinates. Optionally, the number of points included in the first point cloud can be equal to the number of coordinates included in the first point cloud information, and the points included in the first point cloud can correspond to the coordinates included in the first point cloud information one by one. By determining the number of points and / or the number of coordinates, the first density can be determined.

[0160] The foregoing is an example that the second information indicates the first density through one or more of the above. That is, the second information indicates one or more of the above, but ultimately aims to indicate the first density through indicating one or more of the above. The first density determined by the first device according to the second information is also the first density. That is, the content indicated by the second information can be consistent with the purpose of indication. For example, the information indicated by the second information is the information of the first density, and the purpose of indication is to indicate the first density. Or, the content indicated by the second information can be inconsistent with the purpose of indication. For example, the second information indicates one or more of the perception accuracy information, the perception resolution information, the perception area information, the number of points, or the number of coordinates, and the purpose of indication is to indicate the first density.

[0161] Or, the content indicated by the second information can be consistent with the purpose of indication. For example, the second information can indicate one or more of the information of the first density, the perception area information, the perception accuracy information, the perception resolution information, the number of points, or the number of coordinates, and the information indicated by the second information is consistent with the purpose of indication. For example, if the second information indicates the perception accuracy information, the purpose of indication is to indicate the perception accuracy, and not to indicate the first density through indicating the perception accuracy. For another example, if the second information indicates the perception resolution information, the purpose of indication is to indicate the perception resolution, and not to indicate the first density through indicating the perception resolution. In this case, the first device determines the first point cloud information according to the measurement result of the received first signal and the first density in S601 can be replaced by the first device determining the first point cloud information according to the measurement result of the received first signal and the first parameter. The first parameter can be the parameter indicated by the second information. For example, the first parameter can be replaced by one or more of the first density, the perception area, the perception accuracy, the perception resolution, the number of points, or the number of coordinates. Herein, the second information indicates the first density through one or more of the above, and the first device determines the first point cloud information according to the first density are taken as examples.

[0162] S604, the first device sends the first information. Correspondingly, the perception network element receives the first information.

[0163] The first information can indicate or include the first point cloud information. The first device determines the first point cloud information, and can send the first point cloud information to the perception network element, so that the perception network element can perform perception according to the first point cloud information, for example, reconstruct the first perception target according to the first point cloud information.

[0164] Optionally, in addition to indicating or including the first point cloud information, the first information can also indicate one or more of the following: the number of points corresponding to the first point cloud information (or the number of coordinates included in the first point cloud information), the number of points corresponding to the second point cloud information (or the number of coordinates included in the second point cloud information), the similarity of the first point cloud information to the first perception target, whether the points corresponding to the first point cloud information are obtained by interpolation, the points corresponding to the first point cloud information that are obtained by interpolation, whether the points corresponding to the first point cloud information are edge points (or whether the points corresponding to the first point cloud information include edge points), the edge points corresponding to the first point cloud information, the points corresponding to the first perception target that do not participate in determining the first point cloud information, or the number of points corresponding to the first perception target that do not participate in determining the first point cloud information. Alternatively, one or more of the above can also be included in other information, for example, the first device can also send sixth information, the sixth information indicates one or more of the above, and the first information no longer indicates one or more of the above.

[0165] The sixth information and the first information can be the same information, or the sixth information and the first information can also be different information. If the sixth information and the first information are different information, the sixth information and the first information can be included in the same signaling or can be included in different signaling. If the sixth information and the first information are included in different signaling, S604 can occur before the sending step of the sixth information, or S604 can occur after the sending step of the sixth information, or S604 and the sending step of the sixth information can occur at the same time. In addition, if the first information and the sixth information are the same information, or the first information and the sixth information are different signaling but included in the same signaling, S604 and the sending step of the sixth information can occur at the same time, or S604 and the sending step of the sixth information are considered to be the same step.

[0166] The similarity of the first point cloud information to the first perception target, for example, can be represented by the probability or likelihood of the first point cloud information. Optionally, the first device can determine the probability or likelihood of the first point cloud information according to error information, for example, indicating the error when the first point cloud information is obtained according to the second point cloud information. The similarity of the first point cloud information to the first perception target, for example, represents the degree of difference between the coordinates included in the first point cloud information and the coordinates of the real points on the first perception target. The higher the similarity, the more accurate the first point cloud information.

[0167] If the first device obtains the first point cloud information by interpolating the second point cloud information, optionally, the first information or the sixth information can indicate that the points corresponding to the first point cloud information are obtained by interpolation, and / or indicate the points corresponding to the first point cloud information that are obtained by interpolation. Alternatively, the first information or the sixth information can indicate that the coordinates included in the first point cloud information are obtained by interpolation, and / or indicate the coordinates included in the first point cloud information that are obtained by interpolation.

[0168] If the first device is not to obtain the first point cloud information by interpolating the second point cloud information, for example, the first device is to obtain the first point cloud information by clustering the second point cloud information, or the second point cloud information is the first point cloud information (for example, the first device does not process the second point cloud information), optionally, the first information or the sixth information can indicate that the points corresponding to the first point cloud information are not obtained by interpolation, or the first information or the sixth information can indicate that the coordinates included in the first point cloud information are not obtained by interpolation.

[0169] The points corresponding to the first perception target that do not participate in determining the first point cloud information, for example, include the M points or the M coordinates described in S601. Optionally, the first information can indicate the M points or the M coordinates. Although the first device considers that the M points or the M coordinates are not accurate enough, when performing perception, the perception network element can combine other information in addition to the reporting information (for example, the first information) from the first device, for example, it can also combine the reporting information from other devices (for example, including access network equipment and / or UE, etc.). Therefore, the perception network element can determine whether the M points or the M coordinates are accurate according to more information. For example, the perception network element can determine that the M points or the M coordinates are relatively accurate by combining relatively rich information, and then the perception network element can take the M points or the M coordinates as reference information when performing perception on the first perception target; or the perception network element can also determine that the M points or the M coordinates are not accurate enough, and then the perception network element can not refer to the M points or the M coordinates when performing perception on the first perception target.

[0170] Optionally, among the points corresponding to the first point cloud information (for example, the points included in the first point cloud), the edge points of the first perception target can be included, or the edge points of the first perception target can not be included. The following are introduced respectively. In various embodiments of the present application, the "edge point" of the perception target can also be referred to as the "edge point", "key point" or "important point" of the perception target, or there can be other names, which are not limited. This paper takes "edge point" as an example for introduction.

[0171] A. The points corresponding to the first point cloud information do not include the edge points of the first perception target. Among them, the edge points of the first perception target can be points located at the edge of the first perception target, for example, if the first perception target is a cube, the points located at the edge of the cube can be the edge points of the cube, and the points located on the surface of the cube can not be the edge points of the cube.

[0172] In this case, optionally, the first information can further include edge point cloud information corresponding to the first perception target, the edge point cloud information not being included in the first point cloud information, for example, the first perception target corresponding to the first point cloud information and the edge point cloud information. Wherein, the edge point cloud information corresponds to an edge point cloud, the edge point cloud can include K3 points, the K3 points being all or part of edge points of the first perception target, K3 being a positive integer. The edge point cloud information can include coordinates of the K3 points. For example, the first point cloud corresponding to the first point cloud information does not include edge points of the first perception target, or the first point cloud corresponding to the first point cloud information includes non-edge points of the first perception target and does not include edge points of the first perception target.

[0173] Alternatively, the edge point cloud information can also not be included in the first information, but included in the seventh information, for example, the first device can further send the seventh information, the seventh information can indicate or include the edge point cloud information; the perception network element can receive the seventh information to obtain the edge point cloud information. The seventh information and the first information can be included in the same signaling, or can also be included in different signaling. If the seventh information and the first information are included in different signaling, S604 can occur before the sending step of the seventh information, or S604 can occur after the sending step of the seventh information, or S604 and the sending step of the seventh information can also occur at the same time.

[0174] Optionally, the density of the edge point cloud information (or the density of the edge point cloud) can be different from the first density. That is, the first device can report the first point cloud information (for example, corresponding to the non-edge points of the first perception target) and the edge point cloud information according to different densities respectively. Wherein, the edge points of the perception target are important for reconstructing the perception target, for example, the edge points of the perception target are also called key points or important points. Therefore, the first device can additionally report the edge point cloud information, so that the perception network element can obtain more abundant information of the edge points. Optionally, the first information or the seventh information can further indicate that the edge point cloud information corresponds to the edge of the first perception target, or indicate that the edge point cloud information includes the edge points of the first perception target. For example, the first information or the seventh information includes indication information, which can indicate that the edge point cloud information corresponds to the edge of the first perception target, or indicate that the edge point cloud information includes the edge points of the first perception target. Through the indication of the first information or the seventh information, the perception network element can be clear that the points corresponding to the edge point cloud information are edge points. Alternatively, the first information or the seventh information can also not necessarily indicate that the edge point cloud information corresponds to the edge of the first perception target, for example, the format of the first information or the seventh information (or the format of the signaling carrying the first information or the seventh information) can indicate that the first information or the seventh information includes point cloud information corresponding to the edge of the perception target.

[0175] In the perception, the more edge points of the perception target, the better the shape of the perception target can be represented, so that the perception network element can better reconstruct the perception target. Therefore, optionally, the density of the edge point cloud information (for example, the second density) can be greater than the first density, so that the perception network element can obtain more coordinates of the edge points to improve the perception accuracy. The second density can be predefined by a protocol, or determined by the first device, or preconfigured in the first device, or indicated by another device, for example, the perception network element. For example, the second density is indicated by the perception network element, and optionally, the perception network element can send third information, and correspondingly, the first device can receive the third information. The third information can indicate the second density, or the third information can indicate that the edge point cloud information of the first perception target is reported according to the second density. The first device can determine the second density according to the third information, or the first device can determine the density of the edge point cloud information of the first perception target according to the third information.

[0176] Alternatively, the third information sent by the perception network element can also not indicate the second density, but indicate that the edge point cloud information of the first perception target is not reported according to the first density. The first device can determine that the edge point cloud information of the first perception target is not reported according to the first density according to the third information, or the first device can determine that the density of the edge point cloud information of the first perception target is different from the first density according to the third information. In this case, the second density can be predefined by a protocol, or determined by the first device, or preconfigured in the first device, or the first device can not have to determine the second density, but can report the edge point cloud information determined according to the measurement result, that is, the first device can not determine the density of the edge point cloud information, but can directly report.

[0177] Optionally, the second information in S603 can also be sent by the perception network element, and the third information and the second information can be the same information, or the third information and the second information can be different information. If the third information and the second information are different information, the third information and the second information can be included in the same signaling, or can be included in different signaling. If the third information and the second information are included in different signaling, S603 can occur before the sending step of the third information, or S603 can occur after the sending step of the third information, or S603 and the sending step of the third information can occur at the same time. In addition, if the third information and the second information are the same information, or the third information and the second information are different signaling but included in the same signaling, S603 and the sending step of the third information can occur at the same time, or S603 and the sending step of the third information are considered as the same step.

[0178] The points corresponding to the first point cloud information do not include edge points of the first perception target, which means that the first device can report the first point cloud information and the edge point cloud information corresponding to the first perception target respectively, i.e., for the point cloud information of the first perception target, the first device does not report repeatedly but reports respectively, which is beneficial to reduce transmission overhead.

[0179] B. The points corresponding to the first point cloud information include edge points of the first perception target.

[0180] In this case, optionally, the first point cloud information can include edge point cloud information corresponding to the first perception target, for example, the edge point cloud information included in the first point cloud information is referred to as first edge point cloud information. The first point cloud information corresponds to a first point cloud, the first edge information corresponds to a first edge point cloud, and the first edge point cloud can include part or all of the edge points of the first perception target. The remaining point cloud in the first point cloud except the first edge point cloud can include part or all of the non-edge points of the first perception target. For example, the first point cloud includes all points corresponding to the first perception target.

[0181] The density of the first edge point cloud information and the density of the first point cloud information can be the same, both being the first density. Optionally, the first device can report the first point cloud information without additionally reporting the edge point cloud information, thereby reducing the amount of information reported by the first device to reduce transmission overhead.

[0182] Alternatively, the first device can report the first point cloud information, and the first device also reports edge point cloud information. The edge point cloud information additionally reported by the first device is referred to as second edge point cloud information. The second edge information corresponds to a second edge point cloud, and the second edge point cloud can include part or all of the edge points of the first perception target. It can be understood that the first edge point cloud information and the second edge point cloud information are both determined according to the edge points of the first perception target.

[0183] Optionally, the first information can also include second edge point cloud information, which is not included in the first point cloud information, for example, the first point cloud information and the edge point cloud information corresponding to the first perception target. For example, the first point cloud corresponding to the first point cloud information includes non-edge points of the first perception target and includes edge points of the first perception target; the second edge point cloud information corresponds to a second edge point cloud that includes edge points of the first perception target but does not include edge points of the first perception target.

[0184] Alternatively, the second edge point cloud information can also not be included in the first information, but included in the eighth information. For example, the first device can also send the eighth information, and the eighth information can indicate or include the second edge point cloud information. The perception network element can receive the eighth information to obtain the second edge point cloud information. The eighth information and the first information can be included in the same signaling, or can also be included in different signaling. If the eighth information and the first information are included in different signaling, S604 can occur before the sending step of the eighth information, or S604 can occur after the sending step of the eighth information, or S604 and the sending step of the eighth information can also occur at the same time.

[0185] Optionally, the density of the second edge point cloud information can be different from the first density (or the density of the second edge point cloud can be different from the first density). That is, the first device can report the first point cloud information and the second edge point cloud information at different densities respectively. In addition to reporting the first point cloud information, the first device can also report the second edge point cloud information, so that the perception network element can obtain more information about the edge points of the first perception target. Optionally, the first information or the eighth information can also indicate that the second edge point cloud information corresponds to the edge of the first perception target, or indicate that the second edge point cloud information includes the edge points of the first perception target. For example, the first information or the eighth information includes indication information, which can indicate that the second edge point cloud information corresponds to the edge of the first perception target, or indicate that the second edge point cloud information includes the edge points of the first perception target. Through the indication of the first information or the eighth information, the perception network element can determine that the points corresponding to the second edge point cloud information are edge points. Alternatively, the first information or the eighth information can also not indicate that the second edge point cloud information corresponds to the edge of the first perception target. For example, the format of the first information or the eighth information (or the format of the signaling carrying the first information or the eighth information) can indicate that the first information or the eighth information includes point cloud information corresponding to the edge of the perception target.

[0186] Optionally, the density of the second edge point cloud information (for example, the second density) can be greater than the first density, so that the perception network element can obtain more coordinates of the edge points to improve the perception accuracy. For details about the second density, please refer to the foregoing description.

[0187] The points corresponding to the first point cloud information include the edge points of the first perception target. That is, the first device can report the first point cloud information including the first edge point cloud information at the first density, and also report the second edge point cloud information at the second density, so that the first point cloud information reported by the first device is more complete, which is conducive to the perception network element obtaining more complete point cloud information of the first perception target. In addition, the first device reports the second edge point cloud information at the second density, so that the perception network element can obtain more information about the edge points, which is conducive to improving the perception accuracy.

[0188] Optionally, the first device can report the point cloud information corresponding to the first sensing target according to the manner of the embodiments of the present application by default; or the first device can report the point cloud information corresponding to the first sensing target according to the manner of the embodiments of the present application in the case of meeting the first condition, and can not report the point cloud information corresponding to the first sensing target according to the manner of the embodiments of the present application if the condition is not met, for example, report the point cloud information corresponding to the first sensing target according to a traditional manner.

[0189] As an optional implementation of the first condition, the first condition includes, for example, that the first device receives fourth information. The fourth information is from a sensing network element or other devices, and the fourth information can indicate that the first point cloud information is determined based on the first density, or indicate that the fused and / or interpolated point cloud information is reported, etc. For example, the fourth information occupies one bit, if the value of the bit is “0”, it indicates that the first point cloud information is not determined based on the first density, or that the fused and / or interpolated point cloud information is not reported; or if the first device does not receive the fourth information, it means that the first point cloud information is not determined based on the first density, or that the fused and / or interpolated point cloud information is not reported. In this case, the first device can report the point cloud information corresponding to the first sensing target according to a traditional manner. Or, if the value of the bit is “1”, it indicates that the first point cloud information is determined based on the first density, or that the fused and / or interpolated point cloud information is reported; or if the first device receives the fourth information, it means that the first point cloud information is determined based on the first density, or that the fused and / or interpolated point cloud information is reported. In this case, the first device can report the point cloud information corresponding to the first sensing target according to the manner provided by the embodiments of the present application.

[0190] The sensing network element receives the first point cloud information (or receives the first point cloud information and the edge point cloud information; or receives the first point cloud information and the second edge point cloud information), and can perform sensing according to the received information, for example, reconstruct the first sensing target according to the received information, etc. Optionally, in addition to receiving the point cloud information from the first device, the sensing network element can also receive the point cloud information from other devices, and the sensing network element can combine the point cloud information from one or more devices when performing sensing, and the embodiments of the present application do not limit the behavior of the sensing network element.

[0191] In the embodiments of this application, the first device can determine the first point cloud information according to the first density, so that the amount of information of the first point cloud information can be controlled through the first density. For example, the first density can be set more reasonably, which can not only make the first point cloud information available for perceiving target objects, but also try to make the amount of information of the first point cloud information not too large, so as to reduce the transmission overhead of the first point cloud information on the premise of ensuring the perception performance. In addition, the first device can determine the first point cloud information through clustering and / or interpolation and the like, and the accuracy of the first point cloud information can be higher relative to the point cloud information (for example, the second point cloud information) initially obtained by the first device, so as to improve the perception accuracy.

[0192] The embodiments of this application can be applied to a single-station perception mode or a double-station perception mode. In order to facilitate understanding, the application of the embodiments of this application in the single-station perception mode and the double-station perception mode is introduced respectively through several embodiments. The following several embodiments can be regarded as examples of the embodiments shown in Figure 6

[0193] Please refer to Figure 8 , a flowchart for the application of the embodiments of this application in the single-station perception mode. In Figure 8 the embodiments shown, the first device and the second device are taken as examples of access network devices, that is, the single-station perception mode is a self-perception mode of the access network devices.

[0194] S801, the perception network element and the access network device interact with the perception capability information.

[0195] For example, the access network device can send the perception capability information of the access network device to the perception network element, which can indicate whether the access network device has the perception capability. Optionally, the perception capability information can also indicate whether the access network device supports reporting the perception result (for example, including the point cloud information) in the manner provided by the embodiments of this application.

[0196] Optionally, the perception network element can also send information to the access network device, which indicates, for example, the adopted perception mode, for example, the single-station perception mode.

[0197] Among them, S801 is an optional step, and the perception network element and the access network device can also not interact with the perception capability information. For example, the perception network element can know the perception capability of the access network device in advance, or the perception network element can consider that the perception capability of the access network device is default, for example, it has the perception capability by default.

[0198] ​S802, the sensing network element sends a sensing measurement request. Correspondingly, the access network device receives the sensing measurement request. Alternatively, the sensing measurement request can also have other names, for example, be called a first request, etc., and the embodiments of the present application do not limit the name.

[0199] The sensing measurement request can request the access network device to measure a signal, or request the access network device to perform a sensing task, or request the access network device to report a sensing result, or request the access network device to report a sensing result (for example, including point cloud information) in the manner provided by the embodiments of the present application, etc. Optionally, the sensing measurement request can also indicate an adopted sensing mode, for example, indicate that a single-station sensing mode is adopted. Wherein, if the sensing network element has indicated a sensing mode to the access network device in S801, the sensing measurement request can not have to indicate the sensing mode again.

[0200] Optionally, the sensing measurement request can also indicate a first density, for example, the sensing measurement request includes Figure 6 The second information described in the embodiments shown in the figure, in this case, S802 and Figure 6 S603 in the embodiments shown in the figure can be the same step. Alternatively, the first density can also be indicated by other messages sent by the sensing network element, rather than by the sensing measurement request (for example, the second information is included in other messages sent by the sensing network element, rather than in the sensing measurement request), in this case, S802 and Figure 6 S603 in the embodiments shown in the figure can be different steps.

[0201] Optionally, the sensing measurement request can also indicate that the first point cloud information is determined based on the first density, or indicate that the fused and / or interpolated point cloud information is reported, etc. For example, the sensing measurement request includes Figure 6 The fourth information described in the embodiments shown in the figure. Alternatively, the fourth information can also be included in other messages sent by the sensing network element, rather than in the sensing measurement request.

[0202] For the introduction of the contents of the second information, the fourth information, the first density, etc., reference can be made to Figure 6 the embodiments shown in the figure.

[0203] S803, the access network device determines the first point cloud information according to the measurement result of the received first signal and the first density. Alternatively, S803 can also be understood as that the access network device determines the first point cloud information based on the measurement of the received first signal and the first density.

[0204] For example, the access network device can send a second signal, and receive a signal reflected, scattered or diffracted by a sensing target in the environment Figure 8The signal is called a first signal. The access network device can determine the first point cloud information by measuring the first signal and the first density.

[0205] S803 can be the same step as S601 in the embodiment shown in FIG. 6A, and more details of S803 can be referred to the related description of S601. Figure 6 S601 in the embodiment shown in FIG. 6A can be the same step as S803, and more details of S803 can be referred to the related description of S601.

[0206] S804, the access network device sends the first information. Correspondingly, the perception network element receives the first information.

[0207] S804 can be the same step as S604 in the embodiment shown in FIG. 6A, and more details of S804 can be referred to the related description of S604. Figure 6 S604 in the embodiment shown in FIG. 6A can be the same step as S803, and more details of S803 can be referred to the related description of S604.

[0208] Please refer to Figure 9 A flowchart applied to a single-station perception mode of the embodiments of the present application. In the flowchart, Figure 9 In the embodiment shown in FIG. 6B, taking the first device and the second device as UEs for example, that is, the single-station perception mode is a UE self-perception mode.

[0209] S901, the perception network element interacts with the UE to obtain perception capability information.

[0210] For example, the UE can send the perception capability information of the UE to the perception network element, and the perception capability information can indicate whether the UE has the perception capability. Optionally, the perception capability information can also indicate whether the UE supports reporting the perception result (for example, including the point cloud information) in the manner provided by the embodiments of the present application.

[0211] Optionally, the perception network element can also send information to the UE, for example, indicating the adopted perception mode, for example, indicating that the single-station perception mode is adopted.

[0212] Optionally, the perception network element and the UE can also not interact with the perception capability information, for example, the perception network element can know the perception capability of the UE in advance, or the perception network element can consider that the perception capability of the UE is default, for example, having the perception capability by default.

[0213] S902, the perception network element sends a perception measurement request. Correspondingly, the UE receives the perception measurement request. Or the perception measurement request can also have other names, for example, be called a first request, etc., and the embodiments of the present application do not limit the name.

[0214] The perception measurement request may request the UE to measure signals, perform perception tasks, report perception results, or report perception results (e.g., including point cloud information) in accordance with the methods provided in the embodiments of this application. Optionally, the perception measurement request may also indicate the perception mode to be used, such as indicating the use of a single-site perception mode. If the perception network element in S901 has already indicated the perception mode to the UE, then the perception measurement request does not need to indicate the perception mode again.

[0215] Optionally, the sensing measurement request may also indicate a first density, for example, the sensing measurement request includes... Figure 6 The second information described in the illustrated embodiment, in this case, S902 and Figure 6 S603 in the illustrated embodiment can be the same step. Alternatively, the first density can also be indicated by other messages sent by the sensing network element, without being indicated by the sensing measurement request (e.g., the second information is included in other messages sent by the sensing network element, but not in the sensing measurement request). In this case, S902 is the same as... Figure 6 S603 in the illustrated embodiment can be a different step.

[0216] Optionally, the perception measurement request may also instruct the determination of first point cloud information based on a first density, or instruct the reporting of fused and / or interpolated point cloud information, etc. For example, the perception measurement request includes... Figure 6 The fourth information described in the illustrated embodiment. Alternatively, the fourth information may also be included in other messages sent by the sensing network element, and not in the sensing measurement request.

[0217] For information on the second information, fourth information, and first density, please refer to [link / reference]. Figure 6 The example shown.

[0218] S903: The UE determines the first point cloud information based on the measurement result of the received first signal and the first density. Alternatively, S903 can also be understood as the UE determining the first point cloud information based on the measurement of the received first signal and the first density.

[0219] For example, the UE can send a second signal and receive the signal after the second signal has been reflected, scattered, or diffracted by a sensing target in the environment. Figure 9 Taking reflection as an example, this signal is called the first signal. The UE can determine the first point cloud information by measuring the first signal and the first density.

[0220] Optionally, the resource used by the UE to send the second signal can be pre-configured, or can also be configured by the access network device. If the resource used by the UE to send the second signal is configured by the access network device, optionally, the perception network element can further send a second request to the access network device, the second request can be used to request the access network device to configure a resource, for example, a reference signal resource, for the UE to send the second signal. Wherein, the step of sending the second request by the perception network element can occur before S903, and after the UE determines the resource configured by the access network device, the UE can send the second signal on the resource.

[0221] S903 can be the same step as S601 in the embodiment shown in Figure 6 S601 in the embodiment shown in

[0222] S904, the UE sends the first information. Correspondingly, the perception network element receives the first information.

[0223] S904 can be the same step as S604 in the embodiment shown in Figure 6 S604 in the embodiment shown in

[0224] Please refer to Figure 10 A flowchart for applying the embodiment of the present application to a two-station perception mode. In Figure 10 In the embodiment shown in

[0225] S1001, the perception network element interacts with the UE and / or the access network device to obtain perception capability information.

[0226] For example, the UE can send the perception capability information of the UE to the perception network element, for example, referred to as perception capability information A; and / or, the access network device can send the perception capability information of the access network device to the perception network element, for example, referred to as perception capability information B. The perception capability information A can indicate whether the UE has perception capability. The perception capability information B can indicate whether the access network device has perception capability. Optionally, the perception capability information B can also indicate whether the access network device supports reporting the perception result (for example, including point cloud information) in the manner provided by the embodiment of the present application.

[0227] Optionally, the perception network element can further send information to the UE and / or the access network device, for example, indicating the adopted perception mode, for example, indicating that the single-station perception mode is adopted.

[0228] The S1001 is an optional step. The sensing network element and the UE can also not interact with the sensing capability information. For example, the sensing network element can know the sensing capability of the UE in advance, or the sensing network element can consider that the sensing capability of the UE is default, for example, the UE has the sensing capability by default. The sensing network element and the access network device can also not interact with the sensing capability information. For example, the sensing network element can know the sensing capability of the access network device in advance, or the sensing network element can consider that the sensing capability of the access network device is default, for example, the access network device has the sensing capability by default.

[0229] In S1002, the sensing network element sends a sensing measurement request. Correspondingly, the access network device receives the sensing measurement request. The sensing measurement request can also have other names, for example, be called a first request, and the like. The embodiments of the present application do not limit the name. In the embodiments of the present application, the sensing measurement is performed by the access network device, and therefore the sensing network element can send the sensing measurement request to the access network device.

[0230] The sensing measurement request can request the access network device to measure a signal (the signal is used for sensing measurement), or request the access network device to configure a signal (for example, configure a signal for the UE, and the signal is used for sensing measurement), or request the access network device to perform a sensing task, or request the access network device to report a sensing result, or request the access network device to report the sensing result (for example, include point cloud information) in the manner provided by the embodiments of the present application, and the like. For more information about the sensing measurement request, refer to the related introduction of S802 in the embodiments shown in Figure 8

[0231] In S1003, the access network device sends first configuration information to the UE. Correspondingly, the UE receives the first configuration information. The first configuration information can be used to configure a reference signal resource.

[0232] In S1004, the UE sends a second signal. Correspondingly, the access network device receives the first signal.

[0233] The UE can send the second signal through the reference signal resource. The first signal can be a signal (reflected, scattered, or diffracted) of the second signal after the second signal is reflected, scattered, or diffracted by a sensing target in the environment. Figure 10 Taking reflection as an example

[0234] In S1005, the access network device determines first point cloud information according to a measurement result of the first signal and the first density. Alternatively, S1003 can also be understood as that the access network device determines the first point cloud information based on the measurement of the first signal and the first density.

[0235] S1005 can be the same step as S601, and more content of S1003 can refer to the related introduction of S601. Figure 6

[0236] ​​S1006, the access network device sends the first information. Correspondingly, the perception network element receives the first information.

[0237] S1006, and Figure 6 S604 in the embodiment shown in FIG. 6 can be the same step. For more information about S1003, refer to the related description of S604.

[0238] For more information about S1101, refer to Figure 11 A flowchart for the application of the embodiment of the present application to the two-station perception mode. In Figure 11 In the embodiment shown in FIG. 6, take the first device as an access network device and the second device as a UE, that is, the two-station perception mode is a perception mode in which the access network device transmits and the UE receives.

[0239] S1101, the perception network element interacts with the UE and / or the access network device to obtain perception capability information.

[0240] For example, the UE can send the perception capability information of the UE, for example, referred to as perception capability information A, to the perception network element; and / or, the access network device can send the perception capability information of the access network device, for example, referred to as perception capability information B, to the perception network element. The perception capability information A can indicate whether the UE has a perception capability. Optionally, the perception capability information A can also indicate whether the UE supports reporting a perception result (for example, including point cloud information) in the manner provided by the embodiment of the present application. The perception capability information B can indicate whether the access network device has a perception capability.

[0241] For more information about S1101, refer to Figure 10 S1001 in the embodiment shown in FIG. 6.

[0242] S1102, the perception network element sends a perception measurement request. Correspondingly, the UE receives the perception measurement request. Alternatively, the perception measurement request can also have other names, for example, referred to as a first request, etc., and the present application does not limit the name. The present application is to perform a perception measurement by the UE, and therefore the perception network element can send a perception measurement request to the UE.

[0243] The perception measurement request can request the UE to measure a signal (the signal is used for a perception measurement), or request the UE to configure a signal (for example, configure a signal for the UE, the signal is used for a perception measurement), or request the UE to perform a perception task, or request the UE to report a perception result, or request the UE to report a perception result (for example, including point cloud information) in the manner provided by the embodiment of the present application, etc. For more information about the perception measurement request, refer to the related description of S902 in the embodiment shown in FIG. 6. Figure 9

[0244] ​S1103. The access network device sends first configuration information to the UE. Correspondingly, the UE receives the first configuration information. The first configuration information can be used to configure a reference signal resource.

[0245] Optionally, the sensing network element can also send information A to the access network device, and correspondingly, the access network device receives the information A. The information A can indicate that the access network device configures a signal or a resource, the signal is used for sensing, and the resource carries the signal used for sensing. This step, for example, occurs before S1103. After the access network device receives the information A, S1103 can be performed.

[0246] S1104. The access network device sends a second signal. Correspondingly, the UE receives the first signal.

[0247] The access network device can send the second signal through the reference signal resource, and the UE can receive the first signal through the reference signal resource. The first signal can be a signal reflected, scattered, or diffracted by the sensing target in the environment after the second signal. Figure 11 Taking reflection as an example

[0248] S1105. The UE determines first point cloud information according to a measurement result of the first signal and the first density. Alternatively, S1103 can also be understood as that the UE determines the first point cloud information based on the measurement of the first signal and the first density.

[0249] S1105 can be the same step as Figure 6 S601 in the embodiment shown in FIG. 6A. For more information about S1103, refer to the related description of S601.

[0250] S1106. The UE sends first information. Correspondingly, the sensing network element receives the first information.

[0251] S1106 can be the same step as Figure 6 S604 in the embodiment shown in FIG. 6A. For more information about S1103, refer to the related description of S604.

[0252] In summary, the first device in the embodiment of the present application can determine the first point cloud information according to the first density, so that the amount of information of the first point cloud information can be controlled through the first density. For example, the first density can be set reasonably, which can not only make the first point cloud information be able to be used for sensing the target object, but also try to make the amount of information of the first point cloud information not too large, thereby reducing the transmission overhead of the first point cloud information on the premise of ensuring the sensing performance.

[0253] Optionally, in any of the embodiments shown in Figure 6 , Figures 8-11 If the sensing network element indicates the first density to the UE (for example, sends the second information), and if the access network device isFigure 1A The ORAN architecture shown, taking the sensing network element as an example of a core network device, can send the second information to the access network device through a backhaul link, and the second information is processed by a baseband unit in the access network device. For example, in the BBU, the CU sends the second information to the DU through a middle transmission link, and the DU sends the second information to the RU through a front transmission link. The RU sends the second information to the UE through the air interface. Among them, the DU and the RU can be co-located or not co-located. Figure 1A The ORAN architecture shown, taking the sensing network element as an example of a core network device, can send the second information to the access network device through a backhaul link, and the second information is processed by a baseband unit in the access network device. For example, in the BBU, the CU sends the second information to the DU through a middle transmission link, and the DU sends the second information to the RU through a front transmission link. The RU sends the second information to the UE through the air interface. Among them, the DU and the RU can be co-located or not co-located.

[0254] If the first point cloud information is reported by the UE (for example, the first device is the UE), the UE can send the first information to the RU through the air interface, the RU sends the first information to the DU through the front transmission link, the DU sends the first information to the CU through the middle transmission link, and the CU sends the first information to the core network device (for example, the sensing network element) through the backhaul link.

[0255] Optionally, the transmission of the second information and / or the first information can be performed at layer 3 (L). The DU and the RU can cooperate to jointly implement the functions of the physical layer. One DU can be connected to one or more RUs. The functions possessed by the DU and the RU can be configured in multiple ways according to design.

[0256] Alternatively, in the embodiments shown in any one of the accompanying drawings, Figure 6 、 Figures 8-11 In the embodiments shown in any one of the accompanying drawings, if the sensing network element is to indicate the first density to the UE (for example, to send the second information), and the access network device is Figure 1B The RAN chip architecture shown, taking the sensing network element as an example of a core network device, for example, the second information from the sensing network element can be sent to the RU by the DU via an enhanced common public radio interface (eCPRI), and the second information is sent to the UE by the RU through the air interface.

[0257] If the first point cloud information is reported by the UE (for example, the first device is the UE), the UE can send the first information to the RU through the air interface, the RU sends the first information to the DU through the front transmission link, the DU sends the first information to the CU through the middle transmission link, and the CU sends the first information to the core network device (for example, the sensing network element) through the backhaul link.

[0258] Figure 12 A structural diagram of a communication device provided by an embodiment of the present application is given. The communication device 1200 can be Figure 6 The first device or the circuit system of the first device in the embodiments shown can be used to implement the methods corresponding to the first device in the above-mentioned method embodiments. Alternatively, the communication device 1200 can be Figure 8The access network device or the circuitry of the access network device in the embodiments described above is configured to implement the method corresponding to the access network device in the method embodiments described above. Alternatively, the communication apparatus 1200 can be Figure 9 The UE or the circuitry of the UE in the embodiments described above is configured to implement the method corresponding to the UE in the method embodiments described above. Alternatively, the communication apparatus 1200 can be Figure 10 The access network device or the circuitry of the access network device in the embodiments described above is configured to implement the method corresponding to the access network device in the method embodiments described above. Alternatively, the communication apparatus 1200 can be Figure 10 The UE or the circuitry of the UE in the embodiments described above is configured to implement the method corresponding to the UE in the method embodiments described above. Alternatively, the communication apparatus 1200 can be Figure 11 The access network device or the circuitry of the access network device in the embodiments described above is configured to implement the method corresponding to the access network device in the method embodiments described above. Alternatively, the communication apparatus 1200 can be Figure 11 The UE or the circuitry of the UE in the embodiments described above is configured to implement the method corresponding to the UE in the method embodiments described above. Alternatively, the communication apparatus 1200 can be Figure 3 、 Figures 8-11 The perception network element or the circuitry of the perception network element in the embodiments described above is configured to implement the method corresponding to the perception network element in the method embodiments described above. For example, one circuitry is a chip system.

[0259] The communication apparatus 1200 includes at least one processor 1201. The processor 1201 can be used for internal processing of the apparatus, to implement certain control processing functions. Optionally, the processor 1201 includes instructions. Optionally, the processor 1201 can store data. Optionally, different processors can be independent devices, can be located in different physical locations, and can be located on different integrated circuits. Optionally, different processors can be integrated in one or more processors, for example, integrated on one or more integrated circuits.

[0260] Optionally, the communication apparatus 1200 includes one or more memories 1203 to store instructions. Optionally, the memory 1203 can also store data. The processor and the memory can be separately provided, or integrated together.

[0261] Optionally, the communication apparatus 1200 includes a communication line 1202 and at least one communication interface 1204. Since the memory 1203, the communication line 1202 and the communication interface 1204 are all optional, they are represented by dashed lines in Figure 12 .

[0262] Optionally, the communication device 1200 can further include a transceiver and / or an antenna. The transceiver can be configured to transmit information to other devices or receive information from other devices. The transceiver can be referred to as a transceiver, a transceiving circuit, an input / output interface, etc., and can be configured to implement the transceiving function of the communication device 1200 through the antenna. Optionally, the transceiver includes a transmitter and a receiver. The transmitter can be configured to generate a radio frequency (RF) signal from a baseband signal, and the receiver can be configured to convert an RF signal to a baseband signal.

[0263] The processor 1201 can include a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs of the present application.

[0264] The communication line 1202 can include a path for transmitting information between the above-mentioned components.

[0265] The communication interface 1204 can be configured to communicate with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), a wired access network, etc., using any transceiver-like device.

[0266] The memory 1203 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto. The memory 1203 can exist independently of the processor 1201 and can be connected to the processor 1201 via the communication line 1202. Alternatively, the memory 1203 can be integrated with the processor 1201.

[0267] The memory 1203 is configured to store computer-executable instructions for implementing the solutions of the present application, and the processor 1201 is configured to execute the computer-executable instructions stored in the memory 1203. Figure 3 The steps performed by the first device or the sensing network element in the embodiments shown.

[0268] Optionally, the computer-executable instructions in the embodiments of the present application can also be referred to as application codes, which are not limited in the embodiments of the present application.

[0269] In a specific implementation, as an example, the processor 1201 can include one or more CPUs, such as the CPU0 and the CPU1 in the Figure 12 In a specific implementation, as an example, the communication device 1200 can include multiple processors, such as the processor 1201 and the processor 1205 in the

[0270] In a specific implementation, as an example, the communication device 1200 can include multiple processors, such as the processor 1201 and the processor 1205 in the Figure 12 The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (for example, computer program instructions).

[0271] When the device shown in Figure 12 is a chip, for example, a chip of the first device or a chip of the sensing network element (or the first device is a chip or the sensing network element is a chip), the chip includes the processor 1201 (and can also include the processor 1205), the communication line 1202, and the communication interface 1204, and optionally includes the memory 1203. Specifically, the communication interface 1204 can be an input interface, a pin, or a circuit, etc. The memory 1203 can be a register, a cache, etc. The processor 1201 and the processor 1205 can be a general-purpose CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the sensing method of any of the above embodiments.

[0272] The embodiments of the present application can divide the functional modules of the device according to the above-mentioned method examples, for example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software functional module. It should be noted that the division of the modules in the embodiments of the present application is illustrative, and is only a logical functional division. When each functional module is divided according to each function, for example, Figure 13Fig. 13 shows a schematic diagram of an apparatus 1300. The apparatus 1300 can be the first device or the sensing network element involved in the above-mentioned method embodiments, or a chip in the first device or a chip in the sensing network element, or the first device is a chip or the sensing network element is a chip. The apparatus 1300 includes a processing unit 1302 and a transceiver unit 1301.

[0273] It should be understood that the apparatus 1300 can be used to implement the steps performed by the first device or the sensing network element in the sensing method of the embodiments of the present application. The related features can be referred to the above-mentioned embodiments, and will not be repeated here. Figure 3

[0274] Optionally, the functions / implementation processes of the transceiver unit 1301 and the processing unit 1302 in the apparatus 1300 can be implemented by the processor 1201 in the communication apparatus 1200 invoking the computer-executed instructions stored in the memory 1203. Alternatively, Figure 13 Figure 12 the functions / implementation processes of the processing unit 1302 in the apparatus 1300 can be implemented by the processor 1201 in the communication apparatus 1200 invoking the computer-executed instructions stored in the memory 1203. Alternatively, Figure 13 Figure 12 the functions / implementation processes of the transceiver unit 1301 in the apparatus 1300 can be implemented by the communication interface 1204 in the communication apparatus 1200. Figure 13 Figure 12

[0275] Optionally, when the apparatus 1300 is a chip or a circuit, the functions / implementation processes of the transceiver unit 1301 can also be implemented by pins or circuits, etc. Optionally, the transceiver unit 1301 can include a sending unit and / or a receiving unit, the sending unit is used to implement the sending function, and the receiving unit is used to implement the receiving function; or the transceiver unit 1301 can be an integral module, which can implement the sending function and / or the receiving function. Optionally, the transceiver unit 1301 can be implemented by a transceiver.

[0276] Optionally, the structure of the access network device in the embodiments of the present application can also refer to any two or more of the apparatuses shown in Figure 1A or Figure 1B . For example, when the apparatus 1300 or the communication apparatus 1200 is an access network device, Figure 1A , Figure 1B , Figure 12 , Figure 13 any two or more of the apparatuses shown in the above-mentioned drawings can all be access network devices, and these drawings can be understood as multiple structure diagrams of the access network device.

[0277] ​​​​​The application further provides a computer readable storage medium storing computer programs or instructions, which, when executed, implement the method performed by the first device or the sensing network element in the foregoing method embodiments. Thus, the functions described in the foregoing embodiments can be implemented in the form of software function units and sold or used as independent products. Based on this understanding, the technical solutions of the application can essentially or in part or parts of the technical solutions can be embodied in the form of a software product, which 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 perform all or part of the steps of the methods described in the embodiments of the application. The 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.

[0278] The application further provides a computer program product, which includes computer program codes, which, when executed on a computer, cause the computer to perform the method performed by the first device or the sensing network element in any of the foregoing method embodiments.

[0279] The embodiments of the application further provide a processing device, which includes a processor and an interface; the processor is configured to perform the method performed by the first device or the sensing network element involved in any of the foregoing method embodiments.

[0280] In the foregoing embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0281] The various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein can be implemented or performed with a general purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor can be a microprocessor, but, in the alternative, the general purpose processor can be any conventional processor, controller, microcontroller, or state machine. A processor can also be implemented as a combination of computing devices, e.g., a combination of a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other such configuration.

[0282] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM, flash memory, ROM, erasable programmable read-only memory (EPROM), EEPROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium can be coupled to the processor, such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a terminal device. In the alternative, the processor and the storage medium can reside as discrete components in a terminal device. The previous description of the disclosure includes the best mode known to the inventors to carry out the disclosure.

[0283] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks.

[0284] The content of each of the embodiments of the present application can be mutually referred to. If there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be mutually referred to. The technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0285] It can be understood that, in the embodiments of the present application, the first device and / or the perception network element can perform part or all of the steps in the embodiments of the present application, and these steps or operations are only examples, and other operations or variations of various operations can also be performed in the embodiments of the present application. In addition, each step can be performed in a different order as presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application are to be performed.

Claims

1. A perception method, comprising: The method comprises: determining first point cloud information corresponding to a first sensing target according to a measurement result of a received first signal and a first density; sending first information, the first information comprising the first point cloud information.

2. The method of claim 1, wherein, The determination of the first point cloud information corresponding to the first sensing target according to the measurement result of the received first signal and the first density comprises: determining second point cloud information according to the measurement result; determining the first point cloud information according to the second point cloud information and the first density.

3. The method of claim 2, wherein, The first density is less than a density of the second point cloud information.

4. The method of claim 2, wherein the first density is less than a density of the second point cloud information, and the first point cloud information is obtained by clustering points corresponding to the second point cloud information; or the first density is greater than a density of the second point cloud information, and the first point cloud information is obtained by interpolating points corresponding to the second point cloud information.

5. The method according to any one of claims 2 to 4, characterized in that, The determination of the first point cloud information according to the second point cloud information and the first density comprises: removing M points from points corresponding to the second point cloud information, the M points having an accuracy lower than a first threshold, M being a positive integer; determining the first point cloud information satisfying the first density according to information of remaining points corresponding to the second point cloud information except for the M points.

6. The method according to any one of claims 1 to 5, characterized in that, The first information is further used to indicate one or more of: a number of points corresponding to the first point cloud information, a similarity between the first point cloud information and the first sensing target, whether the first point cloud information corresponds to points obtained by interpolation, points obtained by interpolation corresponding to the first point cloud information, or points corresponding to the first sensing target that do not participate in the determination of the first point cloud information.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: receiving second information, the second information being used to indicate the first density by one or more of: information of the first density; sensing accuracy information; sensing resolution information; or a number of points.

8. The method according to any one of claims 1 to 7, characterized in that, The first information further comprises edge point cloud information of the first sensing target, the edge point cloud information having a density different from the first density.

9. The method of claim 8, wherein, The method further comprises: receiving third information, wherein the third information is used to indicate that edge point cloud information of the first sensing target is not reported according to the first density; or the third information is used to indicate that edge point cloud information of the first sensing target is reported according to a second density, the second density being greater than the first density.

10. The method according to any one of claims 1 to 9, characterized in that, The first point cloud information comprises information of edge points, or the first point cloud information does not comprise information of edge points.

11. The method according to any one of claims 1 to 10, characterized in that, The method further comprises: receiving fourth information, the fourth information being used to indicate that the first point cloud information is determined based on the first density.

12. A perception method comprising: The method comprises: sending second information, the second information being used to indicate a first density; receiving first information, the first information comprising first point cloud information, the first point cloud information satisfying the first density, the first point cloud information being point cloud information corresponding to a first sensing target.

13. The method of claim 12, wherein, The second information is used to indicate the first density by one or more of: information of the first density; perception accuracy information; perception resolution information; or a number of points.

14. The method of claim 13, wherein, The method further includes: sending third information, wherein the third information is used to indicate that edge point cloud information of the first perception target is not reported according to the first density; or the third information is used to indicate that edge point cloud information of the first perception target is reported according to a second density, wherein the second density is greater than the first density.

15. The method according to any one of claims 12 to 14, characterized in that, The first information is further used to indicate one or more of: a number of points corresponding to the first point cloud information, a similarity of the first point cloud information to a first perception target, whether a point corresponding to the first point cloud information is obtained by interpolation, a point obtained by interpolation corresponding to the first point cloud information, or a point of the first perception target that does not participate in determining the first point cloud information.

16. The method according to any one of claims 12 to 15, characterized in that, The method further includes: sending fourth information, wherein the fourth information is used to indicate that the first point cloud information is determined based on the first density.

17. A perception system, comprising: The perception system includes a perception network element and an access network device, wherein the perception network element is configured to perform the method of any one of claims 12-16, and the access network device is configured to perform the method of any one of claims 1-11.

18. The perception system of claim 17, wherein the access network device is further configured to send the first signal, and is further configured to receive the first signal.

19. The perception system of claim 17 or 18, wherein, The perception system further includes a terminal device, wherein the terminal device is configured to perform the method of any one of claims 1-11.

20. The perception system of claim 19, wherein the terminal device is further configured to send the first signal.

21. The perception system of claim 20, wherein the terminal device is further configured to receive the first signal; or the access network device is further configured to receive the first signal.

22. The perception system of claim 19, wherein the access network device is further configured to send the first signal; and the terminal device is further configured to receive the first signal.

23. A communications device, characterized by The communication apparatus includes a module configured to perform the method of any one of claims 1-11, or a module configured to perform the method of any one of claims 12-16.

24. A communications device, characterized by The communication apparatus includes a processor configured to perform the method of any one of claims 1-11, or to perform the method of any one of claims 12-16.

25. A computer readable storage medium, characterized in that, The computer readable storage medium is configured to store a computer program, which, when executed on a computer, causes the method of any one of claims 1-11 to be performed, or causes the method of any one of claims 12-16 to be performed.

26. A computer program product, characterised in that, The computer program product includes a computer program, which, when executed on a computer, causes the computer to perform the method of any one of claims 1-11, or causes the computer to perform the method of any one of claims 12-16.

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