Communication method and device

Abstract

The invention relates to a communication method and device, which are used for selecting proper sensing nodes to participate in joint sensing so as to improve the sensing performance. The method comprises the steps that the value of at least one first resolution unit for a first area is determined, the value of one first resolution unit corresponds to one sensing node, or the value of one first resolution unit corresponds to one group of sensing nodes, and the group of sensing nodes comprises one or more sensing nodes; first indication information or second indication information is sent, the first indication information is used for indicating a target sensing node to participate in joint sensing or is used for indicating an identifier of a group to which the target sensing node belongs, and the target sensing node is determined according to the value of the at least one first resolution unit; the second indication information is used for indicating that joint perception is not participated. Thus, the control node can select a proper sensing node to participate in joint sensing based on the value of the at least one first resolution unit, so as to improve the sensing performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, and particularly relates to a communication method and device. BACKGROUND

[0002] In a perception scene, the perception capability of a single perception node is usually limited due to factors such as distance and viewing angle, which leads to the fact that the perception result cannot meet the demand. Based on this, when there are multiple perception nodes in the perception scene, the multiple perception nodes can be combined to perform perception, so as to improve the perception performance. Therefore, how to select appropriate perception nodes to participate in joint perception to make the perception performance better is a problem to be solved urgently. SUMMARY

[0003] Embodiments of the present application provide a communication method and device, which are used to select appropriate perception nodes to participate in joint perception, so as to improve the perception performance.

[0004] In a first aspect, the present application provides a communication method, which can be applied to a communication device. The communication device can be a control node, or can be a component (such as a processor, a chip, a chip system, a circuit, an assembly, a module or a functional module, etc.) in the control node. The method can include: determining a value of at least one first resolution unit for a first area, wherein one value of the first resolution unit corresponds to one perception node, or one value of the first resolution unit corresponds to a group of perception nodes, and the group of perception nodes includes one or more perception nodes; and sending first indication information or second indication information, wherein the first indication information is used to indicate that a target perception node participates in joint perception, or is used to indicate an identity of a group to which the target perception node belongs, and the target perception node is determined according to the value of the at least one first resolution unit; and the second indication information is used to indicate that joint perception is not participated in.

[0005] Through the above communication method, the control node can select appropriate perception nodes to participate in joint perception based on the value of the at least one first resolution unit, so as to improve the perception performance.

[0006] In a possible design, the value of the at least one first resolution unit for the first region can be determined by: sending, to at least one sensing node, first information respectively, where the first information is used to indicate the first region and a first resolution parameter; and receiving, from the at least one sensing node, a value of the first resolution unit corresponding to the at least one sensing node respectively, where the value of the first resolution unit corresponding to any sensing node is determined based on the first resolution parameter and a second resolution parameter of the any sensing node. Based on this method, the control node can accurately obtain the value of the first resolution unit corresponding to the at least one sensing node respectively, and then select a suitable sensing node to participate in joint sensing based on the value of the first resolution unit, so as to improve sensing performance.

[0007] In a possible design, any of the first resolution parameter and the second resolution parameter can include at least one of: a range direction resolution parameter, an azimuth direction resolution parameter, or an elevation direction resolution parameter. In this way, the conventional resolution parameters of an existing radar system or sensing system can be reused.

[0008] In a possible design, the first region includes at least one sub-region, the first resolution parameter includes at least one first sub-resolution parameter, and the second resolution parameter includes at least one second sub-resolution parameter, where the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond to each other in a one-to-one manner. In this way, a scenario in which resolution changes with a spatial position can be adapted to.

[0009] In a possible design, the value of the at least one first resolution unit for the first region can be determined by: receiving, from at least one sensing node, a third resolution parameter for the first region respectively; and determining, according to the third resolution parameter of each sensing node, a value of the first resolution unit corresponding to the each sensing node. In this way, the control node can determine the value of the resolution unit corresponding to joint sensing of each sensing node based on sensing results of the at least one sensing node, and then select a suitable sensing node to participate in joint sensing, so as to improve sensing performance.

[0010] In a possible design, the value of the first resolution unit corresponding to each sensing node can be determined according to the third resolution parameter of the each sensing node, and the method can be: determining, according to the first resolution parameter and the third resolution parameter of the each sensing node, the value of the first resolution unit corresponding to the each sensing node. In this way, the value of the resolution unit corresponding to joint sensing can be determined based on existing sensing results and current sensing results, and then a suitable sensing node can be selected to participate in joint sensing, so as to improve sensing performance.

[0011] In a possible design, the target perception node is a perception node corresponding to a first resolution unit with a minimum value among the values of the at least one first resolution unit. In this way, the target perception node participating in the joint perception can improve the perception performance.

[0012] In a possible design, the value of the at least one first resolution unit for the first area is determined by: receiving third resolution parameters for the first area from a plurality of perception nodes respectively; grouping the plurality of perception nodes, and determining a value of a first resolution unit corresponding to each group of perception nodes according to the third resolution parameters corresponding to the group of perception nodes. Based on this method, the value of the first resolution unit corresponding to each group of perception nodes can be determined by grouping, and one or more groups of perception nodes can be selected to participate in the joint perception, which can improve the perception performance while reducing the perception overhead and dispersing the perception load.

[0013] In a possible design, the value of the first resolution unit corresponding to each group of perception nodes is determined according to the third resolution parameters corresponding to the group of perception nodes, and the method can be: determining the value of the first resolution unit corresponding to each group of perception nodes according to the first resolution parameter and the third resolution parameters corresponding to the group of perception nodes. In this way, the value of the resolution unit for joint perception can be determined based on the existing perception result and the current perception result, and a suitable group of perception nodes can be selected to participate in the joint perception, thereby improving the perception performance.

[0014] In a possible design, the target perception node is one or more groups of perception nodes, and the value of the first resolution unit corresponding to the one or more groups of perception nodes is less than or equal to a first threshold. In this way, one or more groups of perception nodes can be selected to participate in the joint perception, which can improve the perception performance while reducing the perception overhead and dispersing the perception load.

[0015] In a possible design, second information is sent to at least one perception node, and the second information is used to request a resolution parameter for the first area. In this way, the perception result can be reported by the at least one perception node, so that the control node can accurately determine the value of the at least one first resolution unit.

[0016] In a possible design, any resolution parameter can include one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to the resolution unit, or an eigenvalue and eigenvector of the transformation matrix corresponding to the resolution unit. In this way, the resolution parameter can be expressed in multiple forms, and the value of the first resolution unit can be flexibly and accurately determined.

[0017] In one possible design, the value of the first resolution unit is the area of ​​the resolution ellipse corresponding to the first resolution unit or the volume of the resolution ellipsoid. This allows for an accurate determination of the value of the first resolution unit.

[0018] In one possible design, sending the first or second instruction information includes: sending the first instruction information to the target sensing node; or sending the second instruction information to at least one sensing node other than the target sensing node. This notifies which sensing nodes need to participate in joint sensing and which sensing nodes do not need to participate in joint sensing.

[0019] Secondly, this application provides a communication method that can be applied to a communication device, which can be a sensing node or a component within the sensing node (e.g., a processor, chip, chip system, circuit, component, module, or functional module). The method may include: receiving first information, the first information indicating a first region and a first resolution parameter; sending a value of a first resolution unit, wherein the value of the first resolution unit is determined based on the first resolution parameter and a second resolution parameter for the first region; and receiving first indication information or second indication information, the first indication information indicating participation in joint sensing and the second indication information indicating non-participation in joint sensing.

[0020] Using the communication method described above, appropriate sensing nodes can be selected to participate in joint sensing based on the value of at least one first resolution unit, thereby improving sensing performance.

[0021] In one possible design, either the first resolution parameter or the second resolution parameter may include at least one of the following: range resolution parameter, azimuth resolution parameter, or elevation resolution parameter. This allows for the reuse of conventional resolution parameters from existing radar or sensing systems.

[0022] In one possible design, the first region includes at least one sub-region, the first resolution parameter includes at least one first sub-resolution parameter, and the second resolution parameter includes at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond one-to-one. This can adapt to scenarios where the resolution changes with spatial location.

[0023] In a possible design, any resolution parameter includes one or more of the following: the projection vectors of the spatial resolution onto the coordinate axes of the global coordinate system, the vectors corresponding to the principal axes of the resolution ellipse or resolution ellipsoid corresponding to the resolution unit, the transformation matrix corresponding to the resolution unit, or the eigenvalues ​​and eigenvectors of the transformation matrix corresponding to the resolution unit. This allows the resolution parameter to be represented in multiple forms, enabling flexible and accurate determination of the value of the first resolution unit.

[0024] In one possible design, the value of the first resolution unit is the area of ​​the resolution ellipse corresponding to the first resolution unit or the volume of the resolution ellipsoid. This allows for an accurate determination of the value of the first resolution unit.

[0025] Thirdly, this application provides a communication method that can be applied to a communication device, which can be a sensing node or a component within the sensing node (e.g., a processor, chip, chip system, circuit, component, module, or functional module). The method may include: receiving second information, the second information being used to request resolution parameters for a first region; sending third resolution parameters for the first region; receiving first indication information or second indication information, the first indication information being used to indicate participation in joint sensing or to indicate the identifier of a group; the second indication information being used to indicate non-participation in joint sensing.

[0026] Using the communication method described above, appropriate sensing nodes can be selected to participate in joint sensing based on the value of at least one first resolution unit, thereby improving sensing performance.

[0027] In one possible design, the third resolution parameter includes one or more of the following: the projection vectors of the spatial resolution onto each coordinate axis of the global coordinate system, the vectors corresponding to each principal axis of the resolution ellipse or resolution ellipsoid corresponding to the resolution unit, the transformation matrix corresponding to the resolution unit, or the eigenvalues ​​and eigenvectors of the transformation matrix corresponding to the resolution unit. This allows the resolution parameter to be represented in multiple forms, enabling flexible and accurate determination of the value of the first resolution unit.

[0028] In one possible design, the value of the first resolution unit is the area of ​​the resolution ellipse corresponding to the first resolution unit or the volume of the resolution ellipsoid. This allows for an accurate determination of the value of the first resolution unit.

[0029] Fourthly, this application also provides a communication device, which may be a control node or a component within the control node (e.g., a processor, chip, chip system, circuit, component, module, or functional module). This communication device has the functionality to implement the methods described in the first aspect or various possible design examples of the first aspect. The functionality can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the described functions.

[0030] In one possible design, the communication device may include a processing unit, and optionally a transceiver unit, which may perform the functions of the methods described in the first aspect or various possible design examples of the first aspect, which will not be elaborated here.

[0031] In one possible design, the communication device includes one or more processors, and optionally also includes a memory and / or a transceiver. The transceiver is used to send and receive data, messages, or information, and to communicate with other devices in the system. The processor is configured to support the communication device in performing the corresponding functions in the first aspect or various possible design examples of the first aspect described above. The memory is coupled to the processor and stores the necessary program instructions and data for the communication device.

[0032] Fifthly, this application also provides a communication device, which can be a sensing node or a component within a sensing node (e.g., a processor, chip, chip system, circuit, component, module, or functional module). This communication device has the functionality to implement the methods described in the second aspect or various possible design examples of the second aspect. The functionality can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the described functionality.

[0033] In one possible design, the communication device may include a processing unit, and optionally a transceiver unit, which may perform the functions of the methods described in the second aspect or various possible design examples of the second aspect, which will not be elaborated here.

[0034] In one possible design, the communication device includes one or more processors, and optionally also includes memory and / or a transceiver. The transceiver is used to send and receive data, messages, or information, and to communicate with other devices in the system. The processor is configured to support the communication device in performing the corresponding functions in the second aspect or various possible design examples of the second aspect described above. The memory is coupled to the processor and stores the necessary program instructions and data for the communication device.

[0035] Sixthly, this application also provides a communication device, which can be a sensing node or a component within a sensing node (e.g., a processor, chip, chip system, circuit, component, module, or functional module). This communication device has the functionality to implement the methods described in the third aspect or various possible design examples of the third aspect. The functionality can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the described functions.

[0036] In one possible design, the communication device may include a processing unit, and optionally a transceiver unit, which may perform the functions of the methods described in the third aspect or various possible design examples of the third aspect, which will not be elaborated here.

[0037] In one possible design, the communication device includes one or more processors, and optionally also includes a memory and / or a transceiver. The transceiver is used to send and receive data, messages, or information, and to communicate with other devices in the system. The processor is configured to support the communication device in performing the corresponding functions in the third aspect or various possible design examples of the third aspect described above. The memory is coupled to the processor and stores the necessary program instructions and data for the communication device.

[0038] In a seventh aspect, embodiments of this application provide a communication system that may include a control node and a sensing node. The control node may be used to implement the methods described in the first aspect or various possible design examples of the first aspect. The sensing node may be used to implement the methods described in the second aspect or various possible design examples of the second aspect, or to implement the methods described in the third aspect or various possible design examples of the third aspect.

[0039] Eighthly, embodiments of this application provide a computer-readable storage medium storing program instructions that, when executed on a computer, cause the computer to perform the methods described in the first aspect and any possible design of the embodiments of this application, or in the second aspect and any possible design of the embodiments ...

[0040] Ninthly, embodiments of this application provide a computer program product, including a computer program or instructions, which, when executed on a computer, cause the methods described in the first aspect or any possible design of the first aspect, or in the second aspect or any possible design of the second aspect, or in the third aspect or any possible design of the third aspect to be performed.

[0041] In a tenth aspect, this application also provides a chip or chip system, including one or more processors, said processors being coupled to at least one memory for reading and executing program instructions stored in said memory to enable the chip or chip system to implement the methods described in the first aspect or any possible design of the first aspect, or in the second aspect or any possible design of the second aspect, or in the third aspect or any possible design of the third aspect.

[0042] For the various aspects from the fourth to the tenth aspects mentioned above, and the technical effects that each aspect may achieve, please refer to the description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect, or the second aspect or the various possible solutions in the second aspect, or the third aspect or the various possible solutions in the third aspect, which will not be repeated here. Attached Figure Description

[0043] Figure 1 A schematic diagram of the architecture of a communication system provided in this application;

[0044] Figure 2 A schematic diagram of a possible perception scenario provided for this application;

[0045] Figure 3 A schematic diagram of the distance resolution Δr and lateral resolution Δa of a sensing node 1 within the sensing area provided in this application;

[0046] Figure 4 A schematic diagram illustrating an example of transforming the contour ellipse of a resolution cell from the ra coordinate system to the xy coordinate system, as provided in this application.

[0047] Figure 5 A schematic diagram illustrating another example of transforming the contour ellipse of a resolution cell from the ra coordinate system to the xy coordinate system provided in this application;

[0048] Figure 6 A flowchart illustrating a communication method provided in this application;

[0049] Figure 7 A schematic diagram of the resolution units of sensing node 1, sensing node 2, and sensing node 3 provided in this application;

[0050] Figure 8 A flowchart illustrating an example of a communication method provided in this application;

[0051] Figure 9 A flowchart illustrating an example of another communication method provided in this application;

[0052] Figure 10 A flowchart illustrating another example of a communication method provided in this application;

[0053] Figure 11 A schematic diagram of the structure of a communication device provided in this application;

[0054] Figure 12 A structural diagram of a communication device provided in this application. Detailed Implementation

[0055] This application provides a communication method and apparatus for selecting suitable sensing nodes to participate in joint sensing, thereby improving sensing performance. The method and apparatus described in this application are based on the same technical concept. Since the principles by which the method and apparatus solve problems are similar, their implementations can be mutually referenced, and repeated details will not be elaborated further.

[0056] In the description of this application, the terms "first," "second," etc., are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance or order.

[0057] In the description of this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: 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.

[0058] In the description of this application, "and / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. " / " means "or", for example, a / b means a or b.

[0059] To more clearly describe the technical solutions of the embodiments of this application, the communication methods and devices provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0060] The technical solutions in this application embodiment can be applied to various communication systems, such as Universal Mobile Telecommunications System (UMTS), Wireless Local Area Network (WLAN), Wireless Fidelity (Wi-Fi) system, 4th generation (4G) mobile communication system (such as Long Term Evolution (LTE) system), 5th generation (5G) mobile communication system (such as New Radio (NR) system), and future communication networks, etc.

[0061] For example, Figure 1 A schematic diagram of the architecture of a possible communication system applicable to embodiments of this application is shown. For example... Figure 1 As shown, the communication system 10 may include a radio access network (RAN) 100 and a core network (CN) 200. Optionally, the communication system 10 may also include the Internet 300.

[0062] RAN 100 includes at least one RAN node (such as...) Figure 1 110a and 110b (collectively referred to as 110) and at least one terminal device (such as Figure 1RAN 100, denoted as RAN 120a-120j, is collectively referred to as RAN 120. RAN 100 may also include other RAN nodes, such as wireless relay equipment and / or wireless backhaul equipment. Figure 1 (Not shown in the image). Terminal device 120 is connected to RAN node 110 wirelessly. RAN node 110 is connected to core network 200 wirelessly or via wired connection. The core network equipment in core network 200 and RAN node 110 in RAN 100 can be different physical devices, or they can be the same physical device integrating core network logical functions and radio access network logical functions.

[0063] RAN 100 can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as 4G, 5G mobile communication systems, or future-oriented evolution systems (such as 6G mobile communication systems). RAN 100 can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), or a WiFi system. RAN 100 can also be a communication system that integrates two or more of the above systems.

[0064] RAN node 110, sometimes referred to as RAN entity or access node, constitutes part of the communication system and assists terminal devices in achieving wireless access. Multiple RAN nodes 110 in communication system 10 can be of the same type or different types. In some scenarios, the roles of RAN node 110 and terminal device 120 are relative, for example... Figure 1 Network element 120i can be a helicopter or a drone, and it can be configured as a mobile base station. For terminals 120j that access RAN 100 through network element 120i, network element 120i is a base station; however, for base station 110a, network element 120i is a terminal device. RAN node 110 and terminal device 120 are sometimes referred to as communication devices, for example... Figure 1 Network elements 110a and 110b can be understood as communication devices with base station functions, while network elements 120a-120j can be understood as communication devices with terminal equipment functions.

[0065] RAN nodes can also be referred to in different ways, such as network devices. Unless otherwise specified in this application, network devices will be used as the term.

[0066] In one possible scenario, network equipment can also be called access network equipment. Access network equipment can be a base station, an evolved NodeB (eNodeB), an access point (AP), a station (STA), a transmission reception point (TRP), a next-generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a WiFi system, etc. Access network equipment can also be a macro base station (such as...). Figure 1 110a), micro base stations or indoor stations (such as Figure 1 The access network device can be a relay node or donor node (as described in 110b), or a wireless controller in a CRAN scenario. Optionally, the access network device can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, the access network device in vehicle-to-everything (V2X) technology can be a roadside unit (RSU). All or part of the functions of the access network device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The access network device in this application can also be a logical node, logical module, or software capable of implementing all or part of the access network device functions.

[0067] In another possible scenario, multiple access network devices collaborate to assist terminal devices in achieving wireless access, with each access network device performing a portion of the base station's functions. For example, the access network devices can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. The CU and DU can be configured separately or included in the same network element, such as a baseband unit (BBU). The RU can be included in radio frequency equipment or radio frequency units, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0068] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open CU (O-CU), DU can also be called an open DU (O-DU), CU-CP can also be called an open CU-CP (O-CU-CP), CU-UP can also be called an open CU-UP (O-CU-UP), and RU can also be called an open RU (O-RU). Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0069] Terminal equipment can also be called user equipment (UE), mobile station, mobile terminal, wireless terminal equipment, subscriber unit, subscriber station, mobile station, remote station, user terminal, user agent, or user device. Terminal equipment can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, and smart cities. For example, terminal equipment can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, and smart home devices. Terminal devices used in vehicles can be called in-vehicle terminal devices, which are also known as on-board units (OBUs). The embodiments of this application do not limit the form of the terminal device.

[0070] In recent years, sensing technology has attracted widespread attention from the academic community. Sensing technology obtains the characteristics of the signal space, or channel, by analyzing changes in wireless signals during propagation, thereby enabling environmental perception. The environment here can include factors such as buildings and moving vehicles.

[0071] The technical solutions in this application embodiment can be applied to sensing scenarios. For example, Figure 2 A schematic diagram illustrating a possible sensing scenario to which embodiments of this application are applicable is shown. For example... Figure 2 As shown, a sensing scene can include multiple sensing nodes (e.g. Figure 2 (Taking three sensing nodes, sensing node 1, sensing node 2 and sensing node 3, as an example) and a control node, the control node can maintain communication with multiple sensing nodes through wired or wireless means. Each of the multiple sensing nodes has different sensing capabilities and spatial locations, and the target to be sensed is located within the sensing area.

[0072] For example, the sensing node can be a terminal device, an access network device, a positioning reference unit (PRU), a reflective intelligent surface (RIS), etc. The terminal device and access network device can be found in the aforementioned descriptions and will not be repeated here. It should be understood that... Figure 2 The sensing nodes shown are all access network devices for illustrative purposes only. The device forms of the three sensing nodes may be the same or different, and this application does not limit them.

[0073] A control node can be a sensing node with sensing capabilities; that is, the device form of a control node can be found in the device form of a sensing node. Alternatively, a control node can also be a core network device, such as an access and mobility function (AMF), or a location management function (LMF), sensing management function (SMF), location server (LS), distribution system (DS), etc.

[0074] The communication system and scenario architecture described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new service scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0075] The relevant terms and technologies involved in the embodiments of this application will be explained below. It should be noted that these explanations are for the purpose of making the embodiments of this application easier to understand, and should not be regarded as a limitation on the scope of protection claimed by this application.

[0076] 1) Lateral resolution, azimuth resolution, pitch resolution, and angular resolution

[0077] Angular resolution describes the ability of a sensing node to resolve targets at different angles. Angular resolution is determined by the array specifications of the antenna array equipped with the sensing node. For example, an antenna array with an element spacing of half a wavelength and a total of 10 elements has an angular resolution of approximately 10°. When the sensing node is equipped with a two-dimensional array, such as a cross-shaped linear array or a two-dimensional planar array, the sensing node will have two-dimensional angular resolution capability, meaning the sensing node has corresponding angular resolutions in both directions. Typically, the angular resolution in the horizontal direction is called the azimuth angular resolution, and the angular resolution in the elevation direction is called the elevation angular resolution.

[0078] For a specific sensing area, the spatial resolution of a sensing node within that area can be calculated based on its angular resolution capabilities (e.g., azimuth and / or pitch resolution). Unlike angular resolution, spatial resolution describes a sensing node's ability to distinguish targets at different spatial locations. For example, given the azimuth resolution of a sensing node, combined with the distance from the sensing area to the node, the spatial resolution capability of the node for targets at different azimuthal positions within that sensing area can be calculated; this is the azimuth resolution. Similarly, given the pitch resolution of a sensing node, combined with the distance from the sensing area to the node, the spatial resolution capability of the node for targets at different pitch positions within that sensing area can be calculated; this is the pitch resolution. Generally, for the same angular resolution, the farther the sensing area is from the sensing node, the worse the corresponding spatial resolution.

[0079] If a sensing node has the ability to distinguish targets at different distances, it is said that the sensing node has range resolution or range-direction resolution. Range resolution is also called radial range resolution or radial resolution. At the same time, if the sensing node also has azimuth resolution and / or pitch resolution, then azimuth resolution and / or pitch resolution are collectively referred to as lateral resolution.

[0080] 2) Resolution parameters

[0081] In this application, the resolution parameter can also be described as a resolution vector, etc.

[0082] Resolution vectors can include the following various representations:

[0083] The first representation: The resolution vector can be a vector formed by projecting the spatial resolution of the sensing node in each dimension (such as range, azimuth, and pitch) onto the coordinate axes of a global coordinate system, containing the length and direction information of the vector. It can also be understood that the resolution vector (i.e., the resolution parameter) can contain at least one of the following: range resolution vector (i.e., range resolution parameter), azimuth resolution vector (i.e., azimuth resolution parameter), or pitch resolution vector (i.e., pitch resolution parameter). The following example will illustrate this in detail:

[0084] For example, a sensing node with two-dimensional resolution capabilities possesses both range resolution and lateral resolution. Range resolution, also called radial range resolution, is typically provided by a broadband signal; while lateral resolution is usually provided by an array antenna. When the array antenna provides azimuth resolution, the lateral resolution corresponds to the azimuth resolution; when the array antenna provides elevation resolution, the lateral resolution corresponds to the elevation resolution.

[0085] The direction of the range resolution vector is the gradient direction of the distance to the target perceived by the sensing node in two-dimensional space. The length of the range resolution vector is the value of the range resolution. Therefore, each component of the range resolution vector is a projection of the range resolution vector along the x-axis and y-axis of the global coordinate system.

[0086] The direction of the lateral resolution vector is the gradient direction of the lateral distance of the sensing node when sensing the target in two-dimensional space. The length of the lateral resolution vector is the value of the lateral resolution. Therefore, each component of the lateral resolution vector is a projection of the lateral resolution vector along the x-axis and y-axis of the global coordinate system.

[0087] like Figure 3 The diagram illustrates the range resolution Δr and lateral resolution Δa of a sensing node 1 within its sensing region. Correspondingly, the range resolution vector can be represented as Δr = [Δr...]. x ,Δr y The horizontal resolution vector can be represented as Δa = [Δa] x ,Δa y ]. Δr x and Δr y Let Δa and Δr represent the components of the range resolution vector Δr along the x-axis and y-axis, respectively. x and Δa y These represent the components of the lateral resolution vector Δa along the x-axis and y-axis, respectively. Bold symbols indicate vectors, while non-bold symbols indicate numerical values, such as the vector length. The range resolution vector and the lateral resolution vector together determine the two-dimensional resolution unit.

[0088] Similarly, for a sensing node with three-dimensional resolution capability, its resolution capability includes range resolution, azimuth resolution, and pitch resolution. Likewise, the resolution vector can include a range resolution vector, an azimuth resolution vector, and a pitch resolution vector. These three vectors are respectively represented as the range resolution vector Δr = [Δr...]. x ,Δr y ,Δr z ], azimuth resolution vector Δa=[Δa x ,Δa y ,Δa z ], pitch resolution vector Δe=[Δe x ,Δe y ,Δe z The aforementioned three factors together determine the resolution unit of a three-dimensional structure.

[0089] The second representation: the transformation matrix corresponding to the resolution unit, or the eigenvalues ​​and eigenvectors of the transformation matrix corresponding to the resolution unit. Detailed explanation follows:

[0090] The size of a resolution cell can be defined as the size of the region enclosed by a closed contour line or contour surface in the amplitude response of the target in the perception result. For two-dimensional perception, the resolution cell is the region enclosed by the contour line; for three-dimensional perception, the resolution cell is the region enclosed by the contour surface. The amplitude value at any point on the contour line or contour surface is the peak value of the target's amplitude response minus 3 dB.

[0091] In this context, the target's amplitude response along each resolution vector direction is typically a sinc function. For example, in 2D perception, the target's amplitude response is a sinc function along the range and lateral directions, respectively. In 3D perception, the target's amplitude response is a sinc function along the range, azimuth, and pitch directions, respectively. The specific parameters of the sinc function in each direction can be different, determined by the resolution vector in each direction.

[0092] For ease of analysis, the sinc function can be approximated using a quadratic function. Taking two-dimensional sensing as an example, assuming the sensing node has range and lateral resolution capabilities, and assuming the lateral direction is the azimuth direction, the magnitude response g(r,a) of the target in the range-azimuth domain (ra coordinate system) can be expressed as shown in the following formula:

[0093]

[0094] The peak value of the target's magnitude response is normalized to 1 when or At that time, g(r,a) = 0.75, meaning a power attenuation of 3dB. The target's amplitude response is defined by the closed contour line corresponding to the 3dB peak attenuation, which determines the resolution unit. This closed contour line f(r,a) can be expressed as shown in the following formula:

[0095]

[0096] It can be seen that the closed contour line is an elliptic curve in the ra coordinate system, that is, the resolution unit is an ellipse.

[0097] The expression for the closed contour line f(r,a)=1 shown in Formula 2 above can be represented by matrices and vectors as follows: Formula 3

[0098]

[0099] Furthermore, based on the resolution vector Δr=[Δr x ,Δr y ] and Δa=[Δa x ,Δa y Transforming the distance coordinate r and the azimuth coordinate a to the global xy coordinate system, we can obtain the following formula:

[0100]

[0101] Formula 4 above can be simplified to Formula 5 as follows:

[0102]

[0103] in,

[0104] It can be seen that the contour lines of the resolution cell are elliptic curves in the xy coordinate system. A is defined as the transformation matrix. Since A is a positive definite matrix, its eigenvalues ​​are decomposed to obtain the eigenvalues ​​[λ1, λ2]. Here, the resolution vector can be represented by the transformation matrix A, or by the eigenvalues ​​[λ1, λ2] and their corresponding eigenvectors.

[0105] The square root of the reciprocal of the eigenvalue is the length of the principal axis of the ellipse. Assuming λ₁ ≥ λ₂, then... It is the length of the shorter principal axis of the ellipse. This is the length of the longer principal axis of the ellipse. Therefore, the size of the resolution unit, which is also the area of ​​the ellipse, is...

[0106] For example, Figure 4 and Figure 5 An example of transforming the contour ellipse of a resolution cell from the ra coordinate system to the xy coordinate system is shown. Figure 4In the example shown, the range resolution vector and the lateral resolution vector are orthogonal in the xy coordinate system. Therefore, after transforming from the ra coordinate system to the xy coordinate system, the shape of the contour ellipse of the resolution cell does not change; only its orientation rotates. In the xy coordinate system, the principal axis of the ellipse remains perpendicular to either the range resolution vector or the lateral resolution vector. Figure 5 In the example shown, the range resolution vector and the lateral resolution vector are not orthogonal in the xy coordinate system. Therefore, after transforming from the ra coordinate system to the xy coordinate system, the contour ellipse of the resolution cell not only rotates in direction but also changes in shape. It is important to note that the principal axis of the contour ellipse in the xy plane is no longer perpendicular to either the range resolution vector or the lateral resolution vector. Figure 5 The lengths of the two spindles were marked as follows: and

[0107] Similarly, for 3D perception, the resolution unit is an ellipsoid in the xyz coordinate system, and the size of the resolution unit is the volume of the ellipsoid. Using the aforementioned method, based on the range resolution vector, azimuth resolution vector, and pitch resolution vector, a 3x3 transformation matrix A can be obtained. Eigenvalue decomposition of this matrix yields eigenvalues ​​[λ1, λ2, λ3]. In other words, the resolution vector can be represented by the 3x3 transformation matrix A, or by the eigenvalues ​​[λ1, λ2, λ3] and their corresponding eigenvectors. The size of the resolution unit can be the volume of the ellipsoid.

[0108] The third representation: the vectors corresponding to the principal axes of the resolution ellipse or resolution ellipsoid corresponding to the resolution unit.

[0109] 3) Single-base sensing, dual-base sensing, and multi-base sensing

[0110] Single-base sensing can also be called single-station sensing, two-base sensing can also be called two-station sensing, and multi-base sensing can also be called multi-station sensing.

[0111] Sensing technologies can generally be divided into three types based on their modes: single-station sensing, dual-station sensing, and multi-station sensing.

[0112] In single-station sensing, the transmitting device for the sensing signal and the receiving device for the echo signal are the same device. In other words, in single-station sensing, the transmitting device must both transmit the sensing signal and receive the echo signal reflected from the surface of the sensing target. Therefore, this single-station sensing can also be called a self-transmitting and self-receiving mode, without any restrictions.

[0113] Dual-station sensing refers to a system where the transmitting device for the sensing signal and the receiving device for the echo signal are two different devices. In other words, sensing station A transmits a sensing signal, and the echo signal reflected from the surface of the sensing target is received by sensing station B. Therefore, this dual-station sensing can also be called the A-transmit, B-receive mode. It should be noted that the echo signal is obtained after the sensing signal has passed through the sensing target (e.g., reflection, diffraction, or scattering), therefore, this echo signal can still be called the sensing signal.

[0114] Multi-station sensing refers to the joint operation of multiple devices in transmitting and receiving sensing signals. Specifically, multi-station sensing can be further divided into single-transmitter-multiple-receiver, multiple-transmitter-single-receiver, and multiple-transmitter-multiple-receiver scenarios. For example, in one possible scenario, sensing station A transmits a sensing signal, which, after passing through a sensing target, generates an echo signal, which is received by sensing stations B1 and B2. In another possible scenario, sensing stations A1 and A2 transmit sensing signals simultaneously or sequentially, which, after passing through a target, generate an echo signal, which is received by sensing station B. Yet another possible scenario, sensing stations A1 and A2 transmit sensing signals simultaneously or sequentially, which, after passing through a target, generate an echo signal, which is received by sensing stations B1 and B2. A special case is where multi-station sensing is achieved through multiple single-station sensing operations. For example, in a system, sensing station A performs single-station sensing, and sensing station B also performs single-station sensing; the final sensing results are then fused. Multi-station sensing can take many forms, and this application does not limit it.

[0115] Currently, to address the problem of limited sensing capabilities of a single sensing node leading to unsatisfactory sensing results, it has been proposed that when multiple sensing nodes exist in a sensing scenario, joint sensing by multiple nodes can improve sensing performance. However, how to select appropriate sensing nodes to participate in joint sensing to achieve better performance is a problem that urgently needs to be solved. Based on this, embodiments of this application provide a communication method to select appropriate sensing nodes to participate in joint sensing, thereby improving sensing performance.

[0116] In the following embodiments, the communication method provided in this application is described in detail using a control node and a sensing node as examples. It should be understood that the operations performed by the control node can also be implemented by a processor in the control node, or a chip or chip system, or a functional module, etc., and the operations performed by the sensing node can also be implemented by a processor in the sensing node, or a chip or chip system, or a functional module, etc., and this application does not limit them in this regard.

[0117] Based on the above description, embodiments of this application provide a communication method, such as...Figure 6 As shown, the process of this method may include:

[0118] Step 601: The control node determines the value of at least one first resolution unit for the first region, where the value of one first resolution unit corresponds to one sensing node, or the value of one first resolution unit corresponds to a group of sensing nodes, where a group of sensing nodes includes one or more sensing nodes.

[0119] In this application, the value of the resolution unit can be understood as the size of the resolution unit.

[0120] The value of the first resolution unit can be the area of ​​the resolution ellipse corresponding to the first resolution unit or the volume of the resolution ellipsoid. For details, please refer to the relevant descriptions mentioned above; further explanation is not provided here.

[0121] The first region can also be described as the first sensing region or other descriptions. This application only uses the first region as an example for illustration.

[0122] Step 602: The control node sends a first indication message or a second indication message. The first indication message is used to indicate that the target sensing node participates in joint sensing or to indicate the identifier of the group to which the target sensing node belongs. The target sensing node is determined based on the value of at least one first resolution unit. The second indication message is used to indicate that the target sensing node does not participate in joint sensing. Accordingly, the sensing node receives the first indication message or the second indication message.

[0123] It should be understood that Figure 6 This example only uses one sensing node; in practice, it can include other sensing nodes, which will not be listed here.

[0124] Here, the target sensing node refers to the sensing node that can participate in joint sensing, and can be understood as the final selected sensing node. The target sensing node can also be described as the first sensing node, the selected sensing node, or other names, which are not limited in this application.

[0125] The sensing node in this application can be a sensing node in single-base sensing, a sensing node in dual-base sensing, or a sensing node in multi-base sensing.

[0126] In this application, "transmission" can also be described as "output." Specifically, the control node transmitting first indication information or second indication information can be replaced with: the control node outputting first indication information or second indication information. For example, the control node outputting first indication information or second indication information can be understood as the baseband unit of the control node outputting the first indication information or second indication information to the radio frequency unit within the control node. As another example, the control node outputting first indication information or second indication information can be understood as the radio frequency unit within the control node outputting the first indication information or second indication information to the sensing node via an air interface.

[0127] In an alternative implementation a1, the control node can determine the value of at least one first resolution unit for the first region by the following method: the control node can send first information to at least one sensing node respectively, the first information being used to indicate the first region and the first resolution parameter; the control node receives the value of the first resolution unit corresponding to at least one sensing node from at least one sensing node respectively, wherein the value of the first resolution unit corresponding to any sensing node is determined based on the first resolution parameter and the second resolution parameter of any sensing node.

[0128] The first resolution parameter is the existing perception result for the first region. Optionally, the first resolution parameter can be the perception result of the control node for the first region, or it can be the perception result of the control node for the first region obtained from other perception nodes, or it can be the joint perception result of multiple perception nodes for the first region. This application does not limit this.

[0129] In implementation a1, after at least one sensing node receives the first information, each sensing node can determine the value of the first resolution unit based on the first resolution parameter and the second resolution parameter for the first region, and then send the value of the first resolution unit corresponding to each sensing node to the control node.

[0130] Here, the value of the first resolution unit of each sensing node can be understood as the joint sensing result of the sensing result of each sensing node and the currently existing sensing result, and can be understood as the value of the resolution unit of the joint sensing.

[0131] In implementation a1, the sensing node corresponding to the value of the one or more first resolution units with the smallest value among the values ​​of at least one first resolution unit can be the target sensing node. That is, after the control node receives the values ​​of the first resolution units corresponding to at least one sensing node from at least one sensing node, it compares the magnitudes of the values ​​of the first resolution units corresponding to at least one sensing node and selects the sensing node corresponding to the value of the one or more first resolution units with the smallest value as the target sensing node.

[0132] Optionally, the number of target sensing nodes ultimately selected by the control node can be predefined or pre-configured.

[0133] Furthermore, the control node may send a first indication message to the target sensing node to instruct the target sensing node to participate in joint sensing; and / or, the control node may send a second indication message to at least one sensing node other than the target sensing node to instruct the corresponding sensing node not to participate in joint sensing.

[0134] Optionally, the first indication information instructs the target sensing node to participate in joint sensing, or it can be understood as the first indication information being a trigger request to trigger the target sensing node to participate in joint sensing.

[0135] In some embodiments, before sending the first information to at least one sensing node, the control node may determine that the at least one sensing node can participate in joint sensing, or that the at least one sensing node can support participation in joint sensing, or that the at least one sensing node has the capability of joint sensing. That is, the control node only sends the first information to the at least one sensing node that can participate in joint sensing.

[0136] In some other embodiments, the control node may not need to determine whether the at least one sensing node can participate in joint sensing. After receiving the first information, each sensing node determines whether it can participate in joint sensing, and then the sensing nodes that can participate in joint sensing send the value of the corresponding first resolution unit to the control node.

[0137] Optionally, nodes that cannot participate in joint sensing can also send a rejection message to the control node. The rejection message can include a reason for rejection. For example, the reason for rejection could be that joint sensing is not supported, resources are insufficient to prevent participation, or the value of the first resolution unit does not meet the threshold.

[0138] In some possible approaches, a sensing node can determine that the value of the first resolution unit is less than or equal to a threshold before sending it to the control node. That is, a sensing node only sends the value of the first resolution unit to the control node after determining that its value is less than or equal to the threshold.

[0139] Optionally, the threshold may be configured by the control node for the sensing node. For example, the threshold may be included in the first information or other information.

[0140] Optionally, the thresholds configured by the control node for different sensing nodes can be the same or different, and this application does not limit this.

[0141] In an alternative implementation a2, the control node can determine the value of at least one first resolution unit for the first region by the following method: the control node receives third resolution parameters for the first region from at least one sensing node; then, the control node determines the value of the first resolution unit corresponding to each sensing node based on the third resolution parameters of each sensing node.

[0142] In some embodiments, in implementation a2, before the control node receives the third resolution parameters for the first region from at least one sensing node, it sends second information to at least one sensing node, the second information being used to request the resolution parameters for the first region.

[0143] Accordingly, at least one sensing node receives the second information, and then each sensing node sends a third resolution parameter for the first region to the control node.

[0144] In some embodiments, in the initial perception scenario, the control node can use the aforementioned second information to enable at least one perception node to report the initial perception result (i.e., the corresponding third resolution parameter).

[0145] Optionally, when the control node determines the value of the first resolution unit corresponding to each sensing node based on the third resolution parameter of each sensing node, it can determine the value of the first resolution unit corresponding to each sensing node based on the third resolution parameter of each sensing node and the third resolution parameter of any other sensing node.

[0146] In other embodiments, when the control node determines the value of the first resolution unit corresponding to each sensing node based on the third resolution parameter of each sensing node, it can determine the value of the first resolution unit corresponding to each sensing node based on the first resolution parameter and the third resolution parameter of each sensing node.

[0147] The first resolution parameter can be found in the description of the first resolution parameter in implementation method a1.

[0148] Here, the value of the first resolution unit of each sensing node can be understood as the joint sensing result of the sensing result of each sensing node and the currently existing sensing result, and can be understood as the value of the resolution unit of the joint sensing.

[0149] In implementation a2, among the values ​​of at least one first resolution unit, the sensing node corresponding to the value of the one or more first resolution units with the smallest value can be the target sensing node. That is, after the control node determines the value of the first resolution unit corresponding to each sensing node, it compares the values ​​of the first resolution units corresponding to at least one sensing node and selects the sensing node corresponding to the value of the one or more first resolution units with the smallest value as the target sensing node.

[0150] Optionally, the number of target sensing nodes ultimately selected by the control node can be predefined or pre-configured.

[0151] Furthermore, the control node may send a first indication message to the target sensing node to instruct the target sensing node to participate in joint sensing; and / or, the control node may send a second indication message to at least one sensing node other than the target sensing node to instruct the corresponding sensing node not to participate in joint sensing.

[0152] Optionally, the first indication information instructs the target sensing node to participate in joint sensing, or it can be understood as the first indication information being a trigger request to trigger the target sensing node to participate in joint sensing.

[0153] In an alternative implementation a3, the control node can determine the value of at least one first resolution unit for the first region by the following method: the control node receives third resolution parameters for the first region from multiple sensing nodes respectively; then the control node groups the multiple sensing nodes and determines the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameters corresponding to each group of sensing nodes.

[0154] Similar to implementation a2, before the control node receives the third resolution parameters for the first region from the multiple sensing nodes, it sends second information to each of the multiple sensing nodes. The second information is used to request the resolution parameters for the first region. For details, please refer to the relevant description in implementation a2, which will not be elaborated here.

[0155] Optionally, the control node is not limited in how it groups multiple sensing nodes. Any one of the multiple sensing nodes can be assigned to multiple different groups, or it can be assigned to only one group. For example, when the multiple sensing nodes include sensing node 1, sensing node 2, and sensing node 3, the control node can group sensing node 1 and sensing node 2 as one group, sensing node 2 and sensing node 3 as another group, and sensing node 1 and sensing node 3 as yet another group. It should be understood that the above are merely examples, and other grouping methods are possible.

[0156] In some embodiments, the control node determines the value of the first resolution unit corresponding to each group of sensing nodes based on the third resolution parameter corresponding to each group of sensing nodes. Alternatively, the control node may determine the value of the first resolution unit corresponding to each group of sensing nodes based on the third resolution parameters corresponding to each of the sensing nodes included in the group. For example, for a group of sensing nodes consisting of sensing node 1 and sensing node 2, the control node can determine the value of the first resolution unit corresponding to this group of sensing nodes based on the third resolution parameters corresponding to sensing node 1 and sensing node 2. The value of the first resolution unit corresponding to this group of sensing nodes can be understood as the value of the resolution unit jointly sensed by sensing node 1 and sensing node 2.

[0157] In other embodiments, when the control node determines the value of the first resolution unit corresponding to each group of sensing nodes based on the third resolution parameter corresponding to each group of sensing nodes, it can determine the value of the first resolution unit corresponding to each group of sensing nodes based on the first resolution parameter and the third resolution parameter corresponding to each group of sensing nodes.

[0158] The first resolution parameter can be found in the description of the first resolution parameter in implementation method a1.

[0159] Here, the value of the first resolution unit corresponding to each group of sensing nodes can be understood as the joint sensing result of the sensing result of each group of sensing nodes and the current existing sensing result, and can be understood as the value of the resolution unit of joint sensing.

[0160] For example, for a group of sensing nodes consisting of sensing node 1 and sensing node 2, the control node can determine the value of the first resolution unit corresponding to this group of sensing nodes based on the first resolution parameter, the third resolution parameter corresponding to sensing node 1, and the third resolution parameter corresponding to sensing node 2. The value of the first resolution unit corresponding to this group of sensing nodes can be understood as the existing sensing results and the value of the resolution unit jointly sensed by sensing nodes 1 and 2.

[0161] In this implementation a3, the target sensing node can be one or more groups of sensing nodes, and the value of the first resolution unit corresponding to one or more groups of sensing nodes is less than or equal to a first threshold. That is, after the control node determines the value of the first resolution unit corresponding to each group of sensing nodes, it compares the values ​​of multiple first resolution units and selects the sensing node group corresponding to one or more first resolution units whose values ​​are less than or equal to the first threshold as the target sensing node.

[0162] The first threshold can be predefined or determined by the control node.

[0163] Furthermore, the control node may send a first indication message to the target sensing node to indicate the identifier of the group to which the target sensing node belongs; and / or send a second indication message to each sensing node other than the target sensing node to indicate that the corresponding sensing node does not participate in joint sensing.

[0164] Here, "belonging to" can be understood as the group to which it belongs, the group to which it is assigned, or the group to which it is assigned. For example, the group to which the target sensing node belongs can be understood as the group to which the target sensing node belongs, the group to which the target sensing node is assigned, or the group to which the target sensing node is assigned.

[0165] Optionally, the identifier of the group can be the group index, etc.

[0166] When the control node sends the first instruction information to the target sensing node, it can send the first instruction information to each of the one or more groups of sensing nodes.

[0167] Among them, the sensing nodes included in any group of sensing nodes that serve as target sensing nodes jointly participate in joint sensing.

[0168] Optionally, when the control node sends the second indication information to the sensing nodes other than the target sensing node, it may send invalid packet identifiers, such as -1, to some sensing nodes that were not selected as the target sensing node.

[0169] In some possible ways, any one of the first, second, and third resolution parameters in this application may include at least one of the following: range resolution parameter, azimuth resolution parameter, or pitch resolution parameter.

[0170] Any resolution parameter may include one or more of the following: the projection vector of the spatial resolution onto each coordinate axis of the global coordinate system, the vectors corresponding to each principal axis of the resolution ellipse or resolution ellipsoid corresponding to the resolution unit, the transformation matrix corresponding to the resolution unit, or the eigenvalues ​​and eigenvectors of the transformation matrix corresponding to the resolution unit.

[0171] For specific resolution parameters, please refer to the relevant descriptions in the aforementioned technical explanations, which will not be repeated here.

[0172] In some possible configurations, the first region may include at least one sub-region, the first resolution parameter includes at least one first sub-resolution parameter, the second resolution parameter includes at least one second sub-resolution parameter, and the third resolution parameter includes at least one third sub-resolution parameter. Each sub-region, each first sub-resolution parameter, and each third sub-resolution parameter corresponds one-to-one.

[0173] Optionally, the first region and sub-regions can be represented by geometric information. For example, when the first region (or sub-region) is a two-dimensional region, it can be represented by the coordinates of its center point and radius, or by the coordinates of its center point and its length and width. When the first region (or sub-region) is a three-dimensional region, it can be represented by the coordinates of its center point and the radii corresponding to its three-dimensional coordinates, or by the coordinates of its center point and its length, width, and height. It should be understood that, in addition to the methods described above, the first region and sub-regions can also be represented in other ways, such as cell identifiers.

[0174] In some embodiments, when determining the value of the first resolution unit, the sensing node in embodiment a1 or the control node in embodiments a2 and a3 can obtain the value of the joint sensing resolution unit by averaging or superimposing the target amplitude responses corresponding to two or more sensing results.

[0175] For example, taking two sensing results as an example, the relationship between the transformation matrix A corresponding to the resolution unit of the joint sensing and the transformation matrices A1 and A2 corresponding to the resolution units of the two sensing results respectively can be obtained through the following formula six or formula seven:

[0176]

[0177] A = w1A1 + w2A2 (Formula 7)

[0178] Where w1 and w2 are weighting coefficients, w1+w2=1, w1 is a value greater than or equal to 0, and w2 is a value greater than or equal to 0.

[0179] Taking Formula 6 as an example, assuming p = [x,y] or p = [x,y,z] is a point within the spatial range of the target amplitude response, the target amplitude response corresponding to perception result 1 (e.g., the first resolution parameter) can be represented by Formula 8 as follows:

[0180] g1(p) = 1 - 0.25·p T Formula 8 for A1p. The target amplitude response corresponding to perception result 2 (e.g., the second resolution parameter) can be shown in Formula 9 below:

[0181] g2(p) = 1 - 0.25·p T Formula 9 for A2p.

[0182] The target magnitude response after combining the two sensing results can be represented by the following formula:

[0183]

[0184] From the formula, we can obtain that This leads to Formula Six.

[0185] By combining different sensing results through the above process, different transformation matrices A can be obtained, meaning the final resolution unit size can be different, resulting in different sensing performance. In other words, by selecting different sensing nodes for joint sensing, different resolution unit sizes can be obtained, leading to different sensing performance.

[0186] For example, with Figure 7 The following diagram illustrates the resolution units of sensing nodes 1, 2, and 3. Assume that the distance resolution of each sensing node is the same, Δr = 1; and the lateral resolution is the same, Δa = 2. The difference lies in the orientation of the resolution units of each sensing node. The following calculation yields a resolution unit value of 1.57 for each of sensing nodes 1, 2, and 3.

[0187] from Figure 7 As can be seen, the ellipses corresponding to the resolution units of sensing nodes 1, 2, and 3 have the same shape, only their directions differ. The length of the major axis of the ellipse equals the lateral resolution, Δa = 2, and the length of the minor axis equals the range resolution, Δr = 1. Therefore, the area of ​​the ellipse is... That is, the value of the resolution unit corresponding to sensing node 1, sensing node 2, and sensing node 3 is 1.57.

[0188] Furthermore, the resolution unit value for the joint perception of sensing nodes 1 and 2 is calculated to be 1.26, the resolution unit value for the joint perception of sensing nodes 1 and 3 is 1.39, and the resolution unit value for the joint perception of sensing nodes 2 and 3 is 1.39 through the following process.

[0189] Taking the joint sensing of sensing node 1 and sensing node 2 as an example, calculate the value S of the resolution cell of the joint sensing. 12 To calculate the value of the resolution unit of joint sensing, it is necessary to calculate the transformation matrix A corresponding to joint sensing. 12 This requires first calculating the transformation matrices A1 and A2 corresponding to sensing node 1 and sensing node 2, respectively. Based on the aforementioned description, combined with... Figure 7 It can be seen that the distance resolution vector of sensing node 1 is... The azimuth resolution vector is The transformation matrix is ​​then A1 as follows:

[0190]

[0191] Similarly, the transformation matrix of sensing node 2 can be calculated as follows: A2:

[0192]

[0193] Formula 6 is used to calculate the transformation matrix corresponding to the perception result of joint perception by sensing node 1 and sensing node 2, that is:

[0194]

[0195] It can be seen that the transformation matrix A corresponding to joint sensing 12 The eigenvalues ​​are λ1 = λ2 = 2.5. The value S of the resolution unit corresponding to joint sensing... 12 Let A be the transformation matrix. 12 The area of ​​the corresponding resolution ellipse, i.e.

[0196] Similarly, the resolution unit value of the joint perception of sensing nodes 1 and 3 can be calculated to be 1.39, and the resolution unit value of the joint perception of sensing nodes 2 and 3 can also be calculated to be 1.39.

[0197] This section uses the calculation of the resolution unit value of the joint sensing by sensing nodes 1 and 2 as an example. The calculation of the resolution unit value of other joint sensing is similar and will not be explained one by one here.

[0198] Based on the above results, it can be determined that joint sensing by sensing node 1 and sensing node 2 can obtain smaller resolution units, thereby achieving better sensing performance.

[0199] Based on the above method, the control node can determine the target sensing node.

[0200] Through the above communication method, the control node can select a suitable sensing node to participate in joint sensing based on the value of at least one first resolution unit, thereby improving sensing performance.

[0201] Based on the above embodiments, the following is a summary: Figures 8-10 The example shown illustrates the communication method provided in this application. The following example uses two sensing nodes (sensing node 1 and sensing node 2) as an example.

[0202] Figure 8 An example of a communication method is shown, the flow of which may include:

[0203] Step 801: The control node sends first information to sensing node 1 and sensing node 2. The first information is used to indicate the first region and the first resolution parameter.

[0204] For details, please refer to the description in the aforementioned implementation method a1, which will not be repeated here.

[0205] Optionally, before sending the first information to sensing nodes 1 and 2, the control node can determine that sensing nodes 1 and 2 can participate in joint sensing.

[0206] Step 802a: Sensing node 1 determines the value of the first resolution unit based on the first resolution parameter and the second resolution parameter of sensing node 1 for the first region.

[0207] Step 802b: Sensing node 2 determines the value of the first resolution unit based on the first resolution parameter and the second resolution parameter of sensing node 2 for the first region.

[0208] Specifically, the process of determining the value of the first resolution can be found in the preceding text. Figure 6 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0209] It should be understood that the order of steps 802a and 802b is not limited in this application.

[0210] Step 803a: Sensing node 1 sends the value of the corresponding first resolution unit to the control node.

[0211] Step 803b: Sensing node 2 sends the value of the corresponding first resolution unit to the control node.

[0212] It should be understood that the order of steps 803a and 803b is not limited in this application.

[0213] Optionally, before executing step 803a, sensing node 1 can first determine whether it can participate in joint sensing, and before executing step 803b, sensing node 2 can first determine whether it can participate in joint sensing.

[0214] Optionally, if sensing node 1 and / or sensing node 2 determine that they cannot participate in joint sensing, then sensing node 1 will no longer execute step 803a and / or sensing node 2 will no longer execute step 803b; or, sensing node 1 and / or sensing node 2 will send a rejection message to the control node. For details, please refer to the relevant description in implementation method a1, which will not be repeated here.

[0215] Step 804: The control node selects the sensing node corresponding to the value of one or more first resolution units with the smallest value as the target sensing node.

[0216] Step 805: The control node sends a first indication message to the target sensing node, the first indication message indicating that the target sensing node participates in joint sensing; and / or, the control node sends a second indication message to each sensing node other than the target sensing node, the second indication message indicating that the corresponding sensing node does not participate in joint sensing.

[0217] Optionally, taking sensing node 1 as the target sensing node as an example, such as... Figure 8 As shown in step 805a, the control node can send first indication information to the sensing node 1, such as... Figure 8 As shown in step 805b, the control node can send a second instruction to the sensing node 2.

[0218] Based on this example, the control node can select appropriate sensing nodes to participate in joint sensing based on the value of at least one first resolution unit, thereby improving sensing performance.

[0219] Figure 9 An example of another communication method is shown, the flow of which may include:

[0220] Step 901: The control node sends a second message to sensing node 1 and sensing node 2, the second message being used to request resolution parameters for the first region.

[0221] For details, please refer to the description in the aforementioned implementation method a2, which will not be repeated here.

[0222] Step 902a: Sensing node 1 sends the third resolution parameters for the first region to the control node.

[0223] Step 902b: Sensing node 2 sends the third resolution parameters for the first region to the control node.

[0224] It should be understood that the order of steps 902a and 902b is not limited in this application.

[0225] Step 903: The control node determines the value of the first resolution unit corresponding to each sensing node based on the first resolution parameter and the third resolution parameter of each sensing node.

[0226] Specifically, the method for determining the value of the first resolution can be found in the preceding text. Figure 6 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0227] Step 904: The control node selects the sensing node corresponding to the value of one or more first resolution units with the smallest value as the target sensing node.

[0228] Step 905: The control node sends a first indication message to the target sensing node, the first indication message indicating that the target sensing node participates in joint sensing; and / or, the control node sends a second indication message to each sensing node other than the target sensing node, the second indication message indicating that the corresponding sensing node does not participate in joint sensing.

[0229] Optionally, taking sensing node 1 as the target sensing node as an example, such as... Figure 9 As shown in step 905a, the control node can send first indication information to the sensing node 1, such as... Figure 9 As shown in step 905b, the control node can send a second instruction message to the sensing node 2.

[0230] Based on this example, the control node can select appropriate sensing nodes to participate in joint sensing based on the value of at least one first resolution unit, thereby improving sensing performance.

[0231] Figure 10 An example of yet another communication method is shown, the flow of which may include:

[0232] Step 1001: The control node sends a second message to sensing node 1 and sensing node 2, the second message being used to request resolution parameters for the first region.

[0233] For details, please refer to the description in the aforementioned implementation method a3, which will not be repeated here.

[0234] Step 1002a: Sensing node 1 sends the third resolution parameters for the first region to the control node.

[0235] Step 1002b: Sensing node 2 sends the third resolution parameters for the first region to the control node.

[0236] It should be understood that the order of steps 1002a and 1002b is not limited in this application.

[0237] Step 1003: The control node groups sensing node 1 and sensing node 2, and determines the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter corresponding to each group of sensing nodes.

[0238] For details, please refer to the relevant description in the aforementioned implementation method a3, which will not be repeated here.

[0239] Step 1004: The control node selects the group of sensing nodes corresponding to one or more first resolution units whose values ​​are less than or equal to the first threshold as the target sensing nodes.

[0240] Step 1005: The control node sends a first indication message to the target sensing node, the first indication message indicating the identifier of the group to which the target sensing node belongs; and / or, the control node sends a second indication message to each sensing node other than the target sensing node, the second indication message indicating that the corresponding sensing node does not participate in joint sensing.

[0241] Optionally, taking the group of sensing nodes formed by sensing node 1 itself as the target sensing node as an example, such as... Figure 10 As shown in step 1005a, the control node can send first indication information to the sensing node 1, such as... Figure 10 As shown in step 1005b, the control node can send a second instruction message to the sensing node 2.

[0242] Based on this example, the control node can select appropriate sensing nodes to participate in joint sensing based on the value of at least one first resolution unit, thereby improving sensing performance. Simultaneously, by selecting one or more groups of sensing nodes to participate in joint sensing through grouping, the control node can reduce sensing overhead and distribute the sensing load.

[0243] Based on the above embodiments, this application also provides a communication device, see below. Figure 11 As shown, the communication device 1100 may include a transceiver unit 1101 and a processing unit 1102. The transceiver unit 1101 is used for communication by the communication device 1100, such as receiving or sending information (signals or data). The processing unit 1102 is used for controlling and managing the operation of the communication device 1100. The processing unit 1102 can also control the steps performed by the transceiver unit 1101.

[0244] For example, the communication device 1100 may specifically be a control node, the processor of the control node, a chip, a chip system, a component, a module, a functional module, etc., as described in the above embodiments. Alternatively, the communication device 1100 may specifically be a sensing node, the processor of the sensing node, a chip, a chip system, a component, a module, a functional module, etc., as described in the above embodiments.

[0245] In one embodiment, when the communication device 1100 is used to implement the function of the control node in the above embodiment, the processing unit 1102 can be used to determine the value of at least one first resolution unit for the first region, where one value of the first resolution unit corresponds to one sensing node, or one value of the first resolution unit corresponds to a group of sensing nodes, the group of sensing nodes including one or more sensing nodes; the transceiver unit 1101 can be used to send first indication information or second indication information, the first indication information being used to indicate that the target sensing node participates in joint sensing, or to indicate the identifier of the group to which the target sensing node belongs, the target sensing node being determined based on the value of the at least one first resolution unit; the second indication information being used to indicate that it does not participate in joint sensing.

[0246] In an optional implementation, when determining the value of the at least one first resolution unit for the first region, the processing unit 1102 may be configured to: control the transceiver unit 1101 to send first information to at least one sensing node, the first information indicating the first region and the first resolution parameter; control the transceiver unit 1101 to receive the values ​​of the first resolution units corresponding to the at least one sensing node from the at least one sensing node, wherein the value of the first resolution unit corresponding to any sensing node is determined based on the first resolution parameter and the second resolution parameter of the at least one sensing node.

[0247] For example, either the first resolution parameter or the second resolution parameter includes at least one of the following: range resolution parameter, azimuth resolution parameter or pitch resolution parameter.

[0248] In some embodiments, the first region includes at least one sub-region, the first resolution parameter includes at least one first sub-resolution parameter, and the second resolution parameter includes at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond one-to-one.

[0249] In another alternative implementation, when determining the value of the at least one first resolution unit for the first region, the processing unit 1102 may be configured to: control the transceiver unit 1101 to receive third resolution parameters for the first region from at least one sensing node; and determine the value of the first resolution unit corresponding to each sensing node based on the third resolution parameters of each sensing node.

[0250] Optionally, when the processing unit 1102 determines the value of the first resolution unit corresponding to each sensing node based on the third resolution parameter of each sensing node, it can be used to: determine the value of the first resolution unit corresponding to each sensing node based on the first resolution parameter and the third resolution parameter of each sensing node.

[0251] In one example, the sensing node corresponding to the value of one or more first resolution units with the smallest value among the values ​​of at least one first resolution unit is the target sensing node.

[0252] In another optional implementation, when determining the value of the at least one first resolution unit for the first region, the processing unit 1102 may be configured to: control the transceiver unit 1101 to receive third resolution parameters for the first region from a plurality of sensing nodes; group the plurality of sensing nodes and determine the value of the first resolution unit corresponding to each group of sensing nodes based on the third resolution parameters corresponding to each group of sensing nodes.

[0253] Optionally, when the processing unit 1102 determines the value of the first resolution unit corresponding to each group of sensing nodes based on the third resolution parameter corresponding to each group of sensing nodes, it can be used to: determine the value of the first resolution unit corresponding to each group of sensing nodes based on the first resolution parameter and the third resolution parameter corresponding to each group of sensing nodes.

[0254] For example, the target sensing node is one or more sets of sensing nodes, and the value of the first resolution unit corresponding to the one or more sets of sensing nodes is less than or equal to the first threshold.

[0255] In some embodiments, the transceiver unit 1101 may also be used to send second information to at least one sensing node, the second information being used to request resolution parameters for the first region.

[0256] Optionally, any resolution parameter may include one or more of the following: the projection vector of the spatial resolution on each coordinate axis of the global coordinate system, the vector corresponding to each principal axis of the resolution ellipse or resolution ellipsoid corresponding to the resolution unit, the transformation matrix corresponding to the resolution unit, or the eigenvalues ​​and eigenvectors of the transformation matrix corresponding to the resolution unit.

[0257] Optionally, the value of the first resolution unit is the area of ​​the resolution ellipse corresponding to the first resolution unit or the volume of the resolution ellipsoid.

[0258] In one possible manner, when transmitting the first indication information or the second indication information, the transceiver unit 1101 may be used to: transmit the first indication information to the target sensing node; or transmit the second indication information to at least one sensing node other than the target sensing node.

[0259] In another embodiment, when the communication device 1100 is used to implement the function of the sensing node in the above embodiments, the transceiver unit 1101 can be used to receive first information, the first information being used to indicate a first region and a first resolution parameter; send the value of a first resolution unit, wherein the value of the first resolution unit is determined based on the first resolution parameter and a second resolution parameter for the first region; and receive first indication information or second indication information, the first indication information being used to indicate participation in joint sensing, and the second indication information being used to indicate non-participation in joint sensing. The processing unit 1102 can be used to control the operation of the transceiver unit 1101.

[0260] For example, either the first resolution parameter or the second resolution parameter includes at least one of the following: range resolution parameter, azimuth resolution parameter or pitch resolution parameter.

[0261] Optionally, the first region includes at least one sub-region, the first resolution parameter includes at least one first sub-resolution parameter, and the second resolution parameter includes at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond one-to-one.

[0262] In some embodiments, any resolution parameter includes one or more of the following: the projection vector of the spatial resolution on each coordinate axis of the global coordinate system, the vector corresponding to each principal axis of the resolution ellipse or resolution ellipsoid corresponding to the resolution unit, the transformation matrix corresponding to the resolution unit, or the eigenvalues ​​and eigenvectors of the transformation matrix corresponding to the resolution unit.

[0263] Optionally, the value of the first resolution unit is the area of ​​the resolution ellipse corresponding to the first resolution unit or the volume of the resolution ellipsoid.

[0264] In another embodiment, when the communication device 1100 is used to implement the functions of the sensing node in the above embodiments, the transceiver unit 1101 can be used to receive second information, the second information being used to request resolution parameters for a first region; send third resolution parameters for the first region; receive first indication information or second indication information, the first indication information being used to indicate participation in joint sensing or to indicate the identifier of the group to which it belongs; the second indication information being used to indicate non-participation in joint sensing. The processing unit 1102 can be used to control the operation of the transceiver unit 1101.

[0265] In some embodiments, the third resolution parameter includes one or more of the following: the projection vector of the spatial resolution on each coordinate axis of the global coordinate system, the vector corresponding to each principal axis of the resolution ellipse or resolution ellipsoid corresponding to the resolution unit, the transformation matrix corresponding to the resolution unit, or the eigenvalues ​​and eigenvectors of the transformation matrix corresponding to the resolution unit.

[0266] Optionally, the value of the first resolution unit is the area of ​​the resolution ellipse corresponding to the first resolution unit or the volume of the resolution ellipsoid.

[0267] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The functional units in the embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0268] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0269] Based on the above embodiments, this application also provides a communication device, see below. Figure 12As shown, the communication device 1200 may include one or more processors 1202. Optionally, the communication device 1200 may also include one or more transceivers 1201. Optionally, the communication device 1200 may also include at least one memory 1203. The memory 1203 may be located inside the communication device 1200 or outside the communication device 1200. The processor 1202 can control the transceiver 1201 to receive and send information, messages, or data.

[0270] Specifically, the processor 1202 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP. The processor 1202 may further include a hardware chip. This hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0271] The transceiver 1201, processor 1202, and memory 1203 are interconnected. Optionally, the transceiver 1201, processor 1202, and memory 1203 are interconnected via a bus 1204; the bus 1204 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 12 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0272] In one optional embodiment, the memory 1203 is used to store programs, etc. Specifically, the program may include program code, which includes computer operation instructions. The memory 1203 may include RAM, and may also include non-volatile memory, such as one or more disk storage devices. The processor 1202 executes the application program stored in the memory 1203 to achieve the above-mentioned functions, thereby realizing the functions of the communication device 1200.

[0273] For example, the communication device 1200 can specifically implement the functions of the control node or sensing node in the above embodiments.

[0274] In one embodiment, when the communication device 1200 implements the function of the control node in the aforementioned method embodiment, the transceiver 1201 can implement the transmit / receive operations performed by the control node in the aforementioned method embodiment; the processor 1202 can implement other operations performed by the control node in the aforementioned method embodiment besides the transmit / receive operations. Specific details can be found in the relevant descriptions in the above method embodiments, and will not be elaborated upon here.

[0275] In another embodiment, when the communication device 1200 implements the function of the control node in the foregoing method embodiments, the processor 1202 can implement the operations performed by the control node in the foregoing method embodiments. Specific details can be found in the relevant descriptions in the above method embodiments, and will not be elaborated upon here.

[0276] In yet another embodiment, when the communication device 1200 implements the functions of the sensing node in the aforementioned method embodiments, the transceiver 1201 can perform the transmit and receive operations executed by the sensing node in the aforementioned method embodiments; the processor 1202 can perform other operations besides the transmit and receive operations executed by the sensing node in the aforementioned method embodiments. Specific details can be found in the relevant descriptions in the above method embodiments, and will not be elaborated upon here.

[0277] In yet another embodiment, when the communication device 1200 implements the function of the sensing node in the aforementioned method embodiments, the processor 1202 can implement the operations performed by the sensing node in the aforementioned method embodiments. For specific details, please refer to the relevant descriptions in the above method embodiments, which will not be elaborated upon here.

[0278] Based on the above embodiments, this application provides a communication system that may include the control node and sensing node involved in the above embodiments.

[0279] This application also provides a computer-readable storage medium for storing computer programs or instructions. When the computer programs or instructions are executed by a computer, the computer can implement the communication methods provided in the above-described method embodiments.

[0280] This application also provides a computer program product for storing computer programs or instructions. When the computer program or instructions are executed by a computer, the computer can implement the communication method provided in the above method embodiments.

[0281] This application also provides a chip or chip system, including logic circuitry, which is used to execute the communication method provided in the above-described method embodiments.

[0282] This application also provides a chip or chip system, including one or more processors, wherein the one or more processors are coupled to at least one memory, for calling a program in the memory to enable the chip or chip system to implement the communication method provided in the above method embodiments.

[0283] This application also provides a chip or chip system coupled to at least one memory, which is used to implement the communication method provided in the above method embodiments.

[0284] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0285] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0286] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0287] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0288] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A communication method characterized by comprising: The method comprises: determining values of at least one first resolution unit for a first region, one of the values of the first resolution unit corresponding to one sensing node, or one of the values of the first resolution unit corresponding to a group of sensing nodes, the group of sensing nodes comprising one or more sensing nodes; sending first indication information or second indication information, the first indication information being used for indicating that a target sensing node participates in joint sensing, or being used for indicating an identity of a group to which the target sensing node belongs, the target sensing node being determined according to the values of the at least one first resolution unit; the second indication information being used for indicating that joint sensing is not participated in.

2. The method of claim 1, wherein, The determining of the values of the at least one first resolution unit for the first region comprises: sending first information to at least one sensing node respectively, the first information being used for indicating the first region and a first resolution parameter; receiving values of the first resolution unit corresponding to the at least one sensing node from the at least one sensing node respectively, wherein the value of the first resolution unit corresponding to any sensing node is determined based on the first resolution parameter and a second resolution parameter of the any sensing node.

3. The method of claim 2, wherein, Any of the first resolution parameter and the second resolution parameter comprises at least one of a distance direction resolution parameter, an azimuth direction resolution parameter or an elevation direction resolution parameter.

4. The method of claim 2 or 3, wherein, The first region comprises at least one sub-region, the first resolution parameter comprises at least one first sub-resolution parameter, and the second resolution parameter comprises at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter and the at least one second sub-resolution parameter correspond to each other in one-to-one manner.

5. The method of claim 1, wherein, The determining of the values of the at least one first resolution unit for the first region comprises: receiving third resolution parameters for the first region from at least one sensing node respectively; determining values of the first resolution unit corresponding to each sensing node according to the third resolution parameter of the each sensing node.

6. The method of claim 5, wherein, The determining of the values of the first resolution unit corresponding to each sensing node according to the third resolution parameter of the each sensing node comprises: determining the values of the first resolution unit corresponding to the each sensing node according to the first resolution parameter and the third resolution parameter of the each sensing node.

7. The method according to any one of claims 2 to 6, wherein, The values of the at least one first resolution unit, the values of one or more first resolution units with minimum values correspond to the target sensing node.

8. The method of claim 1, wherein, The determining of the values of the at least one first resolution unit for the first region comprises: receiving third resolution parameters for the first region from a plurality of sensing nodes respectively; grouping the plurality of sensing nodes, and determining values of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter of the each group of sensing nodes.

9. The method of claim 8, wherein, The determining of the values of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter of the each group of sensing nodes comprises: determining the values of the first resolution unit corresponding to the each group of sensing nodes according to the first resolution parameter and the third resolution parameter of the each group of sensing nodes. The value of the first resolution unit corresponding to each group of the sensing nodes is determined according to the first resolution parameter and a third resolution parameter corresponding to each group of the sensing nodes.

10. The method of claim 8 or 9, wherein, The target sensing node is one or more groups of sensing nodes, and a value of a first resolution unit corresponding to the one or more groups of sensing nodes is less than or equal to a first threshold value.

11. The method of any one of claims 5-6, 8-10, wherein, The method further comprises: sending second information to at least one sensing node, the second information being used for requesting resolution parameters for the first region.

12. The method of any one of claims 2-6, 8-11, wherein, Any one resolution parameter comprises one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to the resolution unit, or an eigenvalue and eigenvector of the transformation matrix corresponding to the resolution unit.

13. The method of any one of claims 1-12, wherein, The value of the first resolution unit is an area of a resolution ellipsoid or a volume of a resolution ellipsoid corresponding to the first resolution unit.

14. The method of any one of claims 1-13, wherein, The first indication information or the second indication information comprises: sending the first indication information to the target sensing node; or sending the second indication information to at least one sensing node other than the target sensing node.

15. A method of communication, comprising: It comprises: receiving first information, the first information being used for indicating a first region and a first resolution parameter; sending a value of a first resolution unit, wherein the value of the first resolution unit is determined according to the first resolution parameter and a second resolution parameter for the first region; receiving first indication information or second indication information, the first indication information being used for indicating participation in joint sensing, and the second indication information being used for indicating non-participation in joint sensing.

16. The method of claim 15, wherein, Any one of the first resolution parameter and the second resolution parameter comprises at least one of the following: a distance direction resolution parameter, an azimuth direction resolution parameter, or an elevation direction resolution parameter.

17. The method of claim 15 or 16, wherein, The first region comprises at least one sub-region, the first resolution parameter comprises at least one first sub-resolution parameter, and the second resolution parameter comprises at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond to each other in one-to-one correspondence.

18. The method of any one of claims 15-17, wherein, Any one resolution parameter comprises one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to the resolution unit, or an eigenvalue and eigenvector of the transformation matrix corresponding to the resolution unit.

19. The method of any one of claims 15-18, wherein, The value of the first resolution unit is an area of a resolution ellipsoid or a volume of a resolution ellipsoid corresponding to the first resolution unit.

20. A method of communication, comprising: It comprises: receiving second information, the second information being used for requesting resolution parameters for a first region; sending a third resolution parameter for the first region; receiving first indication information or second indication information, the first indication information being used for indicating participation in joint sensing or for indicating an identity of a group, and the second indication information being used for indicating non-participation in joint sensing.

21. The method of claim 20, wherein, The third resolution parameter comprises one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or resolution ellipsoid corresponding to the resolution unit, a transformation matrix corresponding to the resolution unit, or eigenvalues and eigenvectors of the transformation matrix corresponding to the resolution unit.

22. The method of claim 20 or 21, wherein, The value of the first resolution unit is an area of a resolution ellipsoid or a volume of a resolution ellipsoid corresponding to the first resolution unit.

23. A communications device, characterized by A unit or module for performing the method of any one of claims 1-14, or a unit or module for performing the method of any one of claims 15-19, or a unit or module for performing the method of any one of claims 20-22.

24. A communications device, characterized by A processor for executing computer programs or instructions to implement the method of any one of claims 1-14, or to implement the method of any one of claims 15-19, or to implement the method of any one of claims 20-22.

25. A computer readable storage medium, characterized in that, A computer readable storage medium storing computer programs or instructions, which, when executed by a communication device, implement the method of any one of claims 1-14, or implement the method of any one of claims 15-19, or implement the method of any one of claims 20-22.

26. A computer program product, characterised in that, A computer program product containing computer programs or instructions, which, when executed by a computer, cause the method of any one of claims 1-14 to be implemented, or the method of any one of claims 15-19 to be implemented, or the method of any one of claims 20-22 to be implemented.

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