Information transmission method and related communication device

Abstract

The embodiment of the invention discloses an information transmission method, and the method comprises the steps: a sensing node can obtain second data according to sensed first data, and transmits the second data to a processing node, so that the processing node can evaluate the sensing error of the sensing node according to the second data, and achieves the evaluation of the credibility of the sensing information of the sensing node. Therefore, the sensing performance of the sensing node is effectively evaluated, and the reliability of sensing data is ensured.

Description

Technical Field

[0001] This application relates to the field of sensing technology, specifically to an information transmission method and related communication device. Background Technology

[0002] In applications such as autonomous driving, robotics, and the Internet of Things, it is often necessary to use sensing devices to obtain sensory data. For example, radio frequency sensing devices can be used for radio frequency sensing, and optical sensing devices can be used for optical sensing, such as capturing images or performing infrared detection.

[0003] Currently, there is an urgent need for a solution to determine the reliability of the sensing information from sensing devices. Summary of the Invention

[0004] This application provides an information transmission method that can assess the reliability of sensing information from sensing nodes, thereby effectively evaluating the sensing performance of sensing nodes and ensuring the reliability of sensing information. This application also provides corresponding apparatus, devices, computer-readable storage media, and computer program products.

[0005] The first aspect of this application provides an information transmission method, in which a sensing node performs sensing to obtain first data; the sensing node sends second data to a processing node, the second data being related to the first data, and the second data being used to determine the sensing error of the sensing node.

[0006] In the first aspect, the sensing node can obtain second data based on the first data it has sensed and send it to the processing node, so that the processing node can evaluate the sensing error of the sensing node based on the second data, thereby assessing the reliability of the sensing information of the sensing node, effectively evaluating the sensing performance of the sensing node, and ensuring the reliability of the sensing data.

[0007] In one possible implementation of the first aspect, the perception error is used to describe the perception integrity of the sensing node, and the perception integrity is used to describe the reliability of the perception information of the sensing node.

[0008] In this possible implementation, perceived integrity is defined, and the level of protection of perceived integrity and other perceived errors can be used as evaluation indicators of perceived integrity, thereby enabling the assessment of the credibility of perceived information.

[0009] In one possible implementation of the first aspect, before the sensing node sends the second data to the processing node, the method further includes: the sensing node sending sensing capability information to the processing node, the sensing capability information including error sources that the sensing node can provide.

[0010] In this possible implementation, the error source refers to the factors that may cause errors in the sensing results. For different sensing nodes, for example, for sensing nodes of different sensing modalities, the error sources that can be provided may differ.

[0011] In one possible implementation of the first aspect, the second data is the perception error obtained based on the perception integrity parameter information and the first data.

[0012] In this possible implementation, after the sensing node performs sensing to obtain first data, it calculates the sensing error based on the first data as second data and transmits it to the processing node.

[0013] In one possible implementation of the first aspect, the second data includes alarm information. After the sensing node performs sensing and obtains the first data, the second data further includes: the sensing node obtains the sensing error of the sensing node based on the sensing integrity parameter information and the first data; the sensing node sends the second data to the processing node, including: the sensing node sends alarm information to the processing node when the sensing error meets the alarm conditions, and the alarm information is used to indicate that the sensing information of the sensing node is unreliable.

[0014] In this possible implementation, the alarm conditions are determined based on the specific content of the sensing error. For example, if the sensing error is a protection level, it can be determined whether the duration for which the protection level exceeds the corresponding alarm threshold reaches the alarm trigger time. If the duration for which the protection level exceeds the corresponding alarm threshold reaches the alarm trigger time, the protection level of the sensing node can be configured to meet the alarm conditions. For example, the alarm threshold and / or alarm trigger time can be included in the help data sent from the processing node to the sensing node, or they can be pre-configured in the sensing node. The alarm information is used to indicate that the sensing information of the sensing node is unreliable, or can be considered as indicating that the sensing information of the sensing node is unavailable, thereby avoiding the negative impact of sensing information with large sensing errors on subsequent data processing stages and ensuring the sensing performance of the sensing system.

[0015] In one possible implementation of the first aspect, the method further includes: when the sensing node meets the alarm conditions, the sensing node enters a deactivation state, and in the deactivation state, the sensing node stops sending the sensing information of the sensing node to the processing node.

[0016] In this possible implementation, the deactivation state can also be considered a silent state or an inactive state. Entering the deactivation state can prevent the sensing node from consuming communication resources to transmit unavailable sensing information.

[0017] In one possible implementation of the first aspect, the method further includes: the sensing node receiving deactivation indication information from the processing node; the sensing node entering a deactivation state in response to the deactivation indication information, and in the deactivation state, the sensing node ceasing to send sensing information of the sensing node to the processing node.

[0018] In this possible implementation, the sensing node can enter a deactivation state based on the instruction of the processing node.

[0019] In one possible implementation of the first aspect, after the sensing node enters the deactivated state, it further includes: after the sensing node has been in the deactivated state for a specified period of time, it enters the activated state. In the activated state, the sensing node can send the sensing information of the sensing node to the processing node.

[0020] In this possible implementation, the sensing node can determine the duration of its deactivation state based on a specified duration configured by itself or a specified duration from other nodes such as the processing node.

[0021] In one possible implementation of the first aspect, before the sensing node enters the active state, it further includes: the sensing node receiving information from the processing node for a specified duration.

[0022] In one possible implementation of the first aspect, after the sensing node enters the deactivation state, it further includes: the sensing node receiving activation indication information from the processing node; the sensing node responding to the activation indication information and entering the activation state, in which the sensing node is able to send sensing information of the sensing node to the processing node.

[0023] In this possible implementation, the sensing node can enter an active state based on the instruction of the processing node.

[0024] In one possible implementation of the first aspect, before the sensing node receives activation indication information from the processing node, the method further includes: the sensing node sending an activation request to the processing node when it is in a deactivated state.

[0025] In this possible implementation, the sensing node can request activation indication information from the processing node to enter the activated state when it detects that activation conditions such as the sensing error has been reduced to a specified threshold are met.

[0026] In one possible implementation of the first aspect, before the sensing node sends the second data to the processing node, the method further includes: the sensing node receiving help information from the processing node, the help information including one or more of the following: sensing integrity parameter information, error source indication information, the error source indication information being used to instruct the sensing node to obtain the sensing error of the sensing node based on at least one error source.

[0027] In this possible implementation, the content of the help data sent by the processing node may include the content requested by the help data request, or it may include content determined by the processing node according to the needs of other application scenarios.

[0028] In one possible implementation of the first aspect, the perceived integrity parameter information includes information on one or more of the following parameters: integrity risk parameters, parameters describing the distribution characteristics of one or more error sources; and the perceived error includes the protection level of the sensing node.

[0029] In one possible implementation of the first aspect, the second data includes the first data.

[0030] In this possible implementation, after the sensing node obtains first data through sensing, it transmits the first data as second data to the processing node. Then, the processing node can calculate the sensing error of the sensing node.

[0031] In one possible implementation of the first aspect, the method further includes: the sensing node sending help information to the processing node, the help information including one or more of the following: sensing integrity parameter information, error source indication information, the error source indication information being used to instruct the sensing node to obtain the sensing error of the sensing node according to at least one error source.

[0032] In this possible implementation, the sensing node can send help information to the processing node so that the processing node can obtain the parameter information needed to calculate the sensing error.

[0033] A second aspect of this application provides an information transmission method in which a processing node receives second data from a sensing node; and the processing node determines the sensing error of the sensing node based on the second data.

[0034] In one possible implementation of the second aspect, the perception error is used to describe the perception integrity of the perception node, and the perception integrity is used to describe the reliability of the perception information of the perception node.

[0035] In one possible implementation of the second aspect, the second data includes first data obtained by the sensing node through sensing; the processing node determines the sensing error of the sensing node based on the second data, including: the processing node calculates the sensing error based on the first data.

[0036] In one possible implementation of the second aspect, the method further includes: when the processing node meets the alarm conditions, generating alarm information, the alarm information being used to indicate that the sensing information of the sensing node is unreliable.

[0037] In one possible implementation of the second aspect, the second data includes alarm information used to indicate that the sensing information of the sensing node is unreliable.

[0038] In one possible implementation of the second aspect, the method further includes: when the sensing error meets the alarm conditions, or when alarm information is obtained, the processing node sends deactivation indication information to the processing node. The alarm information is used to indicate that the sensing information of the sensing node is unreliable, and the deactivation indication information is used to indicate that the sensing node enters a deactivation state. In the deactivation state, the sensing node stops sending the sensing information of the sensing node to the processing node.

[0039] In one possible implementation of the second aspect, the second data includes the perception error of the sensing node, and the processing node determines the perception error of the sensing node based on the second data, including: the processing node determines the sensing node as the target sensing node based on the perception error of the sensing node; and the processing node acquires the perception information of the target sensing node.

[0040] In this possible implementation, target sensing nodes with higher credibility can be selected based on the sensing error to obtain more reliable sensing information, thereby improving the credibility of the sensing.

[0041] In one possible implementation of the second aspect, the number of sensing nodes is multiple; the processing node receives second data from the sensing nodes, including: the processing node receives sensing errors from each of the multiple sensing nodes; the processing node determines a sensing node as a target sensing node based on the sensing errors of the sensing nodes, including: the processing node determines the target sensing node from the multiple sensing nodes based on the sensing errors of each of the multiple sensing nodes.

[0042] In this possible implementation, when there are multiple sensing nodes, the sensing node with higher credibility of the sensing information can be determined from the multiple sensing nodes according to the specified rules and the sensing error of each sensing node, and used as the target sensing node.

[0043] The specified rule can be determined based on the specific content of the sensing error. For example, if the sensing error includes the protection level of the sensing node, the sensing node with the lowest protection level can be selected from multiple sensing nodes as the target sensing node.

[0044] In one possible implementation of the second aspect, there are multiple sensing nodes used to implement multimodal sensing, which includes first-modal sensing and second-modal sensing. The first-modal sensing is different from the second-modal sensing. The number of sensing nodes used to implement the first-modal sensing is multiple. The processing node determines the sensing node as the target sensing node based on the sensing error of the sensing node, including: the processing node determines the target sensing node corresponding to the first-modal sensing from the multiple sensing nodes used to implement the first-modal sensing based on the sensing error of the multiple sensing nodes used to implement the first-modal sensing.

[0045] In this possible implementation, multiple sensing nodes can be grouped according to the mode sensed by each sensing node, with sensing nodes sharing the same sensing mode belonging to the same group. Then, if a group contains multiple sensing nodes, one or more target sensing nodes can be identified from each group to serve as the target sensing nodes for the corresponding sensing mode. This allows for the identification of relatively reliable sensing nodes for each sensing mode, thereby improving the reliability of the sensing information and enhancing sensing performance.

[0046] In one possible implementation of the second aspect, the processing node acquires the perception information of the target perception node, including: the processing node sending a perception information request to the target perception node; and the processing node receiving the perception information from the target perception node.

[0047] In this possible implementation, the target sensing node's sensing information can be requested after the target sensing node is determined, thereby optimizing the information transmission process, reducing the data transmission volume of the sensing system, effectively reducing communication overhead, and effectively reducing the communication pressure in joint sensing scenarios such as multimodal sensing.

[0048] A third aspect of this application provides a communication device that has the function of implementing the method of the first aspect or any possible implementation of the first aspect, or has the function of implementing the method of the second aspect or any possible implementation of the second aspect. This function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described function, such as a sensing module, a processing module, or an interface module.

[0049] The fourth aspect of this application provides a communication device, which includes a processor and an interface circuit. The interface circuit is used to receive signals from other communication devices and transmit them to the processor or to send signals from the processor to other communication devices. The processor is used to implement the function of the method of the first aspect or any possible implementation of the first aspect through logic circuits or execution code instructions, or to implement the function of the method of the second aspect or any possible implementation of the second aspect.

[0050] The fifth aspect of this application provides a computer-readable storage medium storing one or more computer-executable instructions, wherein when the computer-executable instructions are executed by a processor, the processor performs a method as described in the first aspect or any possible implementation thereof, or a method as described in the second aspect or any possible implementation thereof.

[0051] The sixth aspect of this application provides a computer program product storing one or more computer-executable instructions, wherein when the computer-executable instructions are executed by a processor, the processor executes a method as described in the first aspect or any possible implementation thereof, or a method as described in the second aspect or any possible implementation thereof.

[0052] A seventh aspect of this application provides a chip system including a processor for supporting a communication device in implementing the functions involved in the first aspect or any possible implementation thereof, or in implementing the functions involved in the second aspect or any possible implementation thereof. In one possible design, the chip system may further include a memory for storing necessary program instructions and data. This chip system may be composed of chips or may include chips and other discrete devices.

[0053] The technical effects of the third to seventh aspects or any of the possible implementations can be found in the first aspect or related possible implementations of the first aspect or the second aspect or related possible implementations of the second aspect, and will not be repeated here. Attached Figure Description

[0054] Figure 1 This is an exemplary schematic diagram of the cumulative distribution function provided in the embodiments of this application;

[0055] Figure 2 This is an exemplary schematic diagram of the sensing system provided in an embodiment of this application;

[0056] Figure 3 This is an exemplary schematic diagram of an information transmission method provided in an embodiment of this application;

[0057] Figure 4This is an exemplary flowchart provided in an embodiment of this application;

[0058] Figure 5 This is an exemplary schematic diagram of determining a target sensing node provided in an embodiment of this application;

[0059] Figure 6 This is another exemplary process diagram provided in the embodiments of this application;

[0060] Figure 7 This is yet another exemplary flowchart provided in the embodiments of this application;

[0061] Figure 8 This is a schematic diagram of an embodiment of the communication device provided in this application;

[0062] Figure 9 This is a schematic diagram of another embodiment of the communication device provided in this application;

[0063] Figure 10 This is a schematic diagram of the communication device provided in an embodiment of this application. Detailed Implementation

[0064] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0065] As will be known to those skilled in the art, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0066] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that comprises a series of units is not necessarily limited to those units, but may include other units not expressly listed or inherent to those processes, methods, products, or apparatus.

[0067] In this embodiment of the application, the perception integrity and related parameters and information involved in each node of the perception system can be defined to realize the perception performance of the perception system and improve the reliability of the perception results.

[0068] Below, we will first introduce the perceived integrity and related parameters and information involved in the embodiments of this application.

[0069] Perception integrity, also known as perception completeness, is an important indicator in perception scenarios such as autonomous driving, robotics, and the Internet of Things. It is used to assess the reliability of perceived information; in other words, perception integrity is used to characterize the reliability of a perception system's perception of information. Based on perception integrity, it is possible to determine when the perception system's performance deteriorates, and thus issue an alarm when perception performance deteriorates, indicating whether the perception system is still usable.

[0070] The integrity parameters and information involved in perceiving integrity may include one or more of the following:

[0071] 1) Alarm limit (AL): Also known as alarm boundary or alarm threshold, it is the maximum allowable error of a sensing system or sensing device, and can be considered as an error threshold. The alarm limit can be preset and is related to specific business scenarios; for example, different business scenarios may correspond to different alarm thresholds.

[0072] 2) Target integrity risk (TIR): The maximum probability that an error exceeds the alarm threshold but no alarm is triggered, within the permissible range of the sensing system or sensing device.

[0073] 3) Alarm trigger time (TTA): The maximum amount of time during which the perceived error can exceed the alarm threshold before an alarm is triggered.

[0074] 4) Protection level (PL): The statistical upper limit of sensing error at a specific confidence level. The protection level is usually calculated and depends on various factors such as the sensing method and reference equipment. For example, different positioning methods will result in different calculated protection levels. Different reference equipment will also result in different calculated protection levels.

[0075] As can be seen, in the embodiments of this application, the protection level describes the perceived error, that is to say, the perceived error may include the protection level.

[0076] 5) Alarm information: When the protection level PL is higher than the alarm threshold for a duration exceeding the alarm trigger time, the sensing system can generate and output alarm information to indicate that the sensing information is unavailable.

[0077] In the calculation of perceived integrity, integrity parameters such as alarm threshold and target integrity risk can be used as input parameters corresponding to perceived integrity. The output results obtained from the calculation of perceived integrity can include protection level and / or alarm information.

[0078] The following example illustrates the calculation of the integrity parameter.

[0079] In the calculation process, the distribution characteristics of the sensing error can first be estimated based on the state of the sensing system, and the cumulative distribution function graph can be determined. For example... Figure 1 The example shown illustrates an exemplary schematic diagram of the cumulative distribution function (CDF).

[0080] Then, algorithms such as Receiver Autonomous Integrity Monitoring (RAIM) and Continuous Receiver Autonomous Integrity Monitoring (C-RAIM) can be used to determine the protection level based on a pre-configured target integrity risk and cumulative distribution function. For example, in one scenario, the target integrity risk is 0.01, indicating that the sensing system allows a maximum of 1% of the sensing error in the cumulative distribution function to exceed the alarm threshold. Therefore, the protection level can be determined as the sensing error value corresponding to a 99% ordinate value in the cumulative distribution function; in other words, the sensing error value corresponding to a 99% confidence level of protection. This allows the protection level to be determined from the cumulative distribution function, thus defining the statistical upper limit of the sensing error. Then, when the duration of the protection level exceeding the alarm threshold reaches the alarm trigger time, the sensing system will issue an alarm.

[0081] It is understandable that in practical applications, the above names can also be used in other ways, and no restrictions are imposed here.

[0082] The embodiments of this application can be applied to sensing systems. For example... Figure 2 In the example shown, the sensing system may include one or more sensing nodes (e.g., Figure 2 The sensing nodes (1 to n) and the processing nodes.

[0083] The sensing nodes can possess sensing capabilities. The number of sensing nodes in the sensing system can be one or more, and is not limited here.

[0084] For example, in some examples, a sensing system may include multiple sensing nodes to achieve multimodal sensing. Each sensing node may be capable of sensing at least one of the multiple modalities; that is, any sensing node may be able to sense data from one sensing modality or data from multiple sensing modalities.

[0085] Multimodal sensing can involve various modalities, including one or more of the following: radio frequency, optical (e.g., visible light and / or infrared), mechanical, etc. Therefore, any sensing node can function as a radio frequency sensing device, an optical device, a pressure sensing device, and / or other types of sensing devices.

[0086] There are various types of devices that can be used for sensing nodes, and no restrictions are imposed here.

[0087] For example, the sensing node can be a sensing device, a terminal device, a wireless access network device, or a core network device, or it can be a chip in a sensing device, terminal device, wireless access network device, or core network device.

[0088] The sensing device can also be considered as a sensor. The specific type of sensing device is not limited here. For example, the sensing device can be a LiDAR, a camera, or other types of sensors.

[0089] Terminal devices can also be referred to as terminals, user equipment (UE), mobile stations, mobile terminals, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), the 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. Terminal devices can be mobile phones, tablets, laptops, wearable devices, vehicles, airplanes, ships, robots, robotic arms, smart home devices, etc. The embodiments of this application do not limit the specific technologies or device forms used in the terminal devices.

[0090] Wireless access network equipment is an access device that enables terminal devices to access a communication system wirelessly. Wireless access network equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in 5G mobile communication systems, a next-generation base station in 6G mobile communication systems, a base station in a future mobile communication system, or an access node in a WiFi system; it can also be a module or unit that performs some of the functions of a base station, for example, it can be a central unit (CU) or a distributed unit (DU). The CU here performs the functions of the radio resource control protocol and packet data convergence protocol (PDCP) of the base station, and can also perform the functions of the service data adaptation protocol (SDAP). The DU performs the functions of the radio link control layer and medium access control (MAC) layer of the base station, and can also perform some or all of the physical layer functions. For specific descriptions of the above-mentioned protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). The wireless access network equipment can be a macro base station, a micro base station, an indoor station, a relay node, or a donor node, etc. The embodiments of this application do not limit the specific technology and specific equipment form used in the wireless access network equipment.

[0091] In some examples, the sensing node can also be a core network device, while in many scenarios, the core network device can serve as a processing node.

[0092] Core network equipment can also be considered as core network elements. The specific types of core network equipment can be varied. For example, it can be one or more of the existing or future-developed core network equipment, such as access and mobility management function (AMF), unified data management (UDM), user plane function (UPF) elements (also called user plane equipment), session management function (SMF), and policy control equipment (such as policy control function, PCF). These will not be listed individually in the embodiments of this application.

[0093] A processing node refers to a node capable of processing sensed data. In a sensing system, there can be one or more processing nodes. Any processing node can be a terminal device, a wireless access network device, or a core network device, or it can be a chip within a sensing device, terminal device, wireless access network device, or core network device.

[0094] In this embodiment, the deployment method of the sensing nodes and processing nodes in the sensing system is not limited. In practical applications, the sensing nodes and processing nodes can be different devices (e.g., the sensing node is a terminal device and the processing node is a base station); or, the sensing nodes and processing nodes can be chips or modules on different devices; or, the sensing nodes and processing nodes can be different chips or modules located on the same device (e.g., the sensing nodes and processing nodes are both located on the base station, in which case the base station can both perform sensing and process the sensed information).

[0095] In this embodiment, the sensing node and the processing node can communicate with each other; therefore, the sensing system can be considered a communication system, and the sensing node and the processing node can be considered communication devices. The type of communication technology employed by the sensing system can vary, meaning that the specific type of the sensing system as a communication system can be diverse. For example, the communication system includes, but is not limited to: narrowband Internet of Things (NB-IoT), Global System for Mobile Communications (GSM), Enhanced Data Rate for GSM Evolution (EDGE), Wideband Code Division Multiple Access (WCDMA), Code Division Multiple Access 2000 (CDMA2000), Time Division-Synchronization Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), or a 5G mobile communication system. It can also be a future communication system, such as a 6G mobile communication system. Alternatively, when the sensing node and the processing node are located in the same device, information can be transmitted using intra-device communication, such as wired communication.

[0096] As can be seen, the specific application scenarios of the sensing system in this application embodiment can be varied. For example, the sensing system can be applied to scenarios such as intelligent driving, robotics, the Internet of Things, industrial production, and smart healthcare, or it can be applied to other scenarios. This application embodiment does not limit the application to these scenarios.

[0097] Based on the above-described sensing system, the information transmission method of this application embodiment can be used to detect and process the sensing integrity of sensing nodes by adopting the sensing integrity and related parameters and information defined in this application embodiment, so as to ensure the sensing performance of the sensing system. Furthermore, in some examples, multimodal sensing can be realized and the sensing performance of multimodal sensing can be improved.

[0098] Specifically, such as Figure 3 As shown, based on the above-described sensing system, the information transmission method of this application embodiment includes steps 301-303. In addition, in some examples, steps 304-305 may be included before steps 301-303.

[0099] Step 301: The sensing node performs sensing and obtains the first data.

[0100] The sensing node can be any one of one or more sensing nodes included in the sensing system. In this embodiment, taking any one of these sensing nodes as an example, the information processing in the sensing node and the information interaction with the processing node are described.

[0101] Specifically, in step 301, the sensing node can detect the first data through sensing. For example, if the sensing node is used for radio frequency sensing, the first data may include radio frequency sensing data; and if the sensing node is used for optical sensing, the first data may include optical sensing data, such as image or infrared detection data. It is evident that the first data can be obtained through sensing by a device with sensing capabilities. When the sensing node is a device with sensing capabilities, the first data can be obtained through sensing by the sensing node; and when the sensing node is a chip in a sensing device, the sensing node can acquire sensing signals from sensitive elements or sensors to achieve sensing and obtain the first data.

[0102] Step 302: The sensing node sends the second data to the processing node.

[0103] The second data is related to the first data.

[0104] Step 303: The processing node determines the sensing error of the sensing node based on the second data.

[0105] Perception error is used to describe the perception integrity of a perception node, while perception integrity is used to describe the reliability of the perception information of a perception node.

[0106] In this embodiment, the second data can take many forms. For example, the second data may include one or more of the following: first data, perception error such as protection level obtained based on the first data or related information of the first data, perception result, and alarm information regarding perception integrity. It is evident that in different scenarios, the second data can assess the perception error of the sensing node through different content, thereby assessing the perception integrity of the sensing node. For example, the smaller the perception error of a sensing node, the worse its perception integrity, reflecting that the sensing information of the sensing node is less reliable. In this case, it is preferable not to use the sensing information of that sensing node to avoid the negative impact of a large perception error; conversely, the smaller the perception error of a sensing node, the better its perception integrity, reflecting that the sensing information of the sensing node is more reliable. In this case, it is preferable to use the more accurate sensing information of that sensing node.

[0107] In the following embodiments, different cases of the second data will be described by way of example. Therefore, for different cases of the second data and the corresponding data processing methods and information interaction methods, please refer to the following related embodiments, which will not be repeated here.

[0108] In some examples, step 304 may be included before step 302.

[0109] Step 304: The sensing node sends sensing capability information to the processing node.

[0110] Sensing capability information includes error source information that sensing nodes can provide.

[0111] In some examples, such as Figure 3 In the example shown, step 304 may precede step 301. In other examples, step 304 may also follow step 301.

[0112] Error sources refer to factors that may cause errors in the perceived results.

[0113] The error sources that different sensing nodes can provide may differ, for example, sensing nodes of different sensing modes.

[0114] For example, in radio frequency sensing, frequency errors related to target velocity need to be considered. Therefore, the error sources of sensing nodes used for radio frequency sensing include one or more of the following: transceiver point (TRP) location error, time synchronization error, frequency error, and sensing error caused by multipath / non-line-of-sight (NLOS) channels / radio propagation environment (including multipath / NLOS channels themselves).

[0115] Here, frequency error refers to the configured frequency f A The frequency f actually reached by the sensing node S The deviation between them can be defined as f S -f A .

[0116] The sensing node used for optical sensing can be considered as a camera, and the error sources of the camera can include one or more of the following:

[0117] 1) Camera position error: refers to the configured position (X) A ,Y A Z A ) and the actual location of the camera (X) S ,Y S Z S The deviation between ) can be defined as max(X)S -X A ,Y S -Y A Z S -Z A );

[0118] 2) Camera pointing error: Camera pointing specifically refers to the orientation of the three axes of the camera coordinate system (usually the x-axis, y-axis, and z-axis) in the world coordinate system [X...]. axis ,Y axis Z axis The camera pointing error refers to the configured camera pointing... and the actual camera pointing The deviation between them can be defined as The largest element in the matrix.

[0119] 3) Internal distortion error: This refers to the distortion coefficients that occur during imaging due to non-ideal internal camera structure, including radial and tangential distortion coefficients. Ideally, both radial and tangential distortion coefficients should be zero. Therefore, the difference between the actual distortion coefficients and the ideal distortion coefficients can be considered as the internal distortion error.

[0120] In practical applications, the processing node can trigger the sensing node to send sensing capability information. For example, such as Figure 3 In the example shown, step 305 can be executed by the processing node, sending a sensing capability request to the sensing node to trigger the sensing node to execute step 304 in response to the sensing capability request. Alternatively, in some examples, the sensing node can proactively trigger step 304 to send sensing capability information to the processing node after establishing a connection with the processing node, or based on application scenario requirements.

[0121] As can be seen, in this embodiment of the application, the sensing node can obtain the second data based on the first data it has sensed and send it to the processing node, so that the processing node can evaluate the sensing error of the sensing node based on the second data, thereby realizing the evaluation of the reliability of the sensing information of the sensing node, effectively evaluating the sensing performance of the sensing node, and ensuring the reliability of the sensing data.

[0122] The following examples illustrate different scenarios of the second data and the corresponding data processing and information interaction methods.

[0123] Example 1: After a sensing node acquires first data, it calculates the sensing error based on the first data to serve as second data and transmits it to the processing node. Furthermore, in some examples, the processing node can select sensing nodes based on the second data, thereby improving the sensing performance of the sensing system.

[0124] Specifically, such as Figure 4 As shown, the embodiments of this application may include one or more steps from steps 401-408. In some examples, steps 301 and 304-305 may also be included, which will not be described in detail here.

[0125] Step 401: The sensing node sends a help data request to the processing node to request the help data required by the sensing node.

[0126] In some examples, the sensing node can send a help data request to the processing node to request the necessary auxiliary data. Specifically, the sensing node can determine the missing data for calculating the sensing error based on the actual scenario. For example, if the sensing node lacks data on the distribution characteristics of certain error sources, it can request this data through the help data request.

[0127] Help information includes one or more of the following:

[0128] 1) Information on perceived integrity parameters: This includes information such as the range and values ​​of one or more parameters used to calculate the perceived error.

[0129] Specifically, the specific content of the perceived integrity parameter information can be determined based on the calculation method of the perceived error.

[0130] For example, in one instance, the perceived integrity parameter information includes information on one or more of the following parameters:

[0131] A. Integrity risk parameters;

[0132] For example, it can include the range of values ​​for target integrity risk (e.g., it can be named Integrity ServiceParameters), or it can include the values ​​of target integrity risk (e.g., it can be named Integrity RiskParameters), etc., to calculate the protection level of sensing nodes.

[0133] B. Parameters describing the distribution characteristics of one or more error sources;

[0134] For example, a parameter describing the distribution characteristics of one or more error sources can be named the error source bound. For instance, this parameter describing the distribution characteristics of one or more error sources may include parameters such as the standard deviation, variance, and / or mean of each of the one or more error sources.

[0135] 2) Error Source Indication Information: This information is used to instruct the sensing node to obtain the sensing error based on at least one error source. For example, the error source indication information may carry identifiers (e.g., names or numbers) of one or more error sources. In this way, the sensing node can consider calculating the sensing error based on at least one error source indicated by the error source indication information. For example, the error source indication information may be named Integrity Service Alert.

[0136] In other examples, the processing node may proactively send help data to the sensing node based on the actual application scenario.

[0137] Step 402: The processing node sends help data to the sensing node.

[0138] In this embodiment, the content of the help data sent by the processing node may include the content requested in the help data request, or it may include content determined by the processing node according to the needs of other application scenarios. For example, if the help data request requests information on the parameters of the distribution characteristics of multiple error sources, and the processing node, based on pre-configuration, also determines that it needs to send information on the value of the target integrity risk, then the help data may include information on the parameters of the distribution characteristics of multiple error sources and information on the value of the target integrity risk. In this way, the sensing node can receive help data from the processing node.

[0139] Step 403: The processing node sends a data request to the sensing node to request the sensing error and / or sensing information from the sensing node.

[0140] In some examples, the processing node may send a data request to the sensing node to trigger the sensing node to execute step 404 and subsequent steps; in other examples, the processing node may not need to send a data request to the sensing node, and the sensing node may actively execute step 404 according to the specific business scenario requirements.

[0141] Step 404: The sensing node obtains the sensing error of the sensing node based on the sensing integrity parameter information and the first data, and uses it as the second data.

[0142] In this embodiment, the sensing node can obtain sensing integrity parameter information based on help data from the processing node, or it can obtain sensing integrity parameter information through other means. For example, it can determine sensing integrity parameter information based on error source information that the sensing node itself can provide, and / or based on preset default values. Alternatively, it can obtain part of the sensing integrity parameter information based on help information, and determine another part of the sensing integrity parameter information based on error source information that the sensing node itself can provide, and / or based on preset default values.

[0143] Specifically, the content of the perceived integrity parameter information can be determined based on the calculation method of the perceived error. The perceived error may include data from one or more parameters describing the perceived error, such as the protection level (a statistical upper limit describing the perceived error), and may also include other parameters describing the perceived error.

[0144] For example, in one instance, the perceived integrity parameter information includes information on the following parameters: integrity risk parameters, parameters describing the distribution characteristics of one or more error sources, and perceived errors including the protection level of the sensing node.

[0145] This way, you can refer to it. Figure 1 In a related example, based on relevant information of the first data and parameters describing the distribution characteristics of one or more error sources, a cumulative distribution function for one or more error sources is generated. Then, based on the cumulative distribution function of one or more error sources of the sensing node and the specific value of the target integrity risk of the one or more error sources, the protection level corresponding to each of the one or more error sources can be calculated. The sensing integrity parameter information required to calculate the protection level can come from help data sent by the processing node and / or pre-configured information in the sensing node. It is evident that in the process of calculating the sensing error, calculations can be performed based on multiple data sets, which may include the first data and / or related data of the first data. That is to say, in the process of calculating the sensing error, calculations can be performed directly based on the first data itself, or after performing other transformations on the first data, or calculated based on other related data of the first data.

[0146] In some examples, the sensing error of a sensing node can include sensing errors corresponding to one or more error sources. For instance, the protection level of a sensing node can include protection levels corresponding to one or more error sources. For example, the protection level of a sensing node can include protection levels corresponding to sensing distance, sensing angle, sensing speed, and material electromagnetic parameters (such as dielectric constant and conductivity), reflecting the sensing integrity corresponding to each of these parameters.

[0147] It is understood that in step 404 above, the calculation of the perception error can be performed after step 403, or the calculation of the perception error can be performed first and then step 403 can be performed. This application embodiment does not limit this.

[0148] Step 405: The sensing node sends the sensing error to the processing node.

[0149] Step 405 can be included in step 302 above, to send the sensing error as second data to the processing node. In this way, the processing node can receive the sensing error from the sensing node.

[0150] In this embodiment, perception errors, such as the protection level of the sensing node, are defined so that the processing node can assess the reliability of the sensing information based on these errors. For example, if the perception error, such as the protection level of the sensing node, does not meet specified conditions (e.g., the duration exceeding the alarm threshold exceeds the alarm trigger time), the processing node can determine that the sensing information of the sensing node is unreliable. Conversely, if the perception error, such as the protection level of the sensing node, meets the specified conditions, the processing node can determine that the sensing information of the sensing node is reliable. In other words, the processing node can use the sensing information of the sensing node for subsequent data processing, such as in intelligent driving scenarios, where the sensing information can be used for intelligent driving-related data processing and judgment.

[0151] For example, the perceived information may include the first data obtained by perception, or the perception result calculated based on the first data.

[0152] For example, in some examples, the sensing node can send the sensing error and sensing information to the processing node via a signaling message in step 405. In this way, when the processing node determines that the sensing information of the sensing node is available based on the sensing error, since the processing node has already received the sensing information from the sensing node, it can directly obtain the received sensing information from the sensing node for subsequent processing.

[0153] In other examples, the second data only includes the perception error of the sensing node, and the processing node requests the corresponding perception information from the sensing node after determining that it needs to obtain the perception information of the sensing node based on the perception error of the sensing node.

[0154] Specifically, after the sensing node sends the second data to the processing node, the process also includes:

[0155] Step 406: The processing node determines the sensing node as the target sensing node based on the sensing error of the sensing node.

[0156] In this example, there are several ways to determine that a sensing node is the target sensing node, which will be described in the following examples.

[0157] Method 1: In a sensing system, when there is only one sensing node, the processing node can determine the reliability of the sensing information of the sensing node based on the sensing error such as the protection level of the sensing node (for example, if the duration of the sensing node's protection level being greater than the alarm threshold does not exceed the alarm trigger time, etc.), and then the sensing node can be identified as the target sensing node.

[0158] Method 2: In the sensing system, when there are multiple sensing nodes, step 405 includes: the processing node receives the sensing error from each of the multiple sensing nodes; step 406 includes: the processing node determines the target sensing node from the multiple sensing nodes based on the sensing error of each of the multiple sensing nodes.

[0159] In this example, when there are multiple sensing nodes, the sensing node with higher credibility of the sensing information can be determined from the multiple sensing nodes according to the specified rules and the sensing error of each sensing node, and used as the target sensing node.

[0160] The specified rule can be determined based on the specific content of the sensing error. For example, if the sensing error includes the protection level of the sensing node, the sensing node with the lowest protection level can be selected from multiple sensing nodes as the target sensing node.

[0161] Furthermore, in some examples, multiple sensing nodes can be grouped according to the modalities sensed by each sensing node, with sensing nodes sharing the same sensing modality belonging to the same group. Then, if a group contains multiple sensing nodes, one or more target sensing nodes can be identified from each group to serve as the target sensing nodes for the corresponding sensing modality. This allows for the identification of more reliable sensing nodes for each sensing modality, thereby improving the reliability of the sensing information and enhancing sensing performance.

[0162] Specifically, in some examples, multiple sensing nodes are used to implement multimodal sensing, which includes first-modal sensing and second-modal sensing. The first-modal sensing is different from the second-modal sensing. The number of sensing nodes used to implement the first-modal sensing is multiple. Step 406 includes: the processing node determines the target sensing node corresponding to the first-modal sensing from the multiple sensing nodes used to implement the first-modal sensing based on the sensing error of the multiple sensing nodes used to implement the first-modal sensing.

[0163] In this example, refer to Figure 5In the example shown, if multiple sensing nodes used to implement the first modality of perception are considered as a group of sensing nodes, the target sensing node corresponding to the first modality of perception can be determined from this group of sensing nodes according to specified rules (such as selecting the minimum protection level). In this case, the target sensing node corresponding to the first modality of perception is usually the sensing node with more reliable sensing information among the multiple sensing nodes implementing the first modality of perception. Therefore, the processing node can improve the reliability of the processed sensing information and improve the sensing performance by obtaining the sensing information of the target sensing node corresponding to the first modality of perception for subsequent processing.

[0164] If there are multiple sensing nodes that implement the second modality of perception, the processing method for multiple sensing nodes that implement the first modality of perception can be referred to to obtain the target sensing node corresponding to the second modality of perception.

[0165] If there is only one sensing node that implements the second modality of perception, then if the sensing information of the sensing node that implements the second modality of perception is reliable (for example, the duration for which the protection level of the sensing node is greater than the alarm threshold does not exceed the alarm trigger time, etc.), then the sensing node can be identified as the target sensing node.

[0166] It is understood that multimodal perception can include, but is not limited to, first-modal perception and second-modal perception; that is, multimodal perception can include at least two modalities. When multimodal perception includes modalities other than first-modal and second-modal perception, the target perception nodes corresponding to the other modalities can be obtained by referring to the methods of first-modal perception and / or second-modal perception, for example... Figure 5 In the example shown, from the sensing nodes of the i-th modality, the one with the minimum protection level (minPL) is selected. i The perception node of the i-th mode is used as the target perception node corresponding to the i-th mode perception, which will not be elaborated here.

[0167] There are several ways for the processing node to acquire the perception information of the target perception node.

[0168] In one example, the sensing node may send sensing errors and sensing information to the processing node in step 405. Thus, when the processing node determines that the sensing node is the target sensing node, since the processing node has already received the sensing information of the target sensing node, it can directly obtain the received sensing information of the target sensing node for subsequent processing.

[0169] In other examples, after the processing node determines the target sensing node based on the sensing errors of multiple sensing nodes, step 407 and subsequent steps are executed to request the corresponding sensing information from the target sensing node.

[0170] Step 407: The processing node sends a sensing information request to the target sensing node.

[0171] The perception information request is used to request perception information from the target perception node.

[0172] Thus, when any sensing node is a target sensing node, the sensing node can receive a sensing information request from the processing node and can execute step 408.

[0173] Step 408: In response to the sensing information request, the sensing node sends the sensing information of the sensing node to the processing node.

[0174] In this example, considering that the transmission of sensing information such as the initial data and sensing results requires significant communication resources, the sensing node, after obtaining the sensing error such as the protection level, can only send the sensing error to the processing node. Then, after the processing node identifies the target sensing node, it requests the target sensing node to send the corresponding sensing information, thereby effectively reducing the communication overhead between multiple sensing nodes and the processing node in the sensing system.

[0175] As can be seen, in the embodiments of this application, perceived integrity is defined, and the level of protection of perceived integrity and other perceived errors can be used as evaluation indicators of perceived integrity, thereby realizing the assessment of the credibility of perceived information.

[0176] Furthermore, in scenarios involving multiple sensing nodes, such as multimodal perception, target sensing nodes with higher credibility can be selected based on perception errors to obtain more reliable perception information, thereby improving perception credibility.

[0177] Furthermore, in some examples, the perception information of the target perception node can be requested after the target perception node is determined, thereby optimizing the information transmission process, reducing the amount of data transmission in the perception system, effectively reducing communication overhead, and effectively reducing the communication pressure in joint perception scenarios such as multimodal perception.

[0178] Example 2: After the sensing node obtains the first data through sensing, it obtains the sensing error based on the relevant information of the first data. If it determines that an alarm event needs to be triggered based on the sensing error and alarm conditions, it can send alarm information to the processing node to indicate that the sensing information of the sensing node is unreliable.

[0179] Specifically, such as Figure 6 As shown, the embodiments of this application may include one or more steps from 601 to 604. In some examples, one or more steps from 301, 304-305, and 401-403 may also be included, which will not be described in detail here.

[0180] Step 601: The sensing node calculates the sensing error based on the sensing integrity parameter information and the first data.

[0181] The specific implementation of step 601 can be found in the relevant content of step 404, and will not be repeated here.

[0182] Step 602: If the sensing error meets the alarm conditions, the sensing node sends an alarm message to the processing node.

[0183] Alarm messages are used to indicate that the sensing information from the sensing node is unreliable.

[0184] In this embodiment, step 602 can be included in step 302 above, to send the alarm information as second data to the processing node. In this way, the processing node can receive alarm information from the sensing node.

[0185] In this embodiment, the sensing node can determine whether the sensing error meets the alarm conditions.

[0186] The alarm conditions are determined based on the specific content of the perceived error.

[0187] For example, if the perceived error is a protection level, it can be determined whether the duration for which the protection level exceeds the corresponding alarm threshold reaches the alarm trigger time. If the duration for which the protection level exceeds the corresponding alarm threshold reaches the alarm trigger time, the protection level of the sensing node can be set to meet the alarm conditions. For example, the alarm threshold and / or alarm trigger time can be included in the help data sent from the processing node to the sensing node, or they can be pre-configured in the sensing node.

[0188] Alarm information is used to indicate that the sensing information of a sensing node is unreliable, or it can be considered as indicating that the sensing information of a sensing node is unavailable. This avoids the negative impact of sensing information with large sensing errors on subsequent data processing stages and ensures the sensing performance of the sensing system.

[0189] If a sensing node determines that the sensing error meets the alarm conditions, the state of the sensing node can be adjusted to better control the application of the sensing information.

[0190] Step 603: If the sensing error meets the alarm conditions, the sensing node enters the deactivation state.

[0191] In the deactivated state, the sensing node stops sending sensing information to the processing node.

[0192] The deactivation state can also be considered a silent or inactive state. Entering the deactivation state can prevent sensing nodes from consuming communication resources to transmit unavailable sensing information.

[0193] For example, a sensing node can enter a deactivation state in any of the following ways:

[0194] 1. After receiving the alarm information, the processing node sends a deactivation instruction to the sensing node. The sensing node responds to the deactivation instruction and enters the deactivation state.

[0195] 2. Based on the pre-configuration of sensing nodes and / or processing nodes, sensing nodes automatically enter a silent state when they determine that the sensing error meets the alarm conditions.

[0196] Step 604: The sensing node enters the activated state.

[0197] The duration of a sensing node in a deactivated state can vary, meaning that there are multiple possibilities when a sensing node transitions from a deactivated state to an activated state after entering a deactivated state.

[0198] The following examples illustrate various possible scenarios.

[0199] In one example, the sensing node enters the active state after being in a deactivated state for a specified period of time.

[0200] The specified duration can be determined by the sensing node based on the actual application scenario (e.g., the severity of untrustworthiness indicated by the sensing error), or it can be pre-configured within the sensing node. Alternatively, the specified duration can be sent to the sensing node by the processing node; specifically, the processing node can send the specified duration to the sensing node after receiving the alarm information. This specified duration can be included in a single signaling message along with the deactivation indication information, or it can be sent separately through different signaling messages.

[0201] In another example, the sensing node can enter the activated state after receiving the activation instruction information from the processing node.

[0202] This can be achieved by the sensing node sending an activation request to the processing node after detecting that specified parameter information meets specified activation conditions. For example, the specified activation condition could be that the sensing node has been in a deactivated state for a specified duration, or that the sensing error is less than a specified threshold. Alternatively, the processing node could proactively send an activation request to the sensing node based on application scenario requirements, etc.

[0203] In this way, the sensing node can respond to the activation instruction and enter the activation state, thereby being able to resume sending sensing information to the processing node.

[0204] Example 3: After the sensing node obtains first data through sensing, it transmits the first data as second data to the processing node. Then, the processing node can calculate the sensing error of the sensing node. In addition, in some examples, the processing node can further determine whether the sensing node needs to enter a deactivation state, etc.

[0205] Specifically, such as Figure 7 As shown, in this embodiment of the application, one or more steps from steps 701-707 may be included.

[0206] In some examples, steps 301, 304-305, and 401-403 may also be included, which will not be elaborated here.

[0207] In some examples of embodiments of this application, the help information may include parameters describing the distribution characteristics of one or more error sources. Furthermore, in other examples, the help information may also include other information, such as one or more of the following: information on integrity risk parameters, error source indication information, etc. For related descriptions, please refer to the relevant content of step 401, which will not be repeated here.

[0208] Step 701: The sensing node sends the first data to the processing node.

[0209] In this embodiment, step 701 may be included in step 302 above, to send the first data as the second data to the processing node. In this way, the processing node can receive the first data from the sensing node.

[0210] Step 702: The processing node obtains the sensing error corresponding to the sensing node based on the first data.

[0211] In this embodiment, the processing node can calculate the sensing error corresponding to the sensing node based on the first data. In some examples, the processing node can calculate the sensing error corresponding to the sensing node based on the first data and sensing integrity parameters such as the distribution characteristics of one or more error sources. In this example, the distribution characteristics parameters of the one or more error sources can be included in the help information sent by the sensing node to the processing node.

[0212] The specific method for calculating the sensing error corresponding to the sensing node can be found in the relevant content of steps 404 above, and will not be repeated here.

[0213] After obtaining the perception error corresponding to the perception node, the processing node can determine the reliability of the perception information of the perception node based on the perception error.

[0214] In some examples, the processing node can identify a highly trusted sensing node as the target sensing node, and then obtain the target sensing node to acquire its first data and / or sensing results, and other sensing information.

[0215] For example, after obtaining the perception error corresponding to the perception node, step 703 can be executed: the processing node determines the perception node as the target perception node based on the perception error of the perception node; then, the processing node obtains the perception information of the target perception node.

[0216] In some examples, there are multiple sensing nodes; the processing node determines the sensing node as the target sensing node based on the sensing error of the sensing node, including:

[0217] The processing node determines the target sensing node from among the multiple sensing nodes based on the sensing error of each sensing node.

[0218] Specifically, in some examples, multiple sensing nodes are used to implement multimodal sensing, which includes first-modal sensing and second-modal sensing. The first-modal sensing is different from the second-modal sensing. The number of sensing nodes used to implement the first-modal sensing is multiple. The processing node determines the sensing node as the target sensing node based on the sensing error of the sensing node, including: the processing node determines the target sensing node corresponding to the first-modal sensing from the multiple sensing nodes used to implement the first-modal sensing based on the sensing error of the multiple sensing nodes used to implement the first-modal sensing.

[0219] In this embodiment of the application, the specific implementation of determining the target sensing node and obtaining the sensing information of the target sensing node can refer to the relevant content of one or more steps such as steps 406-408 above, and will not be repeated here.

[0220] In some examples, the processing node can also generate an alarm message if it determines that the perception information of the perception node is of low credibility based on the perception error.

[0221] Specifically, in some embodiments, one or more steps of steps 704-707 may be performed.

[0222] Step 704: If the perceived error meets the alarm conditions, the processing node generates alarm information.

[0223] Alarm messages are used to indicate that the sensing information from the sensing node is unreliable.

[0224] Step 705: If the sensing error meets the alarm conditions, the processing node sends a deactivation instruction and / or a specified duration to the sensing node.

[0225] The deactivation indication information is used to instruct the sensing node to enter the deactivation state. In the deactivation state, the sensing node stops sending sensing information to the processing node.

[0226] The specified duration is the duration during which the sensing node is in an inactive state.

[0227] Step 706: The sensing node enters the deactivation state.

[0228] Step 707: The sensing node enters the activated state.

[0229] When activated, the sensing node can send sensing information to the processing node.

[0230] In this embodiment of the application, the specific implementation of steps 704-707 can refer to the relevant content in one or more steps such as steps 602-604, and will not be repeated here.

[0231] The information transmission method provided by the embodiments of this application has been described above from multiple aspects. The communication device 80 and communication device 90 provided by the embodiments of this application will be described below with reference to the accompanying drawings.

[0232] like Figure 8 As shown, a communication device 80 according to an embodiment of this application includes:

[0233] The sensing module 801 is used to perform sensing and obtain initial data;

[0234] Interface module 802 is used to send second data to the processing node. The second data is related to the first data and is used to determine the sensing error of the sensing node.

[0235] Optionally, the perception error is used to describe the perception integrity of the perception node, and the perception integrity is used to describe the reliability of the perception information of the perception node.

[0236] Optionally, the interface module 802 is used to: send sensing capability information to the processing node, the sensing capability information including error sources that the sensing node can provide.

[0237] Optionally, the second data is the perception error obtained based on the perception integrity parameter information and the first data.

[0238] Optionally, the second data includes alarm information, which is sensed at the sensing node, and the communication device 80 also includes a processing module 803;

[0239] Processing module 803 is used to: obtain the perception error of the perception node based on the perception integrity parameter information and the first data;

[0240] The interface module 802 is used to send alarm information to the processing node when the sensing error meets the alarm conditions. The alarm information is used to indicate that the sensing information of the sensing node is unreliable.

[0241] Optionally, the processing module 803 is used to: enter a deactivation state when the sensing error meets the alarm conditions, and in the deactivation state, the sensing node stops sending the sensing information of the sensing node to the processing node.

[0242] Optionally, the interface module 802 is used to: receive deactivation indication information from the processing node;

[0243] The processing module 803 is used to: enter the deactivation state in response to the deactivation instruction information. In the deactivation state, the sensing node stops sending the sensing information of the sensing node to the processing node.

[0244] Optionally, the processing module 803 is used to: after the duration of being in the deactivated state reaches a specified duration, enter the activated state, and in the activated state, the sensing node can send the sensing information of the sensing node to the processing node.

[0245] Optionally, the interface module 802 is used to: receive information from the processing node for a specified duration.

[0246] Optionally, the interface module 802 is used to: receive activation indication information from the processing node;

[0247] The processing module 803 is used to: enter the activation state in response to the activation indication information. In the activation state, the sensing node can send the sensing information of the sensing node to the processing node.

[0248] The processing module 803 is used to send an activation request to the processing node when it is in a deactivated state.

[0249] Optionally, the interface module 802 is configured to: receive help information from the processing node, the help information including one or more of the following: perception integrity parameter information, error source indication information, the error source indication information being used to instruct the perception node to obtain the perception error of the perception node according to at least one error source.

[0250] Optionally, the perceived integrity parameter information includes information on one or more of the following parameters: integrity risk parameters, parameters describing the distribution characteristics of one or more error sources;

[0251] Perception error includes the protection level of the sensing node during perception.

[0252] Optionally, the second data includes the first data.

[0253] Optionally, the interface module 802 is used to: send help information to the processing node, the help information including one or more of the following: perception integrity parameter information, error source indication information, the error source indication information being used to instruct the perception node to obtain the perception error of the perception node according to at least one error source.

[0254] like Figure 9 As shown, a communication device 90 according to an embodiment of this application includes:

[0255] Interface module 901 is used to receive second data from the sensing node;

[0256] The processing module 902 is used to determine the sensing error of the sensing node based on the second data.

[0257] Optionally, the perception error is used to describe the perception integrity of the perception node, and the perception integrity is used to describe the reliability of the perception information of the perception node.

[0258] Optionally, the second data includes the first data obtained by the sensing node through sensing.

[0259] The processing module 902 is used to: calculate the perception error based on the first data.

[0260] Optionally, the processing module 902 is used to: generate alarm information when the sensing error meets the alarm conditions, and the alarm information is used to indicate that the sensing information of the sensing node is unreliable.

[0261] Optionally, the second data includes alarm information, which is used to indicate that the sensing information of the sensing node is unreliable.

[0262] Optionally, the interface module 901 is used to: send deactivation indication information to the processing node when the sensing error meets the alarm conditions, or when alarm information is obtained. The alarm information is used to indicate that the sensing information of the sensing node is unreliable, and the deactivation indication information is used to indicate that the sensing node enters the deactivation state. In the deactivation state, the sensing node stops sending the sensing information of the sensing node to the processing node.

[0263] Optionally, the second data includes the sensing error of the sensing node;

[0264] The processing module 902 is used to: determine the sensing node as the target sensing node based on the sensing error of the sensing node;

[0265] The processing node acquires the perception information of the target perception node.

[0266] Optionally, the number of sensing nodes can be multiple;

[0267] Interface module 901 is used to: receive the sensing error from each of the multiple sensing nodes;

[0268] The processing module 902 is used to: determine the target sensing node from multiple sensing nodes based on the sensing error of each sensing node among multiple sensing nodes.

[0269] Optionally, there are multiple sensing nodes, which are used to implement multimodal sensing. Multimodal sensing includes first-modal sensing and second-modal sensing. The first-modal sensing is different from the second-modal sensing. There are multiple sensing nodes used to implement the first-modal sensing.

[0270] The processing module 902 is used to: determine the target sensing node corresponding to the first modal sensing from the multiple sensing nodes used to implement the first modal sensing based on the sensing error of the multiple sensing nodes used to implement the first modal sensing.

[0271] Optionally, interface module 901 is used for:

[0272] Send a request for sensing information to the target sensing node;

[0273] Receive sensing information from the target sensing node.

[0274] like Figure 10 As shown, the communication device 100 includes a processor 1001 and an interface circuit 1002. The processor 1001 and the interface circuit 1002 are coupled to each other. It is understood that the interface circuit 1002 can be a transceiver or an input / output interface. Optionally, the communication device 100 may also include a memory 1003 for storing instructions executed by the processor 1001, or storing input data required by the processor 1001 to execute instructions, or storing data generated after the processor 1001 executes instructions.

[0275] When the communication device 100 is used to implement any of the above method embodiments, the processor 1001 is used to implement the functions of one or more modules of the communication device 80 or the communication device 90, and the interface circuit 1002 is used to implement the functions of one or more modules of the interface module 802 or the interface module 901.

[0276] The communication device is used to implement the functions of the sensing node and / or processing node in the above method embodiments. The sensing node can be a terminal, a terminal chip, or a terminal module, or it can be a network device, a network device chip, or a network device module. Similarly, the processing node can be a terminal, a terminal chip, or a terminal module, or it can be a network device, a network device chip, or a network device module.

[0277] For example, when the aforementioned communication device is a chip applied to a terminal, the terminal chip implements the functions of the terminal in the above method embodiments. The terminal chip receives information from other modules (such as radio frequency modules or antennas) in the terminal, which is information sent to the terminal by the base station; or, the terminal chip sends information to other modules (such as radio frequency modules or antennas) in the terminal, which is information sent to the base station by the terminal.

[0278] When the aforementioned communication device is a module applied to a base station, the base station module implements the functions of the base station in the above method embodiments. The base station module receives information from other modules (such as radio frequency modules or antennas) in the base station, information sent by the terminal to the base station; or, the base station module sends information to other modules (such as radio frequency modules or antennas) in the base station, information sent by the base station to the terminal. Here, the base station module can be the baseband chip of the base station, or a DU (Digital Unit) or other modules. The DU can be a DU under an Open Radio Access Network (O-RAN) architecture.

[0279] It is understood that the processor in the embodiments of this application may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor.

[0280] The method steps in the embodiments of this application can be implemented in hardware or in software instructions executable by a processor. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. The storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a base station or terminal. The processor and storage medium can also exist as discrete components in a base station or terminal.

[0281] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer programs or instructions. When a computer program or instruction is loaded and executed on a computer, all or part of the processes or functions of the embodiments of this application are performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, a computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0282] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

Claims

1. An information transmission method, characterized in that, include: The sensing nodes perform sensing and obtain the first data; The sensing node sends second data to the processing node. The second data is related to the first data and is used to determine the sensing error of the sensing node.

2. The method according to claim 1, characterized in that, The perception error is used to describe the perception integrity of the perception node, and the perception integrity is used to describe the reliability of the perception information of the perception node.

3. The method according to claim 1 or 2, characterized in that, Before the sensing node sends the second data to the processing node, it also includes: The sensing node sends sensing capability information to the processing node, and the sensing capability information includes error sources that the sensing node can provide.

4. The method according to any one of claims 1-3, characterized in that, The second data is the perception error obtained based on the perception integrity parameter information and the first data.

5. The method according to any one of claims 1-3, characterized in that, The second data includes alarm information, and after the sensing node performs sensing and obtains the first data, it also includes: The sensing node obtains the sensing error based on the sensing integrity parameter information and the first data; The sensing node sends second data to the processing node, including: When the sensing error meets the alarm conditions, the sensing node sends an alarm message to the processing node, and the alarm message is used to indicate that the sensing information of the sensing node is unreliable.

6. The method according to claim 5, characterized in that, The method further includes: When the sensing error meets the alarm conditions, the sensing node enters a deactivation state, and in the deactivation state, the sensing node stops sending the sensing information of the sensing node to the processing node.

7. The method according to claim 5, characterized in that, The method further includes: The sensing node receives deactivation instruction information from the processing node; In response to the deactivation instruction, the sensing node enters a deactivation state, during which it stops sending sensing information to the processing node.

8. The method according to claim 6 or 7, characterized in that, After the sensing node enters the deactivation state, the following is also included: After the sensing node has been in the deactivated state for a specified period of time, it enters the activated state. In the activated state, the sensing node can send its sensing information to the processing node.

9. The method according to claim 8, characterized in that, Before the sensing node enters the activated state, it also includes: The sensing node receives information from the processing node for the specified duration.

10. The method according to claim 6 or 7, characterized in that, After the sensing node enters the deactivation state, it also includes: The sensing node receives activation indication information from the processing node; In response to the activation instruction, the sensing node enters an activated state. In the activated state, the sensing node is able to send its sensing information to the processing node.

11. The method according to any one of claims 1-10, characterized in that, Before the sensing node sends the second data to the processing node, it also includes: The sensing node receives help information from the processing node, the help information including one or more of the following: the sensing integrity parameter information, error source indication information, the error source indication information being used to instruct the sensing node to obtain the sensing error of the sensing node based on at least one error source.

12. The method according to any one of claims 4-11, characterized in that, The perceived integrity parameter information includes information on one or more of the following parameters: integrity risk parameters, parameters describing the distribution characteristics of one or more error sources; The perception error includes the protection level of the perception node during perception.

13. The method according to claim 1 or 2, characterized in that, The second data includes the first data.

14. The method according to claim 13, characterized in that, The method further includes: The sensing node sends help information to the processing node. The help information includes one or more of the following: the sensing integrity parameter information and error source indication information. The error source indication information is used to instruct the sensing node to obtain the sensing error of the sensing node based on at least one error source.

15. An information transmission method, characterized in that, include: The processing node receives second data from the sensing node; The processing node determines the sensing error of the sensing node based on the second data.

16. The method according to claim 15, characterized in that, The perception error is used to describe the perception integrity of the perception node, and the perception integrity is used to describe the reliability of the perception information of the perception node.

17. The method according to claim 15 or 16, characterized in that, The second data includes the first data obtained by the sensing node through sensing. The processing node determines the sensing error of the sensing node based on the second data, including: The processing node calculates the perception error based on the first data.

18. The method according to any one of claims 15-17, characterized in that, The method further includes: When the perception error meets the alarm conditions, the processing node generates an alarm message, which is used to indicate that the perception information of the perception node is unreliable.

19. The method according to claim 15 or 16, characterized in that, The second data includes alarm information, which is used to indicate that the sensing information of the sensing node is unreliable.

20. The method according to any one of claims 15-19, characterized in that, The method further includes: When the sensing error meets the alarm conditions, or when an alarm message is received, the processing node sends a deactivation instruction message to the processing node. The alarm message indicates that the sensing information of the sensing node is unreliable, and the deactivation instruction message indicates that the sensing node enters a deactivation state. In the deactivation state, the sensing node stops sending its sensing information to the processing node.

21. The method according to claim 15 or 16, characterized in that, The second data includes the sensing error of the sensing node, and the processing node determines the sensing error of the sensing node based on the second data, including: The processing node determines the sensing node as the target sensing node based on the sensing error of the sensing node. The processing node acquires the perception information of the target perception node.

22. The method according to claim 20 or 21, characterized in that, The number of sensing nodes is multiple; The processing node receives second data from the sensing node, including: The processing node receives the sensing error from each of the plurality of sensing nodes; The processing node determines the sensing node as the target sensing node based on the sensing error of the sensing node, including: The processing node determines the target sensing node from the plurality of sensing nodes based on the sensing error of each of the plurality of sensing nodes.

23. The method according to claim 20 or 21, characterized in that, The number of sensing nodes is multiple, and the multiple sensing nodes are used to realize multimodal sensing. The multimodal sensing includes first modal sensing and second modal sensing. The first modal sensing is different from the second modal sensing. The number of sensing nodes used to realize the first modal sensing is multiple. The processing node determines the sensing node as the target sensing node based on the sensing error of the sensing node, including: The processing node determines the target sensing node corresponding to the first modal perception from among the plurality of sensing nodes used to implement the first modal perception based on the sensing errors of the plurality of sensing nodes used to implement the first modal perception.

24. The method according to any one of claims 21-23, characterized in that, The processing node acquires the perception information of the target perception node, including: The processing node sends a sensing information request to the target sensing node; The processing node receives sensing information from the target sensing node.

25. A communication device, characterized in that, include: The perception module is used to perform perception and obtain initial data. An interface module is used to send second data to a processing node. The second data is related to the first data and is used to determine the sensing error of the sensing node.

26. A communication device, characterized in that, include: The interface module is used to receive second data from the sensing node; The processing module is used to determine the sensing error of the sensing node based on the second data.

27. A communication device, characterized in that, The device includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices and transmit them to the processor or to send signals from the processor to other communication devices, and the processor is used to implement the method as described in any one of claims 1 to 24 through logic circuits or executing code instructions.

28. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1-24.

29. A computer program product containing instructions, characterized in that, When the instructions are executed by the processor, the method described in any one of claims 1-24 is implemented.

Images