Communication method and communication device

Abstract

The invention provides a communication method, and the method comprises the steps that a first communication device obtains an environment reconstruction map of a first space, the first space is a space in a preset range of the first communication device, the environment reconstruction map is expressed through map base elements, and the map base elements comprise parameter information of the map base elements; the parameter information of the map base element comprises type information and position information of the map base element; and the first communication equipment performs communication service according to the environment reconstruction map, wherein the communication service comprises at least one of the following items: MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management and data transmission. In the application, the first communication device can flexibly use the defined data format to represent the environment reconstruction map for different services, different UE capabilities and the like, and can also perform communication services according to the acquired environment reconstruction map, so that the accuracy of communication related parameters can be improved, and better transmission / scheduling parameters can be acquired.

Description

Communication method and communication device Technical Field

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

[0002] With the increasing diversity of wireless communication application scenarios, the next generation of wireless communication processes may be targeted at a wider range of new scenarios, including perception, imaging, environmental reconstruction, and integrated perception and communication. In these new scenarios, multiple devices (sensors) can perceive or observe the same environment from different perspectives. Therefore, the perception results of multiple devices can be sent to a base station (server) and fused into a complete or large environmental reconstruction map. Various services can also be provided based on the fused results, thereby reducing device power consumption and transmission overhead. Furthermore, since different devices can observe from different perspectives, the fusion of perception results from multiple devices can improve occlusion / blind spots caused by obstacles, resulting in more detailed reconstruction and better service outcomes.

[0003] To meet different service requirements, the sensor data exchanged between devices (sensors) and base stations (servers) may have different representations. Therefore, it is necessary to define the sensor data format for exchange between devices (sensors) and base stations (servers), and between devices (sensors). This allows for flexible use of the defined data format for different services and UE capabilities.

[0004] Summary of the Invention

[0005] The present application provides a communication method and a communication device that can flexibly use defined data formats for different services, different UE capabilities, etc.

[0006] In the first aspect, a communication method is provided, which can be executed by a first communication device. Unless otherwise specified, the "first communication device" in this application can refer to the first communication device itself (for example, a network device, a terminal device), or a component in the first communication device (for example, a processor, a chip, or a chip system, etc.), or it can also be a logical module or software that can realize all or part of the functions of the first communication device.

[0007] The method may include: a first communication device obtains an environment reconstruction map of a first space, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map-based element, and the map-based element includes parameter information of the map-based element, and the parameter information of the map-based element includes type information and location information of the map-based element; the first communication device performs communication services according to the environment reconstruction map, and the communication services include at least one of the following: multiple-input multiple-output (MIMO) transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0008] MIMO transmission, for example, may include channel prediction, MIMO precoding, link obstruction prediction, and beam adjustment. Channel measurement, for example, may include channel estimation, acquisition of propagation path parameters, channel covariance information, and channel prediction. Link adaptation, for example, may include channel link estimation, coding and modulation selection, and power control. Beam management, for example, may include beam alignment, beam search, beam training, beam prediction, and beam tracking. High-frequency communication, for example, may include millimeter-wave communication, terahertz communication, obstruction prediction, and beam switching. Network management, for example, may include resource management, load balancing, interference coordination, access control, user scheduling, user mobility management, edge user management, and MU-MIMO user pairing. Data transmission, for example, may include user data transmission, signaling transmission, network control data transmission, RAN-native data / native data transmission, non-terrestrial network communication, and satellite communication.

[0009] Optionally, the first communication device may also reconstruct a map based on the environment to perform perception services. The perception services may include, for example, performing positioning / tracking / identification tasks and imaging based on the map, or assisting in subsequent environmental perception, radar scanning, and assisting in perception scanning parameter evaluation.

[0010] In an embodiment of the present application, a first communication device obtains an environmental reconstruction map of a first space. This environmental reconstruction map can be expressed using one or more map-based elements, possessing universality and the ability to flexibly represent the environmental reconstruction map using a defined data format. Consequently, the first communication device can provide communication services based on the obtained environmental reconstruction map, such as enabling perception-assisted communication, thereby reducing signaling overhead, lowering transmission / scheduling delays, ensuring communication quality, improving the accuracy of communication-related parameters, and obtaining more optimal transmission / scheduling parameters.

[0011] Specifically, for MIMO transmission tasks: for example, when performing channel prediction on the channel, the UE can feed back the channel prediction based on the environment reconstruction map to the base station instead of the original channel prediction, thereby reducing the amount of feedback data; the base station side predicts link obstruction and can judge and adjust the UE transmission parameters in advance to avoid obstruction and ensure the communication quality of the UE. For channel measurement tasks: the first communication device can obtain more accurate information such as propagation path parameters based on the environment map, so as to better communicate with the second communication device. For beam management tasks: the first communication device can obtain more accurate beam state information, beam prediction information, or obtain more accurate beam alignment results, or reduce the delay of beam training, etc. based on the environment map, so as to better communicate with the second communication device. For high-frequency communication tasks: the first communication device can obtain more accurate channel state information, beam information, etc. based on the environment map, or judge obstruction in advance, reduce beam switching delay, ensure communication quality, and thus better communicate with the second communication device. For network management tasks: The base station can use the environmental map to predict interference and other conditions in advance, improving the quality of interference coordination and user scheduling, or reducing the latency of user mobility management (handover). The UE, based on the environmental map, feeds back channel status information to the base station, helping the base station obtain better MU-MIMO pairing results. For data transmission tasks: The first communication device uses the environmental map to obtain more accurate data transmission parameters, improving the data transmission quality between it and the second communication device.

[0012] In combination with the first aspect, in some implementations of the first aspect, the first communication device obtains an environment reconstruction map of a first space, including: the first communication device scans the first space to obtain the environment reconstruction map.

[0013] Among them, the first communication device scans / perceives the first space based on radio signal perception, infrared perception, radar (radio detection and ranging, RADAR) perception, laser radar (light detection and ranging, LIDAR) perception, 2D / 3D camera perception, etc.

[0014] It should be understood that RF sensor-based perception (sensor perception based on radio signals) is not easily affected by weather and lighting. Infrared perception can achieve night vision imaging and can penetrate smoke. Radar perception can detect objects at close range. LiDAR perception can obtain ranging and depth information, achieving higher spatial resolution. 2D / 3D cameras can obtain visual features from the environment, achieving higher environmental map resolution.

[0015] In addition, it can also be multimodal perception, such as combining camera and radar perception, or camera and LiDAR perception, etc. The use of multimodal perception can improve perception accuracy by fusing the perception results of sensors of different modalities.

[0016] In an embodiment of the present application, the first communication device can scan the first space to obtain an environment reconstruction map. For example, the first communication device can perceive the first space based on the sensors it carries, and obtain an environment reconstruction map within a certain range around the first communication device, thereby obtaining the environment reconstruction map required by the first communication device without the participation of other devices.

[0017] In a possible implementation, the environment reconstruction map is expressed by map base elements corresponding to first capability information, where the first capability information is used to indicate type information of the map base elements supported by the first communication device.

[0018] In this implementation, the first communication device obtains a reconstructed environment map of the first space by scanning, and the reconstructed environment map can be expressed using map base elements corresponding to the first capability information. In other words, the reconstructed environment map can be expressed using map base elements supported by the first communication device. For example, if the first communication device supports voxel-type data, the reconstructed environment map can be expressed using voxel-type map base elements.

[0019] In one possible implementation, the method further includes: the first communication device receiving second capability information sent by the second communication device, the second capability information being used to indicate type information of map base elements supported by the second communication device, and the environment reconstruction map being expressed through the map base elements corresponding to the second capability information.

[0020] In this implementation, the first communication device can receive the second capability information sent by the second communication device. Considering that the types of map base elements supported by the second communication device may be fewer than the types of map base elements supported by the first communication device, the environment reconstruction map scanned and obtained by the first communication device can be expressed by the map base elements corresponding to the second capability information, and then the environment reconstruction map can be sent to the second communication device for use by the second communication device.

[0021] In one possible implementation, the method further includes: the first communication device receives second capability information sent by the second communication device, the second capability information being used to indicate type information of map base elements supported by the second communication device; the first communication device determines third capability information based on the second capability information and the first capability information, the first capability information being used to indicate type information of map base elements supported by the first communication device, and the third capability information being used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; wherein the environment reconstruction map is expressed by the map base elements corresponding to the third capability information.

[0022] In this implementation, considering that the type information supported by the first and second communication devices may differ, the first communication device can receive the second capability information sent by the second communication device, and can then determine the third capability information based on the second capability information and the first capability information. The environment reconstruction map can then be expressed using multiple map base elements corresponding to the third capability information. In this way, both the first and second communication devices can directly use the environment reconstruction map.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the first communication device obtains the environment reconstruction map of the first space, including: the first communication device receives the global environment reconstruction map sent by the second communication device, the global environment reconstruction map is expressed by the map base element corresponding to the second capability information, and the second capability information is used to indicate the type information of the map base element supported by the second communication device; the first communication device determines the environment reconstruction map from the global environment reconstruction map based on the first capability information, the environment reconstruction map is expressed by the map base element corresponding to the first capability information, and the first capability information is used to indicate the type information of the map base element supported by the first communication device.

[0024] In an embodiment of the present application, the first communication device can receive a global environment reconstruction map sent by the second communication device, but since the global environment reconstruction map is expressed through the map base element corresponding to the second capability information, considering that the first communication device may not support the expression of certain types of data, the first communication device can determine the environment reconstruction map that is applicable to itself to facilitate subsequent communication services.

[0025] In combination with the first aspect, in certain implementations of the first aspect, the first communication device obtains the environment reconstruction map of the first space, including: the first communication device receives a first local environment reconstruction map sent by the second communication device, and the first local environment reconstruction map is the environment reconstruction map within the first space possessed by the second communication device; the first communication device scans the first space to obtain a second local environment reconstruction map; the first communication device determines the environment reconstruction map based on the first local environment reconstruction map and the second local environment reconstruction map.

[0026] In the embodiment of the present application, considering that the viewing angles observed by the first communication device and the second communication device may be different, the first communication device can receive the existing environment reconstruction map of the first space (i.e., the first local environment reconstruction map) sent by the second communication device. The first communication device can also scan / perceive the first space to obtain the second local environment reconstruction map, and the first communication device can fuse the first local environment reconstruction map and the second local environment reconstruction map to obtain a more detailed environment reconstruction map. As a result, the first communication device and the second communication device can achieve better service effects.

[0027] In combination with the first aspect, in some implementations of the first aspect, the first communication device performs communication services according to the environment reconstruction map, including: the first communication device sends the environment reconstruction map to the second communication device.

[0028] In an embodiment of the present application, after the first communication device scans / perceives and obtains the environment reconstruction map, it can send it to the second communication device so that the second communication device can perform perception services and / or communication services based on the environment reconstruction map.

[0029] It should be noted that the second communication device can obtain the environment reconstruction map sent by multiple devices (including the first communication device). Multiple devices perceive / observe the same environment from different viewing angles. The perception results of multiple devices can be sent to the second communication device (such as a base station) and fused into a complete / large environment reconstruction map, so that other perception services can be performed based on the fusion results to reduce the power consumption and transmission overhead of each device. In addition, since each device can observe different viewing angles, by fusing the perception results of multiple devices, the occlusion / blind spot problem caused by obstacles can be solved, thereby obtaining a more detailed reconstruction or better service effect.

[0030] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the first communication device sending first capability information to the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

[0031] In an embodiment of the present application, a first communication device may send first capability information to a second communication device, where the first capability information may indicate type information of map base elements supported by the first communication device, so that the second communication device may parse the environment and reconstruct the map according to the first capability information, thereby reducing the complexity of parsing the map.

[0032] In combination with the first aspect, in some implementations of the first aspect, the first communication device obtains the environment reconstruction map of the first space, including: the first communication device receives the environment reconstruction map sent by the second communication device.

[0033] In an embodiment of the present application, the first communication device can directly obtain the environment reconstruction map of the first space from the second communication device. Therefore, the required environment reconstruction map can be obtained without the need for the first communication device to actively scan / perceive, thereby reducing the overhead of the first communication device and reducing the power consumption of the first communication device itself.

[0034] In a possible implementation, the method further includes: the first communication device receiving second capability information sent by the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device.

[0035] In this implementation, the first communication device may receive the second capability information sent by the second communication device, thereby obtaining type information of the map base elements supported by the second communication device.

[0036] In a possible implementation, the environment reconstruction map is expressed by map base elements corresponding to second capability information, and the second capability information is used to indicate type information of the map base elements supported by the second communication device.

[0037] In one possible implementation, the method further includes: the first communication device sending first capability information to the second communication device, where the first capability information indicates type information of map-based elements supported by the first communication device, and the environment reconstruction map is expressed using the map-based elements corresponding to the first capability information.

[0038] In this implementation, a first communication device can send first capability information to a second communication device, allowing the second communication device to learn the types of map-based elements supported by the first communication device. After learning the first capability information, the second communication device can reconstruct a map based on the map-based element expression environment corresponding to the first capability information, facilitating parsing by the first communication device and reducing parsing complexity.

[0039] In one possible implementation, the method further includes: the first communication device sending first capability information to the second communication device, the first capability information indicating type information of map-based elements supported by the first communication device. The environment reconstruction map is expressed using map-based elements corresponding to third capability information, the third capability information indicating at least one item of type information of map-based elements supported by both the first and second communication devices.

[0040] In this implementation, considering that the type information of the map base elements supported by the first communication device and the second communication device may be different, the second communication device can determine the third capability information based on the received first capability information and its own second capability information, so that the environment reconstruction map can also be expressed through the map base elements corresponding to the third capability information, so as to facilitate parsing by the first communication device and reduce the parsing complexity.

[0041] In one possible implementation, the method further includes: the first communication device receives second capability information sent by the second communication device, the second capability information being used to indicate type information of map base elements supported by the second communication device; the first communication device determines third capability information based on the second capability information and the first capability information, the first capability information being used to indicate type information of map base elements supported by the first communication device, and the third capability information being used to indicate at least one item of type information of map base elements supported by both the first communication device and the second communication device; the first communication device sends the third capability information to the second communication device; wherein the environment reconstruction map is expressed by the map base elements corresponding to the third capability information.

[0042] In this implementation, considering that the type information of the map base elements supported by the first communication device and the second communication device may be different, the first communication device can determine the third capability information based on the received second capability information and its own first capability information, so that the environment reconstruction map can be expressed by the map base element corresponding to the third capability information.

[0043] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the first communication device obtains first information, the first information is used to indicate the correspondence between the first service and the type information of the map base element, and the first service includes the communication service and / or the perception service.

[0044] In one example, the first communication device acquiring the first information includes: the first communication device receiving the first information sent by the second communication device. In another example, the first information may be information predefined by a protocol.

[0045] In an embodiment of the present application, a first communication device may obtain first information indicating a correspondence between a first service and type information of a map base element, where the first service includes different communication services and / or perception services. In other words, the first communication device may determine the correspondence between a required service and a map base element based on the first information. For example, the first communication device may need to obtain patch type information when performing a beam tracking task.

[0046] In one possible implementation, the first communication device obtains an environment reconstruction map of a first space, including: the first communication device scans the first space to obtain the environment reconstruction map, the environment reconstruction map is expressed by a map base element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

[0047] In this implementation, the first communication device can scan the first space to obtain a related environment reconstruction map, and the environment reconstruction map can be expressed through the parsed map base elements corresponding to the target service. That is, the first communication device can directly obtain the map base elements corresponding to the target service during scanning, thereby reducing power consumption during scanning.

[0048] In a possible implementation manner, the method further includes: the first communication device sending the environment reconstruction map to a second communication device.

[0049] In this implementation, the first communication device may send the obtained environment reconstruction map related to the target service to the second communication device, which facilitates the second communication device to perform related communication services and / or perception services according to the environment reconstruction map.

[0050] In one possible implementation, the first communication device obtains an environment reconstruction map of a first space, including: the first communication device receives the environment reconstruction map sent by the second communication device, the environment reconstruction map is expressed by a map base element corresponding to a target service, the first service includes the target service, and the target service is a service that the first communication device needs to perform.

[0051] In this implementation, the first communication device can directly receive the environment reconstruction map of the target service sent by the second communication device without the need for the first communication device to actively scan / perceive, thereby reducing the overhead of the first communication device and reducing the power consumption of the first communication device itself.

[0052] In a possible implementation, before the first communication device receives the environment reconstruction map sent by the second communication device, the method further includes: the first communication device sending the target service to the second communication device.

[0053] In this implementation, in order to facilitate the second communication device to accurately know the target service that the first communication device needs to execute, the first communication device can actively report the perception service and / or communication service that it needs to execute, so that the second communication device can determine the environment reconstruction map based on the target service.

[0054] In one possible implementation, the first communication device obtains an environment reconstruction map of a first space, including: the first communication device receives a service environment reconstruction map sent by the second communication device, the service environment reconstruction map is expressed by a map base element corresponding to the first service; the first communication device determines the environment reconstruction map from the service environment reconstruction map according to a target service, the target service is a service that the first communication device needs to perform, the first service includes the target service, and the environment reconstruction map is expressed by a map base element corresponding to the target service.

[0055] In this implementation, the second communication device may send the service environment reconstruction map corresponding to the first service to the first communication device, so that the first communication device may determine the environment reconstruction map related to the target service based on the service environment reconstruction map.

[0056] In combination with the first aspect, in some implementations of the first aspect, the type information of the map base element may include at least one of the following: point, line, curve, plane, curved surface, cube, cylinder, cone, sphere, voxel, octree.

[0057] In combination with the first aspect, in certain implementations of the first aspect, the location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstructed map, the index of the map base element in the environment reconstructed map, and the spatial range of the map base element in the environment reconstructed map.

[0058] In combination with the first aspect, in some implementations of the first aspect, the parameter information of the map-based element also includes: a representation parameter, which is used to represent the geometric characteristics of the map-based element; and / or, an attribute type, which may include at least one of the following: material, texture, dielectric constant, magnetic permeability, and scattering coefficient; and / or, an attribute parameter, which is a specific parameter value corresponding to the attribute type; and / or, a reliability parameter, which is used to indicate the reliability of the map-based element.

[0059] In the embodiments of the present application, multiple types of parameter information regarding map-based elements can be included, as can multiple types of information regarding the type and location of map-based elements. This allows for flexible use of different data formats for different perception services, communication services, UE capabilities, base station capabilities, and the like. Furthermore, map-based elements can be represented in a variety of ways to support a variety of perception and / or communication scenarios, thereby reducing standardization challenges and ensuring universality and scalability.

[0060] In combination with the first aspect, in some implementations of the first aspect, the environment reconstructed map is a map after data compression.

[0061] In combination with the first aspect, in certain implementations of the first aspect, the environment reconstruction map is a map obtained by merging and compressing map base elements corresponding to the same type of information, and / or the environment reconstruction map is a map obtained by merging and compressing the same representation parameters.

[0062] In an embodiment of the present application, before transmitting the reconstructed environment map, the map base elements included in the reconstructed environment map may be combined and compressed. Compression methods include, but are not limited to, transformation, projection, differentiation, quantization, and entropy coding. It should be understood that data compression can reduce data transmission volume and air interface overhead.

[0063] On the second aspect, a communication method is provided, which can be executed by a second communication device. Unless otherwise specified, the "second communication device" in this application can refer to the second communication device itself (for example, a network device, a terminal device), or a component in the second communication device (for example, a processor, a chip, or a chip system, etc.), or it can also be a logical module or software that can realize all or part of the functions of the second communication device.

[0064] The method includes: a second communication device receives an environment reconstruction map of a first space sent by a first communication device, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; the second communication device performs communication services according to the environment reconstruction map, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0065] In one example, the first communication device may be a UE, and the second communication device may be a base station. After receiving the environment reconstruction map sent by the UE, the base station may specifically perform the following communication services: MIMO transmission: Adjusting MIMO beams based on the obtained environment reconstruction map; performing MIMO precoding based on the obtained environment reconstruction map, particularly MIMO precoding for multiple users; Channel measurement: Obtaining UE channel propagation path parameters and channel prediction based on the obtained environment reconstruction map; Link adaptation: Performing coding and modulation selection, power control, etc. based on the obtained environment reconstruction map; Beam management: Performing operations such as beam alignment, beam search, beam training, beam prediction, and beam tracking based on the obtained environment reconstruction map; High-frequency communication: Predicting obstruction and switching beams based on the obtained environment reconstruction map; Network management: Performing operations such as load balancing, interference coordination, user mobility management, edge user management, and MU-MIMO user pairing based on the obtained environment reconstruction map; Data transmission: Transmitting user data, signaling, network control data, RAN-native data / native data, and satellite communication scheduling based on the obtained environment reconstruction map.

[0066] In another example, the first communication device may be a base station, and the second communication device may be a UE. After the UE receives the environment reconstruction map sent by the base station, it may specifically perform the following communication services: MIMO transmission: channel prediction is performed on the channel based on the obtained environment reconstruction map. Channel measurement: channel estimation is performed based on the obtained environment reconstruction map, and propagation path parameters, channel covariance information, channel prediction, etc. are obtained. Link adaptation: channel link estimation, power control, etc. are performed based on the obtained environment reconstruction map. Beam management: beam alignment, beam search, beam training, beam prediction, and beam tracking are performed based on the obtained environment reconstruction map. High-frequency communication: millimeter wave communication, terahertz communication, occlusion prediction, beam switching, etc. are performed based on the obtained environment reconstruction map. Network management: interference coordination, user mobility management, access control, etc. of the network are assisted based on the obtained environment reconstruction map. Data transmission: the following data transmission is performed based on the obtained environment reconstruction map, including user data transmission, signaling transmission, network control data transmission, RAN endogenous data / native data transmission, satellite communication, etc.

[0067] In an embodiment of the present application, the second communication device can receive the environment reconstruction map sent by the first communication device, so that it can provide communication services based on the environment reconstruction map. For example, it can realize perception-assisted communication, thereby reducing signaling overhead, reducing transmission / scheduling delay, ensuring communication quality, improving the accuracy of communication-related parameters, and obtaining better transmission / scheduling parameters.

[0068] Specifically, for MIMO transmission tasks: for example, when performing channel prediction on a channel, the UE can feed back a channel prediction based on an environmental reconstruction map to the base station instead of the original channel prediction, thereby reducing the amount of feedback data; the base station side can predict link obstruction and judge and adjust the UE transmission parameters in advance to avoid obstruction and ensure the communication quality of the UE. For channel measurement tasks: the first communication device can obtain more accurate information such as propagation path parameters based on the environmental map, thereby better communicating with the second communication device. For beam management tasks: the first communication device can obtain more accurate beam state information, beam prediction information, or obtain more accurate beam alignment results based on the environmental map, or reduce the delay of beam training, etc., thereby better communicating with the second communication device. High-frequency communication tasks: the first communication device can obtain more accurate channel state information, beam information, etc. based on the environmental map, or judge obstruction in advance, reduce beam switching delay, ensure communication quality, and thus better communicate with the second communication device. Network management: The base station can use the environmental map to predict interference and other conditions, improving interference coordination and user scheduling, or reducing latency in user mobility management (handover). The UE, based on the environmental map, provides feedback on channel conditions to the base station, helping it achieve optimal MU-MIMO pairing results. Data transmission: The first communication device uses the environmental map to obtain more accurate data transmission parameters, improving the quality of data transmission between it and the second communication device.

[0069] In combination with the second aspect, in some implementations of the second aspect, the environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

[0070] In combination with the second aspect, in some implementations of the second aspect, the method further includes: the second communication device receives first capability information sent by the first communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

[0071] In the embodiment of the present application, the second communication device may receive the first capability information sent by the first communication device, thereby obtaining type information of the map base elements supported by the first communication device.

[0072] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: the second communication device sending second capability information to the first communication device, where the second capability information is used to indicate type information of map-based elements supported by the second communication device. The environment reconstruction map is expressed using the map-based elements corresponding to the second capability information.

[0073] In this embodiment of the present application, a second communication device can send second capability information to a first communication device, thereby enabling the first communication device to obtain information about the types of map-based elements supported by the second communication device. After obtaining the second capability information, the first communication device can reconstruct a map based on the map-based element expression environment corresponding to the second capability information, thereby facilitating parsing by the second communication device and reducing parsing complexity.

[0074] In conjunction with the second aspect, in certain implementations of the second aspect, the method further includes: the second communication device sending second capability information to the first communication device, the second capability information being used to indicate type information of map-based elements supported by the second communication device. The environment reconstruction map is expressed using map-based elements corresponding to third capability information, the third capability information being used to indicate at least one item of type information of map-based elements supported by both the first and second communication devices.

[0075] In an embodiment of the present application, considering that the type information of the map base elements supported by the first communication device and the second communication device may be different, the second communication device can send second capability information to the first communication device, so that the first communication device can determine the third capability information based on the received second capability information and its own first capability information. In this way, the environment reconstruction map can also be expressed through the map base elements corresponding to the third capability information, so that the second communication device or the first communication device can perform parsing, thereby reducing the parsing complexity.

[0076] In combination with the second aspect, in certain implementations of the second aspect, before the second communication device receives the environment reconstruction map of the first space sent by the first communication device, the method also includes: the second communication device sends a global environment reconstruction map to the first communication device, and the global environment reconstruction map is expressed by the map base element corresponding to the second capability information, and the second capability information is used to indicate the type information of the map base element supported by the second communication device; wherein, the environment reconstruction map is expressed by the map base element corresponding to the first capability information, and the first capability information is used to indicate the type information of the map base element supported by the first communication device.

[0077] In an embodiment of the present application, the second communication device can send a global environment reconstruction map to the first communication device, but since the global environment reconstruction map is expressed through the map base elements corresponding to the second capability information, considering that the first communication device may not support the expression of certain types of data, the first communication device can determine the environment reconstruction map that is suitable for itself from the global environment reconstruction map to facilitate subsequent communication services.

[0078] In combination with the second aspect, in certain implementations of the second aspect, before the second communication device receives the environment reconstruction map of the first space sent by the first communication device, the method also includes: the second communication device sends a first local environment reconstruction map to the first communication device, and the first local environment reconstruction map is the environment reconstruction map within the first space that the second communication device has.

[0079] In this embodiment of the present application, the second communication device can send the first local environment reconstruction map to the first communication device, so that the first communication device can obtain a more detailed environment reconstruction map based on the first local environment reconstruction map. In turn, the first communication device and the second communication device can achieve better service effects.

[0080] In combination with the second aspect, in some implementations of the second aspect, the method further includes: the second communication device obtains first information, the first information is used to indicate the correspondence between the first service and the type information of the map base element, and the first service includes the communication service and / or perception service.

[0081] In one example, the second communication device acquiring the first information includes: the second communication device receiving the first information sent by the first communication device. In another example, the first information may be information predefined by a protocol.

[0082] In an embodiment of the present application, the second communication device can obtain the first information in different ways, so that the second communication device can know the correspondence between different services and map base elements, so that the type information of the map base element corresponding to the target service can be determined according to the first information based on the target service.

[0083] In a possible implementation, the environment reconstruction map is expressed by a map base element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

[0084] In combination with the second aspect, in some implementations of the second aspect, the type information of the map base element may include at least one of the following: point, line, curve, plane, surface, cube, cylinder, cone, sphere, voxel, octree.

[0085] In combination with the second aspect, in certain implementations of the second aspect, the location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstructed map, the index of the map base element in the environment reconstructed map, and the spatial range of the map base element in the environment reconstructed map.

[0086] In combination with the second aspect, in some implementations of the second aspect, the parameter information of the map-based element also includes: a representation parameter, which is used to represent the geometric characteristics of the map-based element; and / or, an attribute type, which may include at least one of the following: material, texture, dielectric constant, magnetic permeability, scattering coefficient; and / or, an attribute parameter, which is a specific parameter value corresponding to the attribute type; and / or, a reliability parameter, which is used to indicate the reliability of the map-based element.

[0087] In the embodiments of the present application, multiple types of parameter information regarding map-based elements can be included, as can multiple types of information regarding the type and location of map-based elements. This allows for flexible use of different data formats for different perception services, communication services, UE capabilities, base station capabilities, and the like. Furthermore, map-based elements can be represented in a variety of ways to support a variety of perception and / or communication scenarios, thereby reducing standardization challenges and ensuring universality and scalability.

[0088] In combination with the second aspect, in some implementations of the second aspect, the environment reconstructed map is a map after data compression.

[0089] In combination with the second aspect, in certain implementations of the second aspect, the environment reconstruction map is a map obtained by merging and compressing map base elements corresponding to the same type of information, and / or the environment reconstruction map is a map obtained by merging and compressing the same representation parameters.

[0090] In an embodiment of the present application, before transmitting the reconstructed environment map, the map base elements included in the reconstructed environment map may be combined and compressed. Compression methods include, but are not limited to, transformation, projection, differentiation, quantization, and entropy coding. It should be understood that data compression can reduce data transmission volume and air interface overhead.

[0091] On the third aspect, a communication method is provided, which can be executed by a second communication device. Unless otherwise specified, the "second communication device" in this application can refer to the second communication device itself (for example, a network device, a terminal device), or a component in the second communication device (for example, a processor, a chip, or a chip system, etc.), or it can also be a logical module or software that can realize all or part of the functions of the second communication device.

[0092] The method includes: a second communication device sends an environment reconstruction map of a first space to a first communication device, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; the second communication device performs communication services, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0093] In one example, the first communication device may be a UE, and the second communication device may be a base station. After the base station sends an environment reconstruction map to the UE, the UE may obtain the environment reconstruction map of the base station, and the base station may perform the following communication services: MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission. Specifically:

[0094] For MIMO transmission tasks: the UE can send channel prediction information to the base station; after receiving the channel prediction information from the UE, the base station can adjust the MIMO beam and perform MIMO precoding for multiple users.

[0095] For channel measurement tasks: the UE can send channel estimates, propagation path parameters, etc. to the base station; the base station receives the UE's channel estimates, propagation path parameters, etc., and thus adjusts the transmission parameters with the UE (including coding, modulation, MIMO stream number control, MIMO precoding, etc.).

[0096] For beam management tasks: the UE can send beam feedback information to the base station; the base station receives the beam feedback information from the UE and can then perform beam alignment, beam search, beam training, beam prediction, beam tracking, etc.

[0097] For high-frequency communication tasks: the UE can send channel feedback information to the base station; the base station receives the UE's channel feedback information, and the base station can perform millimeter wave communication, terahertz communication, occlusion prediction, beam switching, etc. based on this.

[0098] For network management tasks: the UE can send interference measurement information, channel feedback information, etc. to the base station; the base station receives the interference measurement information, channel feedback information, etc. from the UE, and then performs load balancing, interference coordination, user mobility management, edge user management, MU-MIMO user pairing, etc.

[0099] For data transmission tasks: the UE can send user data, signaling, RAN endogenous data / native data, etc. to the base station; the base station can receive user data, signaling, RAN endogenous data / native data, etc. from the UE; or, the UE can send a transmission request to the base station, and the base station receives the UE's transmission request to perform user data transmission, signaling transmission, network control data transmission, RAN endogenous data / native data transmission, satellite communication scheduling, etc.

[0100] In one example, the first communication device may be a base station, and the second communication device may be a UE. After the UE sends an environment reconstruction map to the base station, the base station may obtain the environment reconstruction map of the UE, and the UE may perform the following communication services:

[0101] For MIMO transmission tasks, such as channel prediction, the UE can feed back the channel prediction based on the environment reconstruction map to the base station instead of the original channel prediction, thereby reducing the amount of feedback data.

[0102] For channel measurement tasks: the UE can obtain propagation path parameters, channel covariance information, channel prediction, etc. and feed them back to the base station; the base station obtains the UE's channel information based on the UE feedback and the environment reconstruction map.

[0103] For beam management tasks: the UE can feedback beam status information and beam prediction information to the base station; the base station performs beam alignment, beam search, beam training, beam prediction, beam tracking, etc. based on the UE feedback and the environment reconstruction map.

[0104] In an embodiment of the present application, the second communication device can reconstruct the environment map sent to the first communication device, and can also better perform communication services based on the information fed back by the first communication device, so that communication services can be performed according to the environment reconstructed map. For example, perception-assisted communication can be realized, thereby reducing signaling overhead, reducing transmission / scheduling delays, ensuring communication quality, improving the accuracy of communication-related parameters, and obtaining better transmission / scheduling parameters.

[0105] Specifically, for MIMO transmission tasks: for example, when performing channel prediction on a channel, the UE can feed back a channel prediction based on an environmental reconstruction map to the base station instead of the original channel prediction, thereby reducing the amount of feedback data; the base station side can predict link obstruction and judge and adjust the UE transmission parameters in advance to avoid obstruction and ensure the communication quality of the UE. For channel measurement tasks: the first communication device can obtain more accurate information such as propagation path parameters based on the environmental map, thereby better communicating with the second communication device. For beam management tasks: the first communication device can obtain more accurate beam state information, beam prediction information, or obtain more accurate beam alignment results based on the environmental map, or reduce the delay of beam training, etc., thereby better communicating with the second communication device. High-frequency communication tasks: the first communication device can obtain more accurate channel state information, beam information, etc. based on the environmental map, or judge obstruction in advance, reduce beam switching delay, ensure communication quality, and thus better communicate with the second communication device. Network management: The base station can use the environmental map to predict interference and other conditions, improving interference coordination and user scheduling, or reducing latency in user mobility management (handover). The UE, based on the environmental map, provides feedback on channel conditions to the base station, helping it achieve optimal MU-MIMO pairing results. Data transmission: The first communication device uses the environmental map to obtain more accurate data transmission parameters, improving the quality of data transmission between it and the second communication device.

[0106] In combination with the third aspect, in some implementations of the third aspect, the method further includes: the second communication device sending second capability information to the first communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device.

[0107] In an embodiment of the present application, the second communication device can send second capability information to the first communication device, and the first communication device can receive the second capability information sent by the second communication device, so that the first communication device can obtain type information of map base elements supported by the second communication device.

[0108] In combination with the third aspect, in certain implementations of the third aspect, the environment reconstruction map is expressed by map base elements corresponding to second capability information, and the second capability information is used to indicate type information of the map base elements supported by the second communication device.

[0109] In combination with the third aspect, in certain implementations of the third aspect, the method further includes: the second communication device receives first capability information sent by the first communication device, the first capability information being used to indicate type information of map base elements supported by the first communication device; wherein the environment reconstruction map is expressed through the map base elements corresponding to the first capability information.

[0110] In an embodiment of the present application, the second communication device can receive the first capability information sent by the first communication device, so that it can express the environment reconstruction map through the map base element corresponding to the first capability information, and then can send the environment reconstruction map to the first communication device so that the first communication device can perform communication services.

[0111] In combination with the third aspect, in certain implementations of the third aspect, the method further includes: the second communication device receives first capability information sent by the first communication device, the first capability information being used to indicate type information of map base elements supported by the first communication device; the second communication device determines the third capability information based on the first capability information and the second capability information, the third capability information being used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; wherein the environment reconstruction map is expressed through the map base elements corresponding to the third capability information.

[0112] In this embodiment of the present application, considering that the type information supported by the first communication device and the second communication device may differ, the second communication device can determine third capability information, and the third capability information is used to indicate at least one item of type information of map-based elements supported by both the first and second communication devices. Therefore, the environment reconstruction map can be expressed based on multiple map-based elements corresponding to the third capability information. In this way, both the first and second communication devices can directly use the environment reconstruction map.

[0113] In combination with the third aspect, in certain implementations of the third aspect, the method further includes: the second communication device receives third capability information sent by the first communication device, the third capability information being used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; wherein the environment reconstruction map is expressed by the map base element corresponding to the third capability information.

[0114] In this embodiment of the present application, considering that the type information supported by the first communication device and the second communication device may differ, the first communication device may determine third capability information and send it to the second communication device. The third capability information indicates at least one item of type information of map base elements supported by both the first and second communication devices. In this way, the environment reconstruction map obtained by the second communication device can be expressed using multiple map base elements corresponding to the third capability information. In this way, both the first and second communication devices can directly use the environment reconstruction map.

[0115] In combination with the third aspect, in some implementations of the third aspect, the method further includes: the second communication device obtains first information, the first information is used to indicate the correspondence between the first service and the type information of the map base element, and the first service includes the communication service and / or perception service.

[0116] In a possible implementation manner, the second communication device acquiring the first information includes: the second communication device receiving the first information sent by the first communication device.

[0117] In an embodiment of the present application, the second communication device can obtain the first information in different ways, so that the second communication device can know the correspondence between different services and map base elements, so that the type information of the map base element corresponding to the target service can be determined according to the first information based on the target service.

[0118] In a possible implementation, the environment reconstruction map is expressed by a map base element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

[0119] In an embodiment of the present application, the environment reconstruction map sent by the second communication device to the first communication device can be a map corresponding to the service that the first communication device needs to perform (i.e., the target service). In this way, when the first communication device receives the environment reconstruction map, it can execute the target service according to the environment reconstruction map.

[0120] In one possible implementation, before the second communication device sends the environment reconstruction map of the first space to the first communication device, the method further includes: the second communication device receives the target service sent by the first communication device; and the second communication device determines the environment reconstruction map based on the target service.

[0121] In an embodiment of the present application, before the second communication device sends the environment reconstruction map to the first communication device, the second communication device can receive the target service sent by the first communication device, so that the second communication device can directly determine the environment reconstruction map corresponding to the target service based on the target service.

[0122] In combination with the third aspect, in some implementations of the third aspect, the type information of the map base element may include at least one of the following: point, line, curve, plane, surface, cube, cylinder, cone, sphere, voxel, octree.

[0123] In combination with the third aspect, in certain implementations of the third aspect, the location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstructed map, the index of the map base element in the environment reconstructed map, and the spatial range of the map base element in the environment reconstructed map.

[0124] In combination with the third aspect, in certain implementations of the third aspect, the parameter information of the map-based element further includes: a representation parameter, which is used to represent the geometric characteristics of the map-based element; and / or an attribute type, which may include at least one of the following: material, texture, dielectric constant, magnetic permeability, and scattering coefficient; and / or an attribute parameter, which is a specific parameter value corresponding to the attribute type; and / or a reliability parameter, which is used to indicate the reliability of the map-based element.

[0125] In the embodiments of the present application, multiple types of parameter information regarding map-based elements can be included, as can multiple types of information regarding the type and location of map-based elements. This allows for flexible use of different data formats for different perception services, communication services, UE capabilities, base station capabilities, and the like. Furthermore, map-based elements can be represented in a variety of ways to support a variety of perception and / or communication scenarios, thereby reducing standardization challenges and ensuring universality and scalability.

[0126] In combination with the third aspect, in certain implementations of the third aspect, the environment reconstructed map is a map after data compression.

[0127] In combination with the third aspect, in certain implementations of the third aspect, the environment reconstruction map is a map obtained by merging and compressing map base elements corresponding to the same type of information, and / or the environment reconstruction map is a map obtained by merging and compressing the same representation parameters.

[0128] In an embodiment of the present application, before transmitting the reconstructed environment map, the map base elements included in the reconstructed environment map may be combined and compressed. Compression methods include, but are not limited to, transformation, projection, differentiation, quantization, and entropy coding. It should be understood that data compression can reduce data transmission volume and air interface overhead.

[0129] In a fourth aspect, a communication device is provided, including: an acquisition unit for acquiring an environment reconstruction map of a first space, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; a processing unit for performing communication services according to the environment reconstruction map, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0130] In combination with the fourth aspect, in some implementations of the fourth aspect, the acquisition unit is further used to scan the first space to obtain the environment reconstruction map.

[0131] In combination with the fourth aspect, in certain implementations of the fourth aspect, the environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

[0132] In combination with the fourth aspect, in certain implementations of the fourth aspect, the acquisition unit is further used to receive second capability information sent by a second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device, and the environment reconstruction map is expressed through the map base elements corresponding to the second capability information.

[0133] In combination with the fourth aspect, in certain implementations of the fourth aspect, the acquisition unit is further used to receive second capability information sent by a second communication device, the second capability information being used to indicate type information of map base elements supported by the second communication device; the processing unit is further used to determine third capability information based on the second capability information and the first capability information, the first capability information being used to indicate type information of map base elements supported by the first communication device, and the third capability information being used to indicate at least one item of type information of map base elements supported by both the first communication device and the second communication device; wherein the environment reconstruction map is expressed by the map base elements corresponding to the third capability information.

[0134] In combination with the fourth aspect, in certain implementations of the fourth aspect, the acquisition unit is further used to receive a global environment reconstruction map sent by a second communication device, the global environment reconstruction map being expressed by a map base element corresponding to second capability information, and the second capability information being used to indicate type information of the map base element supported by the second communication device; the processing unit is further used to determine the environment reconstruction map from the global environment reconstruction map based on the first capability information, the environment reconstruction map being expressed by a map base element corresponding to the first capability information, and the first capability information being used to indicate type information of the map base element supported by the first communication device.

[0135] In combination with the fourth aspect, in certain implementations of the fourth aspect, the acquisition unit is further used to receive a first local environment reconstruction map sent by a second communication device, where the first local environment reconstruction map is an environment reconstruction map within the first space possessed by the second communication device; the acquisition unit is further used to scan the first space to obtain a second local environment reconstruction map; and the processing unit is further used to determine the environment reconstruction map based on the first local environment reconstruction map and the second local environment reconstruction map.

[0136] In combination with the fourth aspect, in some implementations of the fourth aspect, the communication apparatus further includes a sending unit, and the sending unit is configured to send the environment reconstruction map to a second communication device.

[0137] In combination with the fourth aspect, in some implementations of the fourth aspect, the sending unit is further used to send first capability information to the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

[0138] In combination with the fourth aspect, in some implementations of the fourth aspect, the acquisition unit is further used to receive the environment reconstruction map sent by the second communication device.

[0139] In combination with the fourth aspect, in some implementations of the fourth aspect, the acquisition unit is further used to receive second capability information sent by the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device.

[0140] In combination with the fourth aspect, in certain implementations of the fourth aspect, the environment reconstruction map is expressed by a map base element corresponding to second capability information, and the second capability information is used to indicate type information of the map base element supported by the second communication device.

[0141] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the sending unit is further configured to send first capability information to the second communication device, where the first capability information indicates type information of map-based elements supported by the first communication device. The environment reconstruction map is expressed using the map-based elements corresponding to the first capability information.

[0142] In conjunction with the fourth aspect, in certain implementations of the fourth aspect, the sending unit is further configured to send first capability information to the second communication device, where the first capability information indicates type information of map-based elements supported by the first communication device. The environment reconstruction map is expressed using map-based elements corresponding to third capability information, where the third capability information indicates at least one item of type information of map-based elements supported by both the first and second communication devices.

[0143] In combination with the fourth aspect, in certain implementations of the fourth aspect, the acquisition unit is further used to receive second capability information sent by the second communication device, the second capability information being used to indicate type information of map base elements supported by the second communication device; the processing unit is further used to determine third capability information based on the second capability information and the first capability information, the first capability information being used to indicate type information of map base elements supported by the first communication device, and the third capability information being used to indicate at least one item of type information of map base elements supported by both the first communication device and the second communication device; the sending unit is further used to send the third capability information to the second communication device; wherein the environment reconstruction map is expressed by the map base elements corresponding to the third capability information.

[0144] In combination with the fourth aspect, in some implementations of the fourth aspect, the acquisition unit is further used to obtain first information, where the first information is used to indicate a correspondence between a first service and type information of a map base element, and the first service includes the communication service and / or perception service.

[0145] In combination with the fourth aspect, in some implementations of the fourth aspect, the acquisition unit is further used to receive the first information sent by the second communication device.

[0146] In combination with the fourth aspect, in certain implementations of the fourth aspect, the processing unit is further used to scan the first space to obtain the environment reconstruction map, and the environment reconstruction map is expressed by the map base element corresponding to the target service. The target service is the service that the first communication device needs to perform, and the first service includes the target service.

[0147] In combination with the fourth aspect, in some implementations of the fourth aspect, the sending unit is further used to send the environment reconstruction map to a second communication device.

[0148] In combination with the fourth aspect, in certain implementations of the fourth aspect, the acquisition unit is also used to receive the environment reconstruction map sent by the second communication device, and the environment reconstruction map is expressed by the map base element corresponding to the target service. The first service includes the target service, and the target service is the service that the first communication device needs to perform.

[0149] In combination with the fourth aspect, in some implementations of the fourth aspect, the sending unit is further used to send the target service to the second communication device.

[0150] In combination with the fourth aspect, in certain implementations of the fourth aspect, the acquisition unit is further used to receive a service environment reconstruction map sent by a second communication device, and the service environment reconstruction map is expressed by a map base element corresponding to the first service; the processing unit is further used to determine the environment reconstruction map from the service environment reconstruction map according to a target service, the target service is a service that the first communication device needs to perform, the first service includes the target service, and the environment reconstruction map is expressed by a map base element corresponding to the target service.

[0151] In combination with the fourth aspect, in certain implementations of the fourth aspect, the type information of the map base element includes at least one of the following: a face, a voxel, an octree, a sphere, a cylinder, and a cone.

[0152] In combination with the fourth aspect, in certain implementations of the fourth aspect, the location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstructed map, the index of the map base element in the environment reconstructed map, and the spatial range of the map base element in the environment reconstructed map.

[0153] In combination with the fourth aspect, in certain implementations of the fourth aspect, the parameter information of the map-based element further includes: a representation parameter, which is used to represent the geometric characteristics of the map-based element; and / or, an attribute type, which includes at least one of the following: dielectric constant, magnetic permeability, and scattering coefficient; and / or, an attribute parameter, which is a specific parameter value corresponding to the attribute type; and / or, a reliability parameter, which is used to indicate the reliability of the map-based element.

[0154] In combination with the fourth aspect, in certain implementations of the fourth aspect, the environment reconstructed map is a map after data compression.

[0155] In combination with the fourth aspect, in certain implementations of the fourth aspect, the environment reconstruction map is a map obtained by merging and compressing map base elements corresponding to the same type of information, and / or the environment reconstruction map is a map obtained by merging and compressing the same representation parameters.

[0156] The beneficial effects of the communication device described in the fourth aspect can refer to the beneficial effects of the method in the first aspect, and will not be repeated here.

[0157] In a fifth aspect, a communication device is provided, including: an acquisition unit for receiving an environment reconstruction map of a first space sent by a first communication device, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; a processing unit for performing communication services according to the environment reconstruction map, and the communication service includes at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0158] In combination with the fifth aspect, in certain implementations of the fifth aspect, the environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

[0159] In combination with the fifth aspect, in some implementations of the fifth aspect, the acquisition unit is further used to receive first capability information sent by the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

[0160] In conjunction with the fifth aspect, in certain implementations of the fifth aspect, the communication apparatus further includes a sending unit, the sending unit being further configured to send second capability information to the first communication device, where the second capability information indicates type information of map-based elements supported by the second communication device. The environment reconstruction map is expressed using the map-based elements corresponding to the second capability information.

[0161] In conjunction with the fifth aspect, in certain implementations of the fifth aspect, the sending unit is further configured to send second capability information to the first communication device, where the second capability information indicates type information of map-based elements supported by the second communication device. The environment reconstruction map is expressed using map-based elements corresponding to third capability information, where the third capability information indicates at least one item of type information of map-based elements supported by both the first and second communication devices.

[0162] In combination with the fifth aspect, in certain implementations of the fifth aspect, the sending unit is further used to send a global environment reconstruction map to the first communication device, and the global environment reconstruction map is expressed by a map base element corresponding to the second capability information, and the second capability information is used to indicate the type information of the map base element supported by the second communication device; wherein, the environment reconstruction map is expressed by a map base element corresponding to the first capability information, and the first capability information is used to indicate the type information of the map base element supported by the first communication device.

[0163] In combination with the fifth aspect, in certain implementations of the fifth aspect, the sending unit is further used to send a first local environment reconstruction map to the first communication device, where the first local environment reconstruction map is an environment reconstruction map within the first space possessed by the second communication device.

[0164] In combination with the fifth aspect, in some implementations of the fifth aspect, the acquisition unit is further used to obtain first information, where the first information is used to indicate a correspondence between a first service and type information of a map base element, and the first service includes the communication service and / or perception service.

[0165] In combination with the fifth aspect, in some implementations of the fifth aspect, the acquisition unit is further used to receive the first information sent by the first communication device.

[0166] In combination with the fifth aspect, in certain implementations of the fifth aspect, the environment reconstruction map is expressed by a map base element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

[0167] In combination with the fifth aspect, in certain implementations of the fifth aspect, the type information of the map base element includes at least one of the following: a face, a voxel, an octree, a sphere, a cylinder, and a cone.

[0168] In combination with the fifth aspect, in certain implementations of the fifth aspect, the location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstructed map, the index of the map base element in the environment reconstructed map, and the spatial range of the map base element in the environment reconstructed map.

[0169] In combination with the fifth aspect, in certain implementations of the fifth aspect, the parameter information of the map-based element further includes: a representation parameter, which is used to represent the geometric characteristics of the map-based element; and / or, an attribute type, which includes at least one of the following: dielectric constant, magnetic permeability, and scattering coefficient; and / or, an attribute parameter, which is a specific parameter value corresponding to the attribute type; and / or, a reliability parameter, which is used to indicate the reliability of the map-based element.

[0170] In combination with the fifth aspect, in certain implementations of the fifth aspect, the environment reconstructed map is a map after data compression.

[0171] In combination with the fifth aspect, in certain implementations of the fifth aspect, the environment reconstruction map is a map obtained by merging and compressing map base elements corresponding to the same type of information, and / or the environment reconstruction map is a map obtained by merging and compressing the same representation parameters.

[0172] The beneficial effects of the communication device described in the fifth aspect can refer to the beneficial effects of the method in the second aspect, and will not be repeated here.

[0173] In a sixth aspect, a communication device is provided, including: a sending unit for sending an environment reconstruction map of a first space to a first communication device, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; a processing unit for performing communication services, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0174] In combination with the sixth aspect, in some implementations of the sixth aspect, the sending unit is further used to send second capability information to the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device.

[0175] In combination with the sixth aspect, in certain implementations of the sixth aspect, the environment reconstruction map is expressed by a map base element corresponding to second capability information, and the second capability information is used to indicate type information of the map base element supported by the second communication device.

[0176] In combination with the sixth aspect, in certain implementations of the sixth aspect, the communication device further includes an acquisition unit, which is used to receive first capability information sent by the first communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device; wherein the environment reconstruction map is expressed through the map base elements corresponding to the first capability information.

[0177] In combination with the sixth aspect, in certain implementations of the sixth aspect, the acquisition unit is further used to receive first capability information sent by the first communication device, the first capability information being used to indicate type information of map base elements supported by the first communication device; the processing unit is further used to determine the third capability information based on the first capability information and the second capability information, the third capability information being used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; wherein the environment reconstruction map is expressed by the map base elements corresponding to the third capability information.

[0178] In combination with the sixth aspect, in certain implementations of the sixth aspect, the acquisition unit is further used to receive third capability information sent by the first communication device, where the third capability information is used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; wherein the environment reconstruction map is expressed by the map base element corresponding to the third capability information.

[0179] In combination with the sixth aspect, in some implementations of the sixth aspect, the acquisition unit is further used to obtain first information, where the first information is used to indicate a correspondence between a first service and type information of a map base element, and the first service includes the communication service and / or perception service.

[0180] In combination with the sixth aspect, in some implementations of the sixth aspect, the acquisition unit is further used to receive the first information sent by the first communication device.

[0181] In combination with the sixth aspect, in certain implementations of the sixth aspect, the environment reconstruction map is expressed by a map base element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

[0182] In combination with the sixth aspect, in some implementations of the sixth aspect, the acquisition unit is further used to receive the target service sent by the first communication device; and the processing unit is further used to determine the environment reconstruction map based on the target service.

[0183] In combination with the sixth aspect, in some implementations of the sixth aspect, the type information of the map base element includes at least one of the following: a face, a voxel, an octree, a sphere, a cylinder, and a cone.

[0184] In combination with the sixth aspect, in certain implementations of the sixth aspect, the location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstructed map, the index of the map base element in the environment reconstructed map, and the spatial range of the map base element in the environment reconstructed map.

[0185] In combination with the sixth aspect, in certain implementations of the sixth aspect, the parameter information of the map-based element further includes: a representation parameter, which is used to represent the geometric characteristics of the map-based element; and / or, an attribute type, which includes at least one of the following: dielectric constant, magnetic permeability, and scattering coefficient; and / or, an attribute parameter, which is a specific parameter value corresponding to the attribute type; and / or, a reliability parameter, which is used to indicate the reliability of the map-based element.

[0186] In combination with the sixth aspect, in certain implementations of the sixth aspect, the environment reconstructed map is a map after data compression.

[0187] In combination with the sixth aspect, in certain implementations of the sixth aspect, the environment reconstruction map is a map obtained by merging and compressing map base elements corresponding to the same type of information, and / or the environment reconstruction map is a map obtained by merging and compressing the same representation parameters.

[0188] The beneficial effects of the communication device described in the sixth aspect can refer to the beneficial effects of the method in the third aspect, and will not be repeated here.

[0189] In the seventh aspect, a communication device is provided, comprising: at least one processor and a communication interface, wherein the communication interface is used for the communication device to interact with other communication devices for information, and when program instructions are executed in the at least one processor, the communication device executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0190] Optionally, the communication device may further include a memory coupled to the processor, the processor being configured to implement the method described in the first aspect or any possible implementation of the first aspect. Exemplarily, the memory is configured to store instructions and data, and when the processor executes the instructions stored in the memory, the method described in the first aspect or any possible implementation of the first aspect may be implemented.

[0191] Alternatively, the communication interface may be a transceiver, a circuit, a bus, a module, a pin, or another type of communication interface.

[0192] In the eighth aspect, a communication device is provided, comprising: at least one processor and a communication interface, wherein the communication interface is used for the communication device to exchange information with other communication devices, and when program instructions are executed in the at least one processor, the communication device executes the method in the above-mentioned second aspect or any possible implementation of the second aspect.

[0193] Optionally, the communication device may further include a memory coupled to the processor, the processor being configured to implement the method described in the second aspect or any possible implementation of the second aspect. Exemplarily, the memory is configured to store instructions and data, and when the processor executes the instructions stored in the memory, the method described in the second aspect or any possible implementation of the second aspect may be implemented.

[0194] Alternatively, the communication interface may be a transceiver, a circuit, a bus, a module, a pin, or another type of communication interface.

[0195] In the ninth aspect, a communication device is provided, comprising: at least one processor and a communication interface, wherein the communication interface is used for the communication device to exchange information with other communication devices, and when program instructions are executed in the at least one processor, the communication device executes the method in the above-mentioned third aspect or any possible implementation of the third aspect.

[0196] Optionally, the communication device may further include a memory coupled to the processor, the processor being configured to implement the method described in the third aspect or any possible implementation of the third aspect. Exemplarily, the memory is configured to store instructions and data, and when the processor executes the instructions stored in the memory, the method described in the third aspect or any possible implementation of the third aspect may be implemented.

[0197] Alternatively, the communication interface may be a transceiver, a circuit, a bus, a module, a pin, or another type of communication interface.

[0198] In a tenth aspect, a chip system is provided, comprising a processor configured to implement, in a terminal device, the functions described in the first aspect or any possible implementation of the first aspect, such as receiving, sending, or processing the data and / or information described in the method. In one possible design, the chip system further comprises a memory configured to store program instructions and data necessary for the terminal device. The chip system may consist of a chip or may include a chip and other discrete components.

[0199] In an eleventh aspect, a chip system is provided, comprising a processor configured to implement, in a wireless access network device, the functions described in the second aspect or any possible implementation of the second aspect, such as receiving, transmitting, or processing the data and / or information described in the method. In one possible design, the chip system further comprises a memory configured to store program instructions and data necessary for the terminal device. The chip system may consist of a chip or may include a chip and other discrete components.

[0200] In a twelfth aspect, a chip system is provided, comprising a processor configured to implement, in a wireless access network device, the functions described in the third aspect or any possible implementation of the third aspect, such as receiving, transmitting, or processing the data and / or information described in the method. In one possible design, the chip system further comprises a memory configured to store program instructions and data necessary for the terminal device. The chip system may consist of a chip alone or may include a chip and other discrete components.

[0201] In the thirteenth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method in the aforementioned first aspect or any possible implementation of the first aspect is implemented.

[0202] In the fourteenth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method in the aforementioned second aspect or any possible implementation of the second aspect is implemented.

[0203] In the fifteenth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method in the aforementioned third aspect or any possible implementation of the third aspect is implemented.

[0204] In the sixteenth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0205] In the seventeenth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the above-mentioned second aspect or any possible implementation of the second aspect.

[0206] In the eighteenth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the third aspect or any possible implementation of the third aspect.

[0207] In the nineteenth aspect, a communication system is provided, comprising the terminal equipment described in the fourth aspect and the wireless access network equipment described in the fifth aspect; or the communication system comprises the communication device described in the fourth aspect and the communication device described in the sixth aspect.

[0208] It can be understood that any of the communication devices, chip systems, computer-readable storage media or computer program products provided above are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0209] FIG1 is a schematic diagram of a communication system provided in an embodiment of the present application.

[0210] FIG2 is a flow chart of a communication method provided in an embodiment of the present application.

[0211] FIG3 is a schematic diagram of the structure of an octree provided in an embodiment of the present application.

[0212] FIG4 is a flow chart of another communication method provided in an embodiment of the present application.

[0213] FIG5 is a flow chart of another communication method provided in an embodiment of the present application.

[0214] FIG6 is a flow chart of another communication method provided in an embodiment of the present application.

[0215] FIG7 is a flow chart of another communication method provided in an embodiment of the present application.

[0216] FIG8 is a flow chart of another communication method provided in an embodiment of the present application.

[0217] FIG9 is a flow chart of another communication method provided in an embodiment of the present application.

[0218] FIG10 is a flow chart of another communication method provided in an embodiment of the present application.

[0219] FIG11 is a flow chart of another communication method provided in an embodiment of the present application.

[0220] FIG12 is a flow chart of another communication method provided in an embodiment of the present application.

[0221] FIG13 is a flow chart of another communication method provided in an embodiment of the present application.

[0222] FIG14 is a flow chart of another communication method provided in an embodiment of the present application.

[0223] FIG15 is a schematic diagram of a segment of time-frequency resources provided in an embodiment of the present application.

[0224] FIG16 is a schematic structural diagram of a communication device provided in an embodiment of the present application.

[0225] FIG17 is a schematic structural diagram of another communication device provided in an embodiment of the present application.

[0226] FIG18 is a schematic structural diagram of another communication device provided in an embodiment of the present application.

[0227] Figure 19 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0228] The technical solution in this application will be described below with reference to the accompanying drawings.

[0229] In this application, "at least one" refers to one or more, and "a plurality of" refers to two or more. In addition, in the embodiments of the present application, "first", "second" and various digital numbers are only used to distinguish for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of each process below does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. In addition, in the embodiments of the present application, words such as "101", "102", and "103" are only used for the convenience of description and do not limit the order of execution of the steps.

[0230] In the present application, "used to indicate" may include being used for direct indication and being used for indirect indication. When describing that a certain indication information is used to indicate A, it may include that the indication information directly indicates A or indirectly indicates A, and it does not mean that the indication information must carry A. In the embodiments of the present application, descriptions such as "when...", "in the case of...", "if" and "if" all refer to that the device will make corresponding processing under certain objective circumstances, which is not a time limit, and does not require the device to have a judgment action when implemented, nor does it mean that there are other limitations. It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0231] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0232] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: global system for mobile communications (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) system, general packet radio service (GPRS), LTE system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, universal mobile telecommunication system (UMTS), world-wide interoperability for microwave access (WiMAX) communication system, fifth generation (5G) system or new radio (NR) and other evolved communication systems, vehicle-to-other devices (V2X), where V2X can include vehicle to network (V2N), vehicle to vehicle (V2V), vehicle to infrastructure (V2I), vehicle to pedestrian (V2I), and vehicle to pedestrian (V2P), long term evolution-vehicle (LTE-V), Internet of Vehicles, machine type communication (MTC), Internet of Things (IoT), long term evolution-machine (LTE-M), machine to machine (M2M), device to device (D2D), etc.

[0233] The communication system includes a radio access network (RAN). The RAN can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as a 4G or 5G mobile communication system, or a future-oriented evolution system (such as a 6G mobile communication system). The RAN can also be an open access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. The RAN can also be a communication system that integrates two or more of the above systems.

[0234] RAN nodes, sometimes also referred to as access network equipment, network equipment, RAN entities, or access nodes, form part of a communications system and facilitate wireless access for terminals. Multiple RAN nodes in a communications system can be of the same or different types. In some scenarios, the roles of RAN nodes and terminals are relative.

[0235] In one possible scenario, a RAN node may be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), a next generation base station in a sixth generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. A RAN node may be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or a wireless controller in a CRAN scenario. Optionally, a RAN node may also be a server, a wearable device, a vehicle or an onboard device. For example, an access network device in vehicle to everything (V2X) technology may be a road side unit (RSU). All or part of the functions of the RAN node in this application may also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform (e.g., a cloud platform). The RAN node in this application may also be a logical node, a logical module, or software that can implement all or part of the functions of a RAN node.

[0236] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, and different RAN nodes respectively implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be set separately, or they can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0237] The terminal device in the embodiments of the present application may refer to user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal device may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, a terminal device in a 5G network or a terminal device in an evolved public land mobile network (PLMN), etc., and the embodiments of the present application are not limited to this. For example, the terminal device can be an on-board device, a complete vehicle device, an on-board module, a vehicle, an on-board unit (OBU), a roadside unit (RSU), a telematics box (T-box), a chip or a system on chip (SOC), etc. The above chip or SOC can be installed in a vehicle, OBU, RSU or T-box.

[0238] The terminal devices involved in the embodiments of the present application also include at least one of user equipment, augmented reality (AR) / virtual reality (VR) / extended reality (XR) devices, wearable devices, smart home appliance terminals, terminal devices and communication modules of terminal devices, mobile phones and communication modules in mobile phones, vehicles and communication modules in vehicles, information processing equipment, display devices, network devices, base stations, TRPs, customer premise equipment (CPE), routers, network access devices, etc. Considering Uu (UTRAN-to-terminal equipment) air interface transmission, the two parties of wireless communication include network devices and user communication equipment; considering sidelink (SL) air interface transmission, the transmitting and receiving ends of wireless communication are both user communication equipment. The network device can be a traditional macro base station eNB in ​​a traditional UMTS / LTE wireless communication system, a micro base station eNB in ​​a heterogeneous network (HetNet) scenario, a baseband processing unit and a remote radio unit in a distributed base station scenario, a baseband pool BBU pool and a radio frequency unit RRU in a CRAN scenario, and a gNB in ​​a wireless communication system.

[0239] In the embodiments of the present application, the network device may be any device with wireless transceiver functions. The device includes, but is not limited to, an evolved Node B (eNB), a radio network controller (RNC), a Node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (e.g., a home evolved Node B, or a home Node B, HNB), a baseband unit (BBU), an access point (AP) in a wireless fidelity (WiFi) system, a wireless relay node, a wireless backhaul node, a transmission point (TP), or a transmission and reception point (TRP), etc. It may also be a gNB in ​​a 5G, such as NR, system, or a transmission point (TRP or TP), one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, or a network node constituting a gNB or a transmission point, such as a baseband unit or a distributed unit, etc.

[0240] In some deployments, a gNB may include a centralized unit (CU) and a DU. The gNB may also include an active antenna unit (AAU). The CU implements some gNB functions, while the DU implements some gNB functions. For example, the CU is responsible for processing non-real-time protocols and services, and implementing the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers. The DU is responsible for processing physical layer protocols and real-time services, and implementing the functions of the radio link control (RLC), medium access control (MAC), and physical (PHY) layers. The AAU implements some physical layer processing functions, RF processing, and active antenna-related functions. Because RRC layer information ultimately becomes PHY layer information, or is converted from PHY layer information, in this architecture, higher-layer signaling, such as RRC layer signaling, can also be considered to be sent by the DU, or by both the DU and the AAU. It is understood that a network device can be a device that includes one or more of a CU node, a DU node, or an AAU node. In addition, the CU may be classified as a network device in an access network (radio access network, RAN), or may be classified as a network device in a core network (core network, CN), which is not limited in this application.

[0241] Network equipment provides services for cells, and terminal devices communicate with cells through transmission resources allocated by the network equipment (for example, frequency domain resources, or spectrum resources). The cell can belong to a macro base station (for example, a macro eNB or macro gNB), or to a base station corresponding to a small cell. Small cells here can include: metro cells, micro cells, pico cells, femto cells, etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-speed data transmission services.

[0242] In an embodiment of the present application, a terminal device or a network device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a Windows operating system. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software. In addition, the present application does not specifically limit the specific structure of the execution subject of the method provided by the present application. As long as it is possible to communicate according to the method provided by the embodiment of the present application by running a program that records the code of the method provided by the present application, for example, the execution subject of the method provided by the embodiment of the present application can be a terminal device or a network device, or a functional module in a terminal device or a network device that can call a program and execute the program.

[0243] FIG1 is a schematic diagram of a communication system applicable to an embodiment of the present application.

[0244] As shown in Figure 1, the sensing device is a device with sensing capabilities, which can be a terminal device with sensing capabilities such as a mobile phone, a vehicle, etc., or a network device with sensing capabilities such as a base station. The sensing capability can be achieved through several sensors that sense information about the environment around the sensing device. For example, the sensing capability can be achieved through the global positioning system (GPS), the Beidou system or other positioning systems, an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, a radio, an infrared, and a camera device. The sensing center can be a terminal device with receiving capabilities such as a mobile phone, a vehicle, etc., or a network device with receiving capabilities such as a base station. It can be understood that the sensing device can be a device with sensing / imaging capabilities, and the sensing center is a device that receives the sensing / imaging results.

[0245] In some embodiments, as shown in FIG1 , the perception device may send the perception results (such as the environment reconstruction map described below) to the perception center. The perception center may receive the perception results of multiple perception devices and may fuse them to help the perception center obtain more complete or more accurate perception results. Furthermore, the perception center may perform related communication tasks and / or perception tasks. Among them, communication tasks include but are not limited to the following: MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission; perception tasks include but are not limited to the following: positioning / tracking / identification tasks, imaging, assisting subsequent environmental perception, radar scanning, assisting perception scanning parameter evaluation, etc.

[0246] In some embodiments, as shown in FIG1 , the perception center may also send its pre-acquired environment reconstruction map to the perception device, so that the perception device can perform related communication tasks and / or perception tasks based on the environment reconstruction map without the need for repeated perception.

[0247] It should be understood that Figure 1 is merely a schematic diagram and may include other devices not shown. In addition, the embodiments of the present application do not limit the number of sensing devices and sensing centers included in the communication system.

[0248] It should be noted that, in some embodiments, the first communication device hereinafter may be a perception device, and the second communication device may be a perception center. In other embodiments, the first communication device hereinafter may be a perception center, and the second communication device may be a perception device, which is not limited in this application.

[0249] Before introducing the technical solutions involved in this application, the relevant technologies involved in the embodiments of this application are first introduced.

[0250] Existing environmental reconstruction solutions typically use methods such as optical scanning and laser radar (LiDAR), simultaneous localization and mapping (SLAM), remote sensing, and light field reconstruction to collect environmental information. The data formats obtained from the raw environmental information collected by these methods vary across different environmental reconstruction solutions. For example, in terrain reconstruction, the three-dimensional Delaunay triangulation algorithm is often used to generate a constrained polyhedron model to represent different terrains, or the convex hull algorithm is used to extract the convex hull of the original point cloud data. The data exists in the format of a polyhedron. The MPEG-GPCC (moving picture experts group–geometry based point cloud compression) scheme considers 3D data representation based on octree voxels, dividing the space where the 3D point cloud is located into eight subspaces. For example, a subspace with a value of 1 indicates that it contains a point, and a value of 0 indicates that it does not contain a point. These eight indicator values ​​are recorded, and then the subspace with a value of 1 in the first layer is divided into eight subspaces again. In the same way, their eight indicator values ​​are recorded as the indicator values ​​of the second layer. The same logic is applied to subsequent layers to obtain an octree representing the original point cloud. The MPEG-VPCC (MPEG-video based point cloud compression) scheme projects the original 3D point cloud data onto six surrounding planes and uses traditional H264 compression to process the resulting 2D data.

[0251] There are also some approaches that approximate environmental objects by simply combining different geometric types. For example, boundary representation (B-Rep) represents 3D objects by combining vertices, edges, and faces, while non-uniform rational b-splines (NURBS) approximate complex geometric shapes by using NURBS curves and surfaces.

[0252] Different existing solutions mentioned above will produce different geometric types, and the data formats of different geometric types are also different.

[0253] Among existing technical solutions, solutions such as MPEG-VPCC and MPEG-GPCC only target a single geometric type when reconstructing the environment; other solutions that simply combine several geometric types can only support a small number of the covered geometric types. The main problems are: lack of standards and universality. Different application scenarios and different tasks require different geometric types of environmental reconstruction, and there is a lack of universal definitions and solutions; difficulty in handling complex structures. When fitting complex geometric bodies with a small number of supported geometric types, it may be necessary to introduce many parameters, increasing the computational complexity; data storage issues. For environmental reconstruction of large and complex scenes, if multiple environmental reconstruction solutions are used at the same time, complex data with different formats and large scale will be generated, posing a huge challenge to data compression and storage; poor dynamic environment processing capabilities. Solutions using a single geometric type configuration will have difficulty adapting to rapidly changing environments.

[0254] Based on the above-mentioned technological status, this application proposes a communication method for next-generation wireless communications (e.g., 6G) perception environment reconstruction and digital twins, which flexibly uses different data formats for different perception tasks and different device capabilities. Furthermore, it can also achieve perception-assisted communication, improve the accuracy of communication-related parameters, and obtain more optimal transmission / scheduling parameters.

[0255] The communication method provided by this application is described below with reference to Figures 2 to 14.

[0256] The communication method provided in this application can be executed by a first communication device, or it can be implemented by the interaction between the first communication device and the second communication device, which is not specifically limited in this application. In actual application, the number of first communication devices and second communication devices may be multiple, which is not specifically limited in this application. Unless otherwise specified, the "first communication device" in this application can refer to the first communication device itself (for example, a network device, a terminal device), or a component in the first communication device (for example, a processor, a chip, or a chip system, etc.), or it can also be a logic module or software that can implement all or part of the functions of the first communication device. The "second communication device" in this application can refer to the second communication device itself (for example, a network device, a terminal device), or it can be a component in the second communication device (for example, a processor, a chip, or a chip system, etc.), or it can also be a logic module or software that can implement all or part of the functions of the second communication device.

[0257] It should be noted that in this application, the meanings of communication service and communication task are the same, the meanings of perception service and perception task are the same, the meanings of first task and first service are the same, and the meanings of target service and target task are the same. In other words, the communication service in this application can be replaced by communication task, the perception service can be replaced by perception task, the first service can be replaced by first task, and the target service can be replaced by target task, that is, "service" and "task" can be expressed interchangeably.

[0258] Figure 2 is a flow chart of a communication method provided in an embodiment of the present application. The method involves interaction between a first communication device and a second communication device, which may be a network device or a terminal device, and is not limited in this application.

[0259] S110: The first communication device obtains an environment reconstruction map of the first space.

[0260] The first space is a space within a preset range of the first communication device. The "preset range" can be understood as the spatial range that can be scanned by a sensor configured on the first communication device during scanning, or the spatial range covered by the environmental reconstruction map sent by the second communication device when the first communication device receives the environmental reconstruction map, or the spatial range of the environmental reconstruction map adapted to the first communication device. The environmental reconstruction map is expressed using a map base element, which includes map base element parameter information.

[0261] The parameter information of the map base element may include type information and position information of the map base element, wherein the type information of the map base element may specifically be geometric type information.

[0262] In some embodiments, the type information of the map base element includes at least one of the following: point, line, curve, plane, surface, cube, cylinder, cone, sphere, voxel, and octree.

[0263] In some embodiments, the location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstruction map, the index of the map base element in the environment reconstruction map, and the spatial range of the map base element in the environment reconstruction map.

[0264] The parameter information of the map-based element may further include: representation parameters, and / or attribute types, and / or attribute parameters, and / or reliability parameters, wherein the representation parameters are used to represent the geometric features of the map-based element; the attribute types include at least one of the following: material, texture, dielectric constant, magnetic permeability, scattering coefficient; the attribute parameters are specific parameter values ​​corresponding to the attribute types; the reliability parameters are used to indicate the reliability of the map-based element, and the reliability parameters can also be understood as the confidence level of the map-based element.

[0265] Exemplarily, if the first communication device is a base station, the base station can receive environment reconstruction maps sent by multiple UEs, and the environment reconstruction map can carry reliability parameters. For example, the reliability parameter of the map base element of the environment reconstruction map of UE 1 is 70%, and the reliability parameter of the map base element of the environment reconstruction map of UE 2 is 80%. The base station can select a map with a higher reliability parameter based on the reliability parameters of the environment reconstruction maps reported by UE 1 and UE 2, or weight the map base elements of UE 1 and UE 2 according to the reliability parameters, and fuse the environment reconstruction map of UE 1 and the environment reconstruction map of UE 2 to obtain an environment reconstruction map with higher accuracy.

[0266] The following is a brief introduction to map base elements of different geometric types.

[0267] Type 1: Point

[0268] The parameter information of a point includes the location information of the point, which may include the coordinates of the point in the environment reconstruction map and / or the index of the point in the environment reconstruction map. The coordinates of the point can be represented by Cartesian coordinates, polar coordinates, or cylindrical coordinates. In other words, the location information of the point can be the Cartesian coordinate value (x, y, z) of the point in the environment reconstruction map, or the polar coordinate value of the point in the environment reconstruction map. Or the cylindrical coordinate value of the point in the environment reconstruction map

[0269] Optionally, if the coordinates of many points are predefined, the location information of the point can be the index of the point in the environment reconstruction map, that is, the location information of the point does not need to be directly represented by the coordinate value of the point, but the index value corresponding to each point can be used to represent the location information of the point.

[0270] Type 2: Straight Line

[0271] The parameter information of a line can include the coordinates of the line in the environment reconstruction map, the index of the line in the environment reconstruction map, the coordinates of the starting point of the line in the environment reconstruction map, and the representation parameters (i.e., the direction vector). In other words, the parameter information of a line can be {the coordinates of two points}, or {the index of two points}, or {the coordinates of the starting point, the direction vector}, etc.

[0272] Type 3: Curve

[0273] The parameter information of a curve can also be expressed in a variety of ways. The parameter information of a curve can be defined by a curve equation / function.

[0274] In one example, the curve equation may be: Parabola y=ax 2+ bx + c, etc., the parameter information of the curve includes the representation parameters and the spatial range of the curve in the environmental reconstruction map. The curve range can be a constraint condition (e.g., x 2 + y 2 ≤ a), or a numerical range of variables (e.g., x < a, y < b), etc. For example, the parameter information of the curve is {curve parameters a, b, c, etc., curve range}.

[0275] In another example, the curve equation can be a p-order B-spline curve then the parameter information of the curve includes the control point sequence P of the curve i , optionally, the parameter information of the curve can also include the knot sequence {u} and / or the curve order p. That is to say, the parameter information of the B-spline curve can include any of the following: {control point sequence P of the curve i}, {control point sequence P of the curve i , knot sequence {u}{v}}, {control point sequence P of the curve i , curve order p}, {control point sequence P of the curve i , knot sequence {u}{v}, curve order p}, where the control point sequence P i will determine the spatial range of the B-spline curve in the environmental reconstruction map.

[0276] Type Four: Plane / Facet

[0277] The parameter information of the plane / facet has the following ways.

[0278] In one example, the plane is a polygon, and the polygon is composed of multiple points. Then the parameter information of the polygon includes the total number of points and the coordinates / indices of each point. That is to say, the parameter information of the plane can be {number of points, coordinates of each point} or {number of points, indices of each point}. It should be understood that if the coordinates of many points are predefined, the coordinate values of the points can be represented by the index values of the points.

[0279] In another example, the parameter information of the plane can be defined by an equation / function. Then the parameter information of the plane includes the representation parameters of the plane and the spatial range of the plane in the environmental reconstruction map. For example, the expression of the plane can be: ax + by + cz + d = 0, and the plane range can be a constraint condition (e.g., x 2 + y 2 + z 2 ≤ a), or a numerical range of variables (e.g., x < a, y < b, z < c), etc., and can also be a bounding box. Therefore, the parameter information of the plane can be {plane parameters a, b, c, d, plane range}.

[0280] Type Five: Surface

[0281] The parametric information of a surface can also be represented in various ways. The parametric information of a surface can be defined by a surface equation / function.

[0282] In one example, the surface equation can be, for example: an ellipsoid a paraboloid etc. Then, the parametric information of the surface includes the representation parameters of the surface and the spatial range of the surface in the environmental reconstruction map. The surface range can be a constraint condition (e.g., x 2 + y 2 + z 2 ≤ a), or a numerical range of variables (e.g., x < a, y < b, z < c), etc. It can also be a bounding box. For example, the parametric information of the surface is {surface parameters a, b, c, etc., surface range}.

[0283] In another example, the surface equation can be a B-spline surface of order p×q. Then, the parametric information of the surface includes the control point sequence P of the surface i,j , optionally, the parametric information of the surface can also include the knot sequences {u}{v} and / or the surface orders p, q. That is, the geometric representation parameters of the B-spline surface can include any one of the following: {control point sequence P of the surface i,j}, {control point sequence P of the surface i,j and knot sequences {u}{v}}, {control point sequence P of the surface i,j and surface orders p, q}, {control point sequence P of the surface i,j and knot sequences {u}{v} and surface orders p, q}, where the control point sequence P i,j will determine the spatial range of the B-spline surface in the environmental reconstruction map.

[0284] In yet another example, the surface can be a NURBS surface. The parametric information of the surface includes the control point sequence and the weight factor sequence of the surface. Optionally, the parametric information of the surface can also include the knot sequence and / or the surface order. That is, the parametric information of the NURBS surface can include any one of the following: {control point sequence of the surface, weight factor sequence}, {control point sequence of the surface, weight factor sequence, knot sequence}, {control point sequence of the surface, weight factor sequence, surface order}, {control point sequence of the surface, weight factor sequence, knot sequence, surface order}.

[0285] Type Six: Cube

[0286] The parametric information of a cube can be represented in the following multiple ways:

[0287] In one example, a cube may be composed of multiple points, and thus the parameter information of the cube may include {the number of points, the coordinates of each point}, or {the number of points, the index of each point}.

[0288] In another example, a cube may be composed of multiple points and heights, so the parameter information of the cube may include {the number of points on the plane, the coordinates of each point on the plane, the height of the cube}, or {the number of points on the plane, the index of each point on the plane, the height of the cube}.

[0289] Type 7: Cylinder

[0290] The parameter information of the cylinder may include the coordinates of the center point of the cylinder in the environment reconstruction map and representation parameters (such as radius, height, cylinder direction, etc.). Exemplarily, the parameter information of the cylinder may include: {center point, radius, height}, or {center point, cylinder direction, radius, height}.

[0291] Type 8: Vertebral body

[0292] The parameter information of the vertebra may include the coordinates and representation parameters (such as radius, height of the vertebra) of the center point or the vertex of the vertebra in the environment reconstruction map.

[0293] In an example, the parameter information of the vertebra may include: {center point, radius, height of the vertebra / vertebra apex}, or {center point, direction of the vertebra, radius, height of the vertebra / vertebra apex}.

[0294] In another example, the parameter information of the vertebra may include: {the number of points on the plane, the coordinates / index of each point on the plane, the height of the vertebra / vertebral apex}.

[0295] Type 9: Sphere

[0296] The parameter information of the sphere may include the coordinates of the center point of the sphere in the environment reconstruction map and the representation parameters (ie, radius). Exemplarily, the parameter information of the sphere includes {center point, radius}.

[0297] Type 10: Voxel

[0298] Voxel is short for volume pixel in 3D space, similar to pixels in 2D images. Each voxel represents a discrete 3D spatial unit, usually a cube or a tesseract. Voxels are usually arranged in 3D space in the form of a 3D grid, forming a voxel grid. Each grid cell contains a voxel, similar to the pixel grid in 2D images. Voxel parameter information can be expressed in a variety of ways:

[0299] In an example, the parameter information of the voxel may include: {the size of the voxel space box, the size of the voxel unit, and information on whether each voxel unit is empty}. Optionally, the parameter information may also include the starting point of the voxel space.

[0300] In another example, the parameter information of the voxel may include: {the number of voxel units in each direction of the voxel space, the size of the voxel unit, and information on whether each voxel unit is empty}. Optionally, the parameter information may also include the starting point of the voxel space.

[0301] Type 11: Octree

[0302] An octree is a tree-like data structure commonly used to represent objects or scenes in three-dimensional space. Each internal node of an octree has up to eight child nodes, corresponding to eight equal-volume cubes in three-dimensional space. The octree recursively divides three-dimensional space into child nodes, each representing a subcube. Octrees are commonly used to represent three-dimensional objects such as models, objects, and scenes. Each leaf node stores object information, such as its geometry and material properties.

[0303] The parameter information of the octree can include {tree structure information}. For example, after traversing the tree horizontally (breadth-first) or vertically (depth-first), information about all nodes can be obtained, which can be used to represent the tree structure information.

[0304] For example, as shown in FIG3 , the specific bit string (hexadecimal in brackets) obtained after horizontally traversing the octree is {0x98, 0xFF, 0x0F, 0x88, 0xFF, 0xAA, 0xFF, 0xAA, 0xFF, 0xAA, 0xFF, 0xAA, 0x0F, 0x0F, 0x0F, 0xFF, 0xFF}.

[0305] In one example, the tree structure information can be directly represented by the bit string obtained after traversing the tree. In another example, in order to further reduce the indication overhead, the tree structure information can also be represented by the bit string after entropy coding.

[0306] Optionally, the representation parameters may further include geometric transformation parameters such as translation amount, rotation vector, scaling factor, etc., so as to perform operations such as translation, rotation, scaling, etc. on the above basic representation.

[0307] It should be noted that the identification of the geometric type of the map base element can be indicated by enumeration, index, bitmap, etc.

[0308] In one example, an enumeration method may be used to indicate the identification of the geometry type, for example, {POINT, PATCH, SURFACE, CUBE, CONE, CURVE, ...} indicates that the geometry types used include point, plane, surface, cube, cone, curve, etc.

[0309] In another example, an index can be used to indicate the geometry type. Specifically, this can be represented in conjunction with a table. The table can be agreed upon by protocol, dynamically configured by the base station to the UE, or dynamically indicated by the UE to the base station. For example, in conjunction with Table 1 or Table 2, the index corresponding to the geometry type can be selected to indicate the geometry type. For example, in conjunction with Table 1, {0, 1, 3} indicates that the geometry types used are point, plane / facet, and cube.

[0310] Table 1

[0311] Optionally, different indexes may be used to distinguish different formula definitions under the same geometry type. As shown in Table 2, indexes 2, 3, and 4 represent different formula types of surfaces, respectively.

[0312] Table 2

[0313] In another example, a bitmap can be used to indicate the geometry type identifier. Combined with the geometry type in the table, each bit corresponds to a type. For example, 110100 indicates the use of item 1, 2, and 4 types in the table, that is, the geometry types used in combination with Table 1 are point, plane / face, and cube.

[0314] Optionally, the identification of the attribute type of the map base element may also be indicated by enumeration, index, bitmap, etc.

[0315] It should be noted that the indication of the attribute type and the indication of the geometry type may use the same message or different messages. The attribute type may include material, texture, dielectric constant, magnetic permeability, scattering coefficient, etc.

[0316] Among them, material is used to characterize the category of target objects, such as: ground, buildings, vegetation and water bodies. Texture is used to characterize the changes in the visual characteristics of the target object, including local texture characteristics and global texture characteristics. The dielectric constant is the main parameter that reflects the dielectric properties or polarization properties of the dielectric of piezoelectric smart materials under the action of an electrostatic field; the polarity of polymer materials can be determined based on the dielectric constant of the substance. Magnetic permeability, a physical quantity that characterizes the degree of magnetization of the target object, or the magnetism of the magnetic medium, represents the resistance to magnetic flux generated by a coil in space or in the space of a magnetic core, or its ability to conduct magnetic lines of force in a magnetic field. The scattering coefficient refers to the reflectivity per unit area.

[0317] In one example, an enumeration method may be used to indicate the identifier of the attribute type. For example, {MATERIAL, TEXTURE, PERMEABILITY} indicates that the attribute types used are material, texture, and permeability.

[0318] In another example, an index can be used to indicate the identifier of an attribute type. This can be specifically represented in a table. The table can be agreed upon in a protocol, dynamically configured by the base station to the UE, or dynamically indicated by the UE to the base station. For example, referring to Table 3, an index corresponding to an attribute type can be selected to indicate the identifier of the attribute type. For example, referring to Table 3, {0, 1, 3} indicates that the attribute types used are material, texture, and magnetic permeability.

[0319] Table 3

[0320] In another example, a bitmap may be used to indicate the identifier of the attribute type. In combination with the attribute types in the table, each bit corresponds to a type. For example, 11001 indicates that other attributes used in combination with Table 3 include material, texture, and scattering coefficient.

[0321] It should be understood that the environment reconstruction map can be expressed by one or more map-based elements.

[0322] In some embodiments, each map base element may separately indicate an identifier of a geometry type. The environment reconstruction map may include a total number N of map base elements and N map base elements, and the N map base elements may include parameter information of the N map base elements.

[0323] The environmental reconstruction map can be represented as: {total number of map base elements N, map base element 1, map base element 2, ..., map base element N}, where map base element i can be represented as: {geometry type identifier, corresponding location information}, 1 ≤ i ≤ N. Optionally, map base element i can also include one or more of a representation parameter, an attribute type, an attribute parameter, and a reliability parameter.

[0324] For example, when the geometry type is point, the map base element may include: {number of points P, (x0, y0, z0), ..., (x p ,y p ,z p )}. For another example, when the geometry type is a cube, the map base element may include: {the number of points P on the plane, the coordinates of the P points, the height of the cube}. For another example, when there are multiple cubes, the map base element may include: {the total number of cubes K, the first cube parameter {the number of points p0 on the plane, the coordinates of the p0 point, the height of the cube}, ..., the Kth cube parameter {the number of points p on the plane, the coordinates of the p0 point, the height of the cube}, ...,k , p k The coordinates of the points, the height of the cube}}.

[0325] In other embodiments, multiple map base elements may incorporate an identifier indicating a geometry type. The reconstructed environment map may include a total number M of geometry types and parameter information for each of the M geometry types. The parameter information for each of the M geometry types includes the identifier of the geometry type, the total number of map base elements included in the geometry type, and the location information corresponding to the map base elements. Optionally, the map base element may also include one or more of a representation parameter, an attribute type, an attribute parameter, and a reliability parameter.

[0326] The environment reconstruction map can be expressed as: {total number of geometric types M, parameter information of geometric type 1, parameter information of geometric type 2, ..., parameter information of geometric type M}, wherein the parameter information of geometric type j is expressed as: {geometric type identifier j, total number of elements N j , element 1, ..., element N j}, wherein the element may include: {location information}. Optionally, the map-based element may further include one or more of a representation parameter, an attribute type, an attribute parameter, and a reliability parameter.

[0327] It should be noted that the environmental reconstruction map may be a compressed map. That is, in embodiments of the present application, prior to transmitting the environmental reconstruction map, the map-based elements included in the map may be combined and compressed. Compression methods include, but are not limited to, transformation, projection, differentiation, quantization, and entropy coding. It should be understood that data compression can reduce data transmission volume and air interface overhead.

[0328] In one example, the environment reconstruction map may be a map obtained by merging and compressing map base elements corresponding to the same type of information.

[0329] As mentioned above, the environment reconstruction map can be expressed as: {total number of geometric types M, parameter information of geometric type 1, parameter information of geometric type 2, ..., parameter information of geometric type M}, wherein the parameter information of geometric type j is expressed as: {geometric type identifier j, total number of elements N j , element 1, ..., element N j}, wherein the element may include: {location information}. Optionally, the map-based element may further include one or more of a representation parameter, an attribute type, an attribute parameter, and a reliability parameter.

[0330] In this example, the same geometry type j corresponding to {element 1, ..., element N j} for merging and compression, for example, operations such as transformation, projection, difference, quantization, and entropy coding can be used for merging and compression.

[0331] For example, if the geometry type identifier j is POINT, then the point cloud composed of multiple map base elements can be jointly compressed to reduce data transmission volume. For another example, if the geometry type identifier j is B-spline surface, the parameter information corresponding to a map base element can be {control point sequence, node sequence}, then the multiple control point sequences of multiple map base elements can be merged and jointly compressed.

[0332] In another example, the environment reconstruction map may be a map obtained by merging and compressing the same representation parameters. In this example, parameters of the same type may be merged and jointly compressed.

[0333] For example, the environment reconstruction map can be expressed as: {total number of map base elements N, map base element 1, ..., map base element N}, where map base element i contains: {geometric type identifier, corresponding location information}; or, the environment reconstruction map can be expressed as: {total number of geometric types M, geometric type parameter information 1, geometric type parameter information 2, ..., geometric type parameter information M}, where geometric type parameter information j is expressed as: {geometric type identifier j, total number of elements N j , element 1, ..., element N j}, where the element may include: {location information}.

[0334] If some map base elements (same or different types) include similar parameters a, all a's in different map base elements can be combined and compressed jointly. The compression method can use transformation, projection, difference, quantization, entropy coding, etc.

[0335] For example, a map base element with a geometry type identified as a point (POINT) includes coordinates (x, y, z), and a map base element with a geometry type identified as a plane / patch (POLYGON) also includes coordinates (x, y, z). Therefore, the coordinates contained in all point and plane elements can be merged and jointly compressed. For another example, a map base element with a geometry type identified as a B-spline surface includes a control point sequence, and a map base element with a geometry type identified as a B-spline curve also includes a control point sequence. Therefore, the control point sequences contained in all B-spline surfaces and B-spline curves can be merged and jointly compressed.

[0336] It should be noted that in this step (ie, S110), the first communication device may obtain the environment reconstruction map of the first space by scanning the first space, or may receive the environment reconstruction map sent by other devices (such as the second communication device).

[0337] In some embodiments, the first communication device may scan the first space to obtain an environment reconstruction map of the first space.

[0338] That is, the first communication device can perceive the first space and obtain the environment reconstruction map of the first space, thereby obtaining the environment reconstruction map of the first space without the participation of other devices.

[0339] In an example, the environment reconstruction map may be expressed by a map base element corresponding to the first capability information, where the first capability information is used to indicate type information of the map base element supported by the first communication device.

[0340] In this example, the first communication device can scan and obtain an environment reconstruction map of the first space, and the environment reconstruction map can be expressed using map base elements corresponding to the first capability information. In other words, the environment reconstruction map can be expressed using map base elements supported by the first communication device. For example, if the first communication device supports voxel-type data, the environment reconstruction map can be expressed using voxel-type map base elements.

[0341] In another example, the first communication device may also receive second capability information sent by the second communication device, and the environment reconstruction map may be expressed using map base elements corresponding to the second capability information. The second capability information indicates the type information of the map base elements supported by the second communication device. This is described in detail below with reference to FIG4 .

[0342] In this example, the first communication device can receive the second capability information sent by the second communication device. Considering that the types of map base elements supported by the second communication device may be fewer than the types of map base elements supported by the first communication device, the environment reconstruction map scanned and obtained by the first communication device can be expressed by the map base elements corresponding to the second capability information, and then the environment reconstruction map can be sent to the second communication device for use by the second communication device.

[0343] In another example, a first communication device receives second capability information sent by a second communication device, the second capability information indicating type information of map-based elements supported by the second communication device. The first communication device determines third capability information based on the second capability information and the first capability information, the first capability information indicating type information of map-based elements supported by the first communication device, and the third capability information indicating at least one item of type information of map-based elements supported by both the first and second communication devices. The environment reconstruction map is expressed using multiple map-based elements corresponding to the third capability information. This is described in detail below with reference to Figure 5.

[0344] Considering that the type information supported by the first communication device and the second communication device may be different, in this example, the first communication device can receive the second capability information sent by the second communication device, so that the third capability information can be determined based on the second capability information and the first capability information, and the environment reconstruction map can be expressed based on multiple map base elements corresponding to the third capability information.

[0345] In other embodiments, the first communication device may receive an environment reconstruction map of the first space sent by the second communication device.

[0346] That is to say, the first communication device does not need to scan / perceive the first space, but can directly receive the environment reconstruction map of the first space sent by the second communication device, thereby reducing the overhead of the first communication device and reducing the power consumption of the first communication device itself.

[0347] The environment reconstruction map may be expressed by a map base element corresponding to the second capability information, and the second capability information is used to indicate type information of the map base element supported by the second communication device.

[0348] In one example, the first communication device may further receive second capability information sent by the second communication device, the second capability information indicating the type information of map-based elements supported by the second communication device. The environment reconstruction map is expressed using the map-based elements corresponding to the second capability information, and the second capability information indicates the type information of map-based elements supported by the second communication device. This is explained in detail below with reference to Figure 8.

[0349] In another example, the first communication device may send first capability information to the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

[0350] For example, the environment reconstruction map can be expressed by the map-based elements corresponding to the first capability information, which will be described in detail below with reference to FIG9 .

[0351] Exemplarily, the environment reconstruction map may also be expressed using a map base element corresponding to third capability information, where the third capability information indicates at least one item of map base element type information commonly supported by the first communication device and the second communication device. This will be described in detail below with reference to FIG10 .

[0352] Considering that the type information of the map base elements supported by the first communication device and the second communication device may be different, in this example, the second communication device can determine the third capability information based on the received first capability information and its own second capability information, so that the environment reconstruction map can also be expressed through the map base element corresponding to the third capability information.

[0353] In another example, a first communication device receives second capability information sent by a second communication device, the second capability information indicating type information of map-based elements supported by the second communication device. The first communication device determines third capability information based on the second capability information and the first capability information, the first capability information indicating type information of map-based elements supported by the first communication device, and the third capability information indicating at least one type of map-based element supported by both the first and second communication devices. The first communication device sends the third capability information to the second communication device, wherein the environment reconstruction map is expressed using the map-based elements corresponding to the third capability information. This is explained in detail below with reference to Figure 11.

[0354] Considering that the type information of the map base elements supported by the first communication device and the second communication device may be different, in this example, the first communication device can determine the third capability information based on the received second capability information and its own first capability information, so that the environment reconstruction map can also be expressed through the map base element corresponding to the third capability information.

[0355] In some embodiments, a first communication device receives a global environment reconstruction map sent by a second communication device, the global environment reconstruction map being expressed using map base elements corresponding to second capability information, the second capability information indicating the types of map base elements supported by the second communication device; and the first communication device determines, based on the first capability information, the environment reconstruction map from the global environment reconstruction map, the environment reconstruction map being expressed using map base elements corresponding to the first capability information, the first capability information indicating the types of map base elements supported by the first communication device. This will be explained in detail below with reference to FIG6 .

[0356] In this embodiment, the first communication device can receive the global environment reconstruction map sent by the second communication device, but since the global environment reconstruction map is expressed through the map base elements corresponding to the second capability information, considering that the first communication device may not support the expression of certain types of data, the first communication device can determine the environment reconstruction map that is suitable for itself to facilitate subsequent communication services.

[0357] In some embodiments, the first communication device receives a first local environment reconstruction map sent by a second communication device, where the first local environment reconstruction map is a reconstruction map of the environment within the first space held by the second communication device; the first communication device scans the first space to obtain a second local environment reconstruction map; and the first communication device determines the environment reconstruction map based on the first local environment reconstruction map and the second local environment reconstruction map. This will be explained in detail below with reference to FIG7 .

[0358] In this embodiment, considering that the viewing angles of the first and second communication devices may differ, the first communication device can receive an existing environmental reconstruction map of the first space (i.e., a first local environmental reconstruction map) sent by the second communication device. The first communication device can also scan / perceive the first space to obtain a second local environmental reconstruction map. The first communication device can then fuse the first and second local environmental reconstruction maps to obtain a more detailed environmental reconstruction map. Consequently, the first and second communication devices can achieve better service results.

[0359] In some embodiments, the first communication device may further reconstruct the map based on different services using different map base element types corresponding to the services to express the environment.

[0360] A first communication device may obtain first information indicating a correspondence between a first service and type information of a map base element, the first service including the communication service and / or the perception service. The first communication device may receive the first information sent by a second communication device, or the first information may be predefined by a protocol, and the first communication device may directly obtain the first information from the protocol.

[0361] In one example, the first communication device may scan the first space to obtain the environment reconstruction map, where the environment reconstruction map is expressed using map-based elements corresponding to a target service, where the target service is a service that the first communication device needs to perform, and the first service includes the target service. This will be explained in detail below with reference to FIG12.

[0362] In another example, the first communication device receives the environment reconstruction map sent by the second communication device, where the environment reconstruction map is expressed using a map-based element corresponding to a target service. The first service includes the target service, which is a service that the first communication device needs to perform. This will be explained in detail below with reference to FIG13.

[0363] In another example, a first communication device receives a service environment reconstruction map sent by a second communication device, the service environment reconstruction map being expressed using map-based elements corresponding to the first service. The first communication device then determines the environment reconstruction map from the service environment reconstruction map based on a target service, the target service being a service that the first communication device needs to perform, the first service including the target service, and the environment reconstruction map being expressed using map-based elements corresponding to the target service. This is further described in detail below with reference to Figure 14.

[0364] S120: The first communication device reconstructs a map according to the environment to provide communication services.

[0365] Among them, the communication services may include at least one of the following: MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0366] MIMO transmission, for example, may include channel prediction, MIMO precoding, link obstruction prediction, and beam adjustment. Channel measurement, for example, may include channel estimation, acquisition of propagation path parameters, channel covariance information, and channel prediction. Link adaptation, for example, may include channel link estimation, coding and modulation selection, and power control. Beam management, for example, may include beam alignment, beam search, beam training, beam prediction, and beam tracking. High-frequency communication, for example, may include millimeter-wave communication, terahertz communication, obstruction prediction, and beam switching. Network management, for example, may include resource management, load balancing, interference coordination, access control, user scheduling, user mobility management, edge user management, and MU-MIMO user pairing. Data transmission, for example, may include user data transmission, signaling transmission, network control data transmission, RAN-native data / native data transmission, non-terrestrial network communication, and satellite communication.

[0367] Optionally, the first communication device may also reconstruct a map based on the environment to perform perception services. The perception services may include, for example, performing positioning / tracking / identification tasks and imaging based on the map, or assisting in subsequent environmental perception, radar scanning, and assisting in perception scanning parameter evaluation.

[0368] S130: The first communication device sends first capability information to the second communication device. Correspondingly, the second communication device receives the first capability information sent by the first communication device.

[0369] It should be understood that S130 is an optional step.

[0370] Optionally, the first communication device may send the first capability information to the second communication device, so that the second communication device can learn the type information supported by the first communication device.

[0371] The first capability information is used to indicate the type information of map-based elements supported by the first communication device. Exemplarily, the first capability information indicates that the first communication device supports geometric types such as points and planes. For example, the first capability information may include 110000; or, for another example, the first capability information may include {POINT, PATCH}.

[0372] Optionally, the first capability information may also be used to indicate attribute types supported by the first communication device. For example, the first capability information indicates that the first communication device supports attribute types such as dielectric constant and permeability. For example, the first capability information may include 00110; for another example, the first capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY}.

[0373] S140: The first communication device sends an environment reconstruction map, and correspondingly, the second communication device receives the environment reconstruction map.

[0374] It should be understood that step S140 is optional. When the first communication device sends the environment reconstruction map to the second communication device, after the second communication device receives the environment reconstruction map, the second communication device may also provide perception services and / or communication services based on the environment reconstruction map. The environment reconstruction map may be expressed using the map base element corresponding to the first capability information.

[0375] It should be noted that in some embodiments, the second communication device can directly parse the first capability information from the received environment reconstruction map, or does not need to know the first capability information, so S130 can be omitted. In other embodiments, if the second communication device receives the first capability information sent by the first communication device, the second communication device may not need to parse the first capability information from the environment reconstruction map, thereby also reducing the power consumption of the second communication device.

[0376] In some embodiments, the second communication device can reconstruct the map according to the environment to perform communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0377] In some embodiments, the second communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting in subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0378] It should be noted that the second communication device can obtain the environment reconstruction maps sent by multiple first communication devices and fuse them into a complete / large environment reconstruction map, or perform other perception services based on the fusion results to reduce the power consumption and transmission overhead of each device.

[0379] In one example, the first communication device may be a UE, and the second communication device may be a base station. After the base station receives the environment reconstruction map sent by the UE, it may specifically perform the following communication services:

[0380] MIMO transmission: Adjusting MIMO beams based on the obtained environment reconstruction map, performing MIMO precoding based on the obtained environment reconstruction map, especially MIMO precoding for multiple users, etc.

[0381] Channel measurement: Obtain the UE's channel propagation path parameters and channel prediction based on the obtained environment reconstruction map.

[0382] Link adaptation: performs coding and modulation selection, power control, etc. based on the obtained environment reconstruction map.

[0383] Beam management: Based on the obtained environment reconstruction map, operations such as beam alignment, beam search, beam training, beam prediction, and beam tracking are performed.

[0384] High-frequency communication: occlusion prediction, beam switching, etc. are performed based on the obtained environment reconstruction map.

[0385] Network management: Based on the obtained environment reconstruction map, load balancing, interference coordination, user mobility management, edge user management, MU-MIMO user pairing and other operations are performed.

[0386] Data transmission: Based on the obtained environment reconstruction map, user data transmission, signaling transmission, network control data transmission, RAN endogenous data / native data transmission, satellite communication scheduling, etc.

[0387] In another example, the first communication device may be a base station, and the second communication device may be a UE. After the UE receives the environment reconstruction map sent by the base station, it may specifically perform the following communication services:

[0388] MIMO transmission: Channel prediction based on the obtained environment reconstruction map, etc.

[0389] Channel measurement: Perform channel estimation based on the obtained environment reconstruction map to obtain propagation path parameters, channel covariance information, channel prediction, etc.

[0390] Link adaptation: Channel link estimation, power control, etc. are performed based on the obtained environment reconstruction map.

[0391] Beam management: beam alignment, beam search, beam training, beam prediction, and beam tracking are performed based on the obtained environment reconstruction map.

[0392] High-frequency communication: Millimeter-wave communication, terahertz communication, occlusion prediction, beam switching, etc. are carried out based on the obtained environment reconstruction map.

[0393] Network management: Based on the obtained environment reconstruction map, the network can assist in interference coordination, user mobility management, access control, etc.

[0394] Data transmission: Based on the obtained environment reconstruction map, the following data transmission is performed, including user data transmission, signaling transmission, network control data transmission, RAN endogenous data / native data transmission, satellite communication, etc.

[0395] In an embodiment of the present application, the first communication device obtains an environmental reconstruction map of the first space, and the environmental reconstruction map can be expressed through one or more map-based elements, has universality, and can flexibly use a defined data format to represent the environmental reconstruction map. Thus, the first communication device can perform communication services based on the obtained environmental reconstruction map, for example, it can realize perception-assisted communication, thereby realizing MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission and other communication services. In addition, the first communication device can also send the obtained environmental reconstruction map to the second communication device, so that the second communication device can also perform perception services and / or communication services. This reduces signaling overhead, reduces transmission / scheduling delays, ensures communication quality, improves the accuracy of communication-related parameters, and obtains better transmission / scheduling parameters.

[0396] Specifically, for MIMO transmission tasks: for example, when performing channel prediction on the channel, the UE can feed back the channel prediction based on the environment reconstruction map to the base station instead of the original channel prediction, thereby reducing the amount of feedback data; the base station side predicts link obstruction and can judge and adjust the UE transmission parameters in advance to avoid obstruction and ensure the communication quality of the UE. For channel measurement tasks: the first communication device can obtain more accurate information such as propagation path parameters based on the environment map, so as to better communicate with the second communication device. For beam management tasks: the first communication device can obtain more accurate beam state information, beam prediction information, or obtain more accurate beam alignment results, or reduce the delay of beam training, etc. based on the environment map, so as to better communicate with the second communication device. For high-frequency communication tasks: the first communication device can obtain more accurate channel state information, beam information, etc. based on the environment map, or judge obstruction in advance, reduce beam switching delay, ensure communication quality, and thus better communicate with the second communication device. For network management tasks: The base station can use the environmental map to predict interference and other conditions in advance, improving the quality of interference coordination and user scheduling, or reducing the latency of user mobility management (handover). The UE, based on the environmental map, feeds back channel status information to the base station, helping the base station obtain better MU-MIMO pairing results. For data transmission tasks: The first communication device uses the environmental map to obtain more accurate data transmission parameters, improving the data transmission quality between it and the second communication device.

[0397] The communication methods in different embodiments will be described in detail below with reference to FIG. 4 to FIG. 14 .

[0398] Figure 4 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device scanning to obtain an environment reconstruction map. The method mainly involves interaction between the first communication device and a second communication device.

[0399] S101: A second communication device sends second capability information to a first communication device. Correspondingly, the first communication device receives the second capability information.

[0400] The second capability information is used to indicate the type information of map-based elements supported by the second communication device. Exemplarily, the second capability information indicates that the second communication device supports geometric types such as points, planes, and cubes. For example, the second capability information may include 110100; or, for another example, {POINT, PATCH, CUBE}.

[0401] Optionally, the second capability information may also be used to indicate attribute types supported by the second communication device. For example, the second capability information indicates that the second communication device supports attribute types such as dielectric constant, permeability, and scattering coefficient. For example, the second capability information may include 00111; for another example, the second capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY, SCATTER-COEFF}.

[0402] In some embodiments, the first communication device may be a UE, the second communication device may be a base station, and the second communication device may send the second capability information to the first communication device via broadcast, multicast, or unicast.

[0403] In some embodiments, the first communication device may be a base station, the second communication device may be a UE, the UE may send its second capability information to the base station, and correspondingly, the base station may receive the second capability information sent by the UE.

[0404] S102: The first communication device scans the first space to obtain an environment reconstruction map of the first space.

[0405] The environment reconstruction map is expressed using map base elements corresponding to the second capability information. For example, if the second capability information indicates that the second communication device supports geometric types such as points, planes, and cubes, the environment reconstruction map can be represented using points, planes, cubes, etc., that is, the environment reconstruction map can be composed of points, planes, cubes, etc.

[0406] It should be noted that the first communication device scans / perceives the first space based on radio signal perception, infrared perception, radar (radio detection and ranging, RADAR) perception, laser radar (light detection and ranging, LIDAR) perception, 2D / 3D camera perception, etc.

[0407] It should be understood that RF sensor-based perception (sensor perception based on radio signals) is not easily affected by weather and lighting. Infrared perception can achieve night vision imaging and can penetrate smoke. Radar perception can detect objects at close range. LiDAR perception can obtain ranging and depth information, achieving higher spatial resolution. 2D / 3D cameras can obtain visual features from the environment, achieving higher environmental map resolution.

[0408] In addition, it can also be multimodal perception, such as combining camera and radar perception, or camera and LiDAR perception, etc. The use of multimodal perception can improve perception accuracy by fusing the perception results of sensors of different modalities.

[0409] S103: The first communication device reconstructs a map according to the environment to provide communication services.

[0410] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0411] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0412] It should be noted that the first communication device can sense and obtain the environment reconstruction map of the first space, and the environment reconstruction map can assist the first communication device in performing related communication services.

[0413] S104: The first communication device sends the environment reconstruction map to the second communication device. Correspondingly, the second communication device receives the environment reconstruction map.

[0414] It should be understood that S104 is an optional step. In some embodiments, the first communication device may send the environment reconstruction map to the second communication device for use by the second communication device.

[0415] S105: The second communication device reconstructs the map according to the environment to provide communication services.

[0416] It should be understood that S105 is an optional step. When the first communication device sends the environment reconstruction map to the second communication device, after the second communication device receives the environment reconstruction map, the second communication device may also perform perception services and / or communication services based on the environment reconstruction map.

[0417] It should be noted that S104 and S105 may refer to S140 and S150 respectively, and will not be repeated here.

[0418] In an embodiment of the present application, the second communication device can send second capability information to the first communication device, and the first communication device can receive the second capability information sent by the second communication device. Considering that the types of map base elements supported by the second communication device may be fewer than the types of map base elements supported by the first communication device, the environment reconstruction map scanned and obtained by the first communication device can be expressed by the map base elements corresponding to the second capability information, and then the environment reconstruction map can be sent to the second communication device, and the second communication device can also perform communication services based on the environment reconstruction map.

[0419] Figure 5 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device scanning to obtain an environment reconstruction map. The method mainly involves interaction between the first communication device and a second communication device.

[0420] S201: A second communication device sends second capability information to a first communication device. Correspondingly, the first communication device receives the second capability information.

[0421] The specific content of this step can be referred to S101 and will not be repeated here.

[0422] S202: The first communication device determines third capability information according to the second capability information and the first capability information.

[0423] The first capability information is used to indicate the type information of map base elements supported by the first communication device, and the third capability information is used to indicate at least one item of the type information of map base elements supported by both the first communication device and the second communication device. In other words, the third capability information is used to indicate the type information of map base elements supported by both the first communication device and the second communication device, or a subset of such type information.

[0424] In one example, the second capability information is used to indicate that the second communication device supports geometric types such as point, plane, cube, etc. For example, the second capability information may include 110100; for another example, the second capability information may include {POINT, PATCH, CUBE}.

[0425] The second capability information may also be used to indicate attribute types supported by the second communication device. For example, the second capability information indicates that the second communication device supports attribute types such as dielectric constant, permeability, and scattering coefficient. For example, the second capability information may include 00111; for another example, the second capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY, SCATTER-COEFF}.

[0426] The first capability information indicates that the first communication device supports geometric types such as point and plane. For example, the first capability information may include 110000; for another example, the first capability information may include {POINT, PATCH}.

[0427] The first capability information may also be used to indicate attribute types supported by the first communication device. For example, the first capability information indicates that the first communication device supports attribute types such as dielectric constant and permeability. For example, the first capability information may include 00110; for another example, the first capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY}.

[0428] Therefore, the third capability information determined by the first communication device may include at least one item of {POINT, PATCH}. Optionally, the third capability information may also include at least one item of {DIELECTRIC-CONSTANT, PERMEABILITY}.

[0429] S203: Scanning: The first communication device scans the first space to obtain an environment reconstruction map of the first space.

[0430] The environment reconstruction map is expressed using map-based elements corresponding to the third capability information. For example, if the third capability information includes geometric types such as points and planes, the environment reconstruction map can be represented by points, planes, etc., that is, the environment reconstruction map can be composed of points, planes, etc.

[0431] For other contents of this step, please refer to S102 and will not be repeated here.

[0432] S204: The first communication device reconstructs a map according to the environment to provide communication services.

[0433] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0434] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0435] The specific content of this step can be referred to S120 and will not be repeated here.

[0436] S205: The first communication device sends the environment reconstruction map to the second communication device. Correspondingly, the second communication device receives the environment reconstruction map.

[0437] It should be understood that S205 is an optional step. In some embodiments, the first communication device may send the environment reconstruction map to the second communication device for use by the second communication device.

[0438] S206: The second communication device performs communication services according to the environment reconstruction information.

[0439] It should be understood that S206 is an optional step. When the first communication device sends the environment reconstruction map to the second communication device, after the second communication device receives the environment reconstruction map, the second communication device can also perform perception services and / or communication services based on the environment reconstruction map.

[0440] It should be noted that S205 and S206 may refer to S140 and S150 respectively, and will not be repeated here.

[0441] In this embodiment of the present application, considering that the type information supported by the first communication device and the second communication device may differ, the first communication device can receive the second capability information sent by the second communication device, thereby determining the third capability information based on the second capability information and the first capability information. The environment reconstruction map can be expressed using multiple map base elements corresponding to the third capability information. In this way, both the first and second communication devices can directly use the environment reconstruction map, that is, perform communication services based on the environment reconstruction map.

[0442] Figure 6 is a flow chart of another communication method provided by an embodiment of the present application. The method mainly involves interaction between a first communication device and a second communication device, wherein the first communication device may be a perception device and the second communication device may be a perception center.

[0443] S301: A second communication device sends a global environment reconstruction map to a first communication device. Correspondingly, the first communication device receives the global environment reconstruction map sent by the second communication device.

[0444] The global environment reconstruction map is expressed by map base elements corresponding to second capability information, and the second capability information is used to indicate type information of the map base elements supported by the second communication device.

[0445] Exemplarily, the second capability information indicates that the second communication device supports geometric types such as points, planes, and cubes. For example, the second capability information may include 110100; in another example, the second capability information may include {POINT, PATCH, CUBE}. In this example, the global environment reconstruction map can be represented by points, planes, cubes, etc., that is, the global environment reconstruction map can be composed of points, planes, cubes, etc.

[0446] The second capability information may also be used to indicate attribute types supported by the second communication device. For example, the second capability information indicates that the second communication device supports attribute types such as dielectric constant, permeability, and scattering coefficient. For example, the second capability information may include 00111; for another example, the second capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY, SCATTER-COEFF}.

[0447] S302: The first communication device determines an environment reconstruction map from a global environment reconstruction map according to the first capability information.

[0448] The environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

[0449] Exemplarily, the first capability information indicates that the first communication device supports geometric types such as points and planes. For example, the first capability information may include 110000; another example may include {POINT, PATCH}. In this example, the environment reconstruction map can be represented by points, planes, etc., that is, the environment reconstruction map can be composed of points, planes, etc.

[0450] The first capability information may also be used to indicate attribute types supported by the first communication device. For example, the first capability information indicates that the first communication device supports attribute types such as dielectric constant and permeability. For example, the first capability information may include 00110; for another example, the first capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY}.

[0451] In this step, the first communication device may determine the environment reconstruction map from the global environment reconstruction map according to its own capabilities, that is, determine the data of the geometric types and attribute types that it can support.

[0452] S303: The first communication device reconstructs a map according to the environment to provide communication services.

[0453] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0454] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0455] The specific content of this step can be referred to S120 and will not be repeated here.

[0456] S304: The first communication device sends the environment reconstruction map to the second communication device. Correspondingly, the second communication device receives the environment reconstruction map.

[0457] It should be understood that S304 is an optional step. In some embodiments, the first communication device may send the environment reconstruction map to the second communication device for use by the second communication device.

[0458] S305: The second communication device performs communication services according to the environment reconstruction information.

[0459] It should be understood that S305 is an optional step. When the first communication device sends the environment reconstruction map to the second communication device, after the second communication device receives the environment reconstruction map, the second communication device can also perform perception services and / or communication services based on the environment reconstruction map.

[0460] It should be noted that S304 and S305 may refer to S140 and S150 respectively, and will not be repeated here.

[0461] In an embodiment of the present application, the second communication device can send a global environment reconstruction map to the first communication device, and the first communication device can receive the global environment reconstruction map. However, since the global environment reconstruction map is expressed through the map base elements corresponding to the second capability information, considering that the first communication device may not support the expression of certain types of data, the first communication device can determine the environment reconstruction map that is applicable to itself to facilitate subsequent communication services.

[0462] Figure 7 is a flow chart of another communication method provided by an embodiment of the present application. The method mainly involves interaction between a first communication device and a second communication device, wherein the first communication device may be a perception device and the second communication device may be a perception center.

[0463] S401: A second communication device sends a first local environment reconstructed map to a first communication device. Correspondingly, the first communication device receives the first local environment reconstructed map sent by the second communication device.

[0464] The first local environment reconstruction map is an environment reconstruction map within a first space possessed by the second communication device.

[0465] Exemplarily, the first communication device may be a UE, and the second communication device may be a base station. The base station may send an existing environment reconstruction map to the UE to assist terminal-side perception, communication and other functions.

[0466] S402: The first communication device scans the first space to obtain a second local environment reconstructed map.

[0467] Among them, the first communication device can perceive the first space based on radio signal perception, infrared perception, radar perception, lidar perception, 2D / 3D camera perception, etc. to obtain a reconstructed map of the second local environment.

[0468] S403: The first communication device determines an environment reconstruction map based on the first local environment reconstruction map and the second local environment reconstruction map.

[0469] In some embodiments, the first communication device may fuse the first local environment reconstruction map and the second local environment reconstruction map to obtain a more refined environment reconstruction map.

[0470] In some embodiments, the first communication device may reconstruct a map of the second local environment obtained by scanning, and delete certain points, surfaces, etc. with low reliability parameters from the reconstructed map of the first local environment.

[0471] S404: The first communication device reconstructs a map according to the environment to provide communication services.

[0472] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0473] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0474] The specific content of this step can be referred to S120 and will not be repeated here.

[0475] S405: The first communication device sends the environment reconstruction map to the second communication device. Correspondingly, the second communication device receives the environment reconstruction map.

[0476] It should be understood that S405 is an optional step. In some embodiments, the first communication device may send the environment reconstruction map to the second communication device for use by the second communication device.

[0477] S406: The second communication device performs communication services according to the environment reconstruction information.

[0478] It should be understood that step S406 is an optional step. When the first communication device sends the environment reconstruction map to the second communication device, after the second communication device receives the environment reconstruction map, the second communication device may also perform perception services and / or communication services based on the environment reconstruction map.

[0479] It should be noted that S405 and S406 may refer to S140 and S150 respectively, and will not be repeated here.

[0480] In the embodiment of the present application, considering that the viewing angles observed by the first communication device and the second communication device may be different, the first communication device can receive the existing environment reconstruction map of the first space (i.e., the first local environment reconstruction map) sent by the second communication device. The first communication device can also scan / perceive the first space to obtain the second local environment reconstruction map, and the first communication device can fuse the first local environment reconstruction map and the second local environment reconstruction map to obtain a more detailed environment reconstruction map. As a result, the first communication device and the second communication device can achieve better service effects.

[0481] Figure 8 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device obtaining an environment reconstruction map from a second communication device. The method mainly involves interaction between the first communication device and the second communication device.

[0482] S501: A second communication device sends an environment reconstruction map of a first space to a first communication device. Correspondingly, the first communication device receives the environment reconstruction map sent by the second communication device.

[0483] The first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element. The map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element.

[0484] In some embodiments, the first communication device may be a UE, the second communication device may be a base station, and the second communication device may send the environment reconstruction map of the first space to the first communication device via broadcast, multicast, or unicast.

[0485] In some embodiments, the first communication device may be a base station, and the second communication device may be a user equipment (UE). The UE may send an environment reconstruction map to the base station. Accordingly, the base station may receive the environment reconstruction map sent by the UE. S502: The second communication device sends second capability information to the first communication device. Accordingly, the first communication device receives the second capability information sent by the second communication device.

[0486] It should be understood that step S502 is optional. In some embodiments, the first communication device may directly parse the second capability information from the environment reconstruction map in step S501, or may not need to know the second capability information, and thus S502 may be omitted. In other embodiments, the second communication device may send the second capability information to the first communication device, so the first communication device does not need to parse the second capability information from the environment reconstruction map, thereby reducing the power consumption of the first communication device.

[0487] The second capability information is used to indicate the type information of map-based elements supported by the second communication device. Exemplarily, the second capability information indicates that the second communication device supports geometric types such as points, planes, and cubes. For example, the second capability information may include 110100; or, for another example, {POINT, PATCH, CUBE}.

[0488] Optionally, the second capability information may also be used to indicate attribute types supported by the second communication device. For example, the second capability information indicates that the second communication device supports attribute types such as dielectric constant, permeability, and scattering coefficient. For example, the second capability information may include 00111; for another example, the second capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY, SCATTER-COEFF}.

[0489] In some embodiments, the first communication device may be a UE, the second communication device may be a base station, and the second communication device may send the second capability information to the first communication device via broadcast, multicast, or unicast.

[0490] In some embodiments, the first communication device may be a base station, the second communication device may be a UE, the UE may send its second capability information to the base station, and correspondingly, the base station may receive the second capability information sent by the UE.

[0491] S503: The first communication device reconstructs a map according to the environment to provide communication services.

[0492] In some embodiments, the environment reconstruction map is expressed by map base elements corresponding to the second capability information.

[0493] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0494] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0495] S504: The second communication device performs communication services.

[0496] It should be understood that S504 is an optional step.

[0497] It should be noted that, when the second communication device performs communication services, it can assist in performing communication services and / or perception services based on the parameters fed back by the first communication device.

[0498] In one example, the first communication device may be a UE, and the second communication device may be a base station. After the base station sends an environment reconstruction map to the UE, the UE may obtain the environment reconstruction map of the base station, and the base station may perform the following communication services: MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission. Specifically:

[0499] For MIMO transmission tasks: the UE can send channel prediction information to the base station; after receiving the channel prediction information from the UE, the base station can adjust the MIMO beam and perform MIMO precoding for multiple users.

[0500] For channel measurement tasks: the UE can send channel estimates, propagation path parameters, etc. to the base station; the base station receives the UE's channel estimates, propagation path parameters, etc., and thus adjusts the transmission parameters with the UE (including coding, modulation, MIMO stream number control, MIMO precoding, etc.).

[0501] For beam management tasks: the UE can send beam feedback information to the base station; the base station receives the beam feedback information from the UE and can then perform beam alignment, beam search, beam training, beam prediction, beam tracking, etc.

[0502] For high-frequency communication tasks: the UE can send channel feedback information to the base station; the base station receives the UE's channel feedback information, and the base station can perform millimeter wave communication, terahertz communication, occlusion prediction, beam switching, etc. based on this.

[0503] For network management tasks: the UE can send interference measurement information, channel feedback information, etc. to the base station; the base station receives the interference measurement information, channel feedback information, etc. from the UE, and then performs load balancing, interference coordination, user mobility management, edge user management, MU-MIMO user pairing, etc.

[0504] For data transmission tasks: the UE can send user data, signaling, RAN endogenous data / native data, etc. to the base station; the base station can receive user data, signaling, RAN endogenous data / native data, etc. from the UE; or, the UE can send a transmission request to the base station, and the base station receives the UE's transmission request to perform user data transmission, signaling transmission, network control data transmission, RAN endogenous data / native data transmission, satellite communication scheduling, etc.

[0505] In one example, the first communication device may be a base station, and the second communication device may be a UE. After the UE sends an environment reconstruction map to the base station, the base station may obtain the environment reconstruction map of the UE, and the UE may perform the following communication services:

[0506] For MIMO transmission tasks, such as channel prediction, the UE can feed back the channel prediction based on the environment reconstruction map to the base station instead of the original channel prediction, thereby reducing the amount of feedback data.

[0507] For channel measurement tasks: the UE can obtain propagation path parameters, channel covariance information, channel prediction, etc. and feed them back to the base station; the base station obtains the UE's channel information based on the UE feedback and the environment reconstruction map.

[0508] For beam management tasks: the UE can feedback beam status information and beam prediction information to the base station; the base station performs beam alignment, beam search, beam training, beam prediction, beam tracking, etc. based on the UE feedback and the environment reconstruction map.

[0509] Figure 9 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device obtaining an environment reconstruction map from a second communication device. The method mainly involves interaction between the first communication device and the second communication device.

[0510] S601: A first communication device sends first capability information to a second communication device. Correspondingly, the second communication device receives the first capability information sent by the first communication device.

[0511] The first capability information is used to indicate the type information of map-based elements supported by the first communication device. Exemplarily, the first capability information indicates that the first communication device supports geometric types such as points and planes. For example, the first capability information may include 110000; or, for another example, the first capability information may include {POINT, PATCH}.

[0512] Optionally, the first capability information may also be used to indicate attribute types supported by the first communication device. For example, the first capability information indicates that the first communication device supports attribute types such as dielectric constant and permeability. For example, the first capability information may include 00110; for another example, the first capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY}.

[0513] In some embodiments, the first communication device may be a base station, the second communication device may be a UE, and the first communication device may send the first capability information to the second communication device via broadcast, multicast, or unicast.

[0514] In some embodiments, the first communication device may be a UE, the second communication device may be a base station, the UE may send its first capability information to the base station, and correspondingly, the base station may receive the first capability information sent by the UE.

[0515] Optionally, the method may further include the following steps: the second communication device determines an environment reconstruction map according to the first capability information.

[0516] S602: The second communication device sends an environment reconstruction map of the first space to the first communication device. Correspondingly, the first communication device receives the environment reconstruction map sent by the second communication device.

[0517] The environment reconstruction map is expressed using map-based elements corresponding to the first capability information. For example, if the first capability information indicates that the first communication device supports geometric types such as points and planes, the environment reconstruction map can be represented by points, planes, etc., that is, the environment reconstruction map can be composed of points, planes, etc.

[0518] S603: The first communication device reconstructs a map according to the environment to provide communication services.

[0519] In some embodiments, the environment reconstruction map can be expressed by map base elements corresponding to the first capability information.

[0520] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0521] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0522] S604: The second communication device performs communication services.

[0523] It should be understood that S604 is an optional step.

[0524] The above S603 and S604 may refer to S503 and S504 respectively, and will not be repeated here.

[0525] In an embodiment of the present application, the first communication device can send first capability information to the second communication device, and the second communication device can determine the environment reconstruction map based on the first capability information. Thus, the first communication device can perform corresponding communication services based on the environment reconstruction map, and the second communication device can also better perform communication services based on the information feedback from the first communication device.

[0526] Figure 10 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device obtaining an environment reconstruction map from a second communication device. The method mainly involves interaction between the first communication device and the second communication device.

[0527] S701: A first communication device sends first capability information to a second communication device. Correspondingly, the second communication device receives the first capability information sent by the first communication device.

[0528] The first capability information is used to indicate the type information of map-based elements supported by the first communication device. Exemplarily, the first capability information indicates that the first communication device supports geometric types such as points and planes. For example, the first capability information may include 110000; or, for another example, the first capability information may include {POINT, PATCH}.

[0529] Optionally, the first capability information may also be used to indicate attribute types supported by the first communication device. For example, the first capability information indicates that the first communication device supports attribute types such as dielectric constant and permeability. For example, the first capability information may include 00110; for another example, the first capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY}.

[0530] In some embodiments, the first communication device may be a base station, the second communication device may be a UE, and the first communication device may send the first capability information to the second communication device via broadcast, multicast, or unicast.

[0531] In some embodiments, the first communication device may be a UE, the second communication device may be a base station, the UE may send its first capability information to the base station, and correspondingly, the base station may receive the first capability information sent by the UE.

[0532] S702: The second communication device determines third capability information according to the first capability information and the second capability information.

[0533] The second capability information is used to indicate type information of map base elements supported by the second communication device, and the third capability information is used to indicate at least one item of type information of map base elements supported by both the first communication device and the second communication device.

[0534] In one example, the second capability information is used to indicate that the second communication device supports geometric types such as point, plane, cube, etc. For example, the second capability information may include 110100; for another example, the second capability information may include {POINT, PATCH, CUBE}.

[0535] The second capability information may also be used to indicate attribute types supported by the second communication device. For example, the second capability information indicates that the second communication device supports attribute types such as dielectric constant, permeability, and scattering coefficient. For example, the second capability information may include 00111; for another example, the second capability information may also include {DIELECTRIC-CONSTANT, PERMEABILITY, SCATTER-COEFF}.

[0536] Therefore, the third capability information determined by the second communication device may include at least one of {POINT, PATCH}. Optionally, the third capability information may also include at least one of {DIELECTRIC-CONSTANT, PERMEABILITY}.

[0537] S703: The second communication device sends the environment reconstruction map of the first space to the first communication device. Correspondingly, the first communication device receives the environment reconstruction map sent by the second communication device.

[0538] The environment reconstruction map is expressed using map-based elements corresponding to the third capability information. For example, if the third capability information includes geometric types such as points and planes, the environment reconstruction map can be represented by points, planes, etc., that is, the environment reconstruction map can be composed of points, planes, etc.

[0539] S704: The first communication device reconstructs a map according to the environment to provide communication services.

[0540] In some embodiments, the environment reconstruction map may be expressed by map base elements corresponding to the third capability information.

[0541] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0542] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0543] S705: The second communication device performs communication services.

[0544] It should be understood that S705 is an optional step.

[0545] It should be understood that S704 and S705 may refer to S503 and S504 respectively, and will not be described in detail here.

[0546] In an embodiment of the present application, the first communication device can send its own first capability information to the second communication device. The second communication device can determine the third capability information based on the first capability information and its own second capability information, and can express the environment reconstruction map based on the map base element corresponding to the third capability information. The environment reconstruction map can then be sent to the first communication device, so that the first communication device can perform corresponding communication services based on the environment reconstruction map. Furthermore, the second communication device can also better perform communication services based on the information fed back by the first communication device.

[0547] Figure 11 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device obtaining an environment reconstruction map from a second communication device. The method mainly involves interaction between the first communication device and the second communication device.

[0548] S801: A second communication device sends second capability information to a first communication device. Correspondingly, the first communication device receives the second capability information sent by the second communication device.

[0549] The specific content of this step can be referred to S101 and will not be repeated here.

[0550] S802: The first communication device determines third capability information according to the second capability information and the first capability information.

[0551] The specific content of this step can be referred to S202 and will not be repeated here.

[0552] S803: The first communication device sends third capability information to the second communication device. Correspondingly, the second communication device receives the third capability information sent by the first communication device.

[0553] The third capability information is used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device.

[0554] For example, the third capability information may include at least one of {POINT, PATCH}. Optionally, the third capability information may also include at least one of {DIELECTRIC-CONSTANT, PERMEABILITY}.

[0555] S804: The second communication device determines an environment reconstruction map according to the third capability information.

[0556] The environment reconstruction map is expressed using map-based elements corresponding to the third capability information. For example, if the third capability information includes geometric types such as points and planes, the environment reconstruction map can be represented by points, planes, etc., that is, the environment reconstruction map can be composed of points, planes, etc.

[0557] S805: The second communication device sends an environment reconstruction map to the first communication device. Correspondingly, the first communication device receives the environment reconstruction map sent by the second communication device.

[0558] S806: The first communication device reconstructs the map according to the environment to provide communication services.

[0559] In some embodiments, the environment reconstruction map may be expressed by map base elements corresponding to the third capability information.

[0560] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0561] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0562] S807: The second communication device performs communication services.

[0563] It should be understood that S807 is an optional step.

[0564] It should be understood that S806 and S807 may refer to S503 and S504 respectively, and are not described in detail here.

[0565] In an embodiment of the present application, the second communication device can send its own second capability information to the first communication device. The first communication device can determine the third capability information based on the second capability information and its own first capability information, and can send the third capability information to the second communication device, so that the second communication device can express the environment reconstruction map based on the third capability information, and then send the environment reconstruction map to the first communication device. Thus, the first communication device can perform corresponding communication services and / or perception services based on the environment reconstruction map. Furthermore, the second communication device can also better perform communication services and / or perception services based on the information fed back by the first communication device.

[0566] Figure 12 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device scanning and obtaining an environment reconstruction map. The method mainly involves interaction between the first communication device and a second communication device.

[0567] S910: The second communication device obtains first information.

[0568] S920: The first communication device obtains first information.

[0569] It should be understood that the first information acquired in S910 and S920 is used to indicate the correspondence between the first service and the type information of the map base element, and the first service includes the communication service and / or the perception service.

[0570] In some embodiments, the first communication device and the second communication device may obtain the first information from a protocol, that is, the first information may be information predefined by the protocol.

[0571] In some embodiments, if the first communication device stores the first information, the second communication device can obtain the first information from the first communication device, that is, the second communication device receives the first information sent by the first communication device, and accordingly, the first communication device sends the first information to the second communication device.

[0572] In some embodiments, if the second communication device stores the first information, the first communication device can obtain the first information from the second communication device, that is, the first communication device receives the first information sent by the second communication device, and accordingly, the second communication device sends the first information to the first communication device.

[0573] The first service may include communication services and / or sensing services. Communication services may include at least one of the following: multiple-input multiple-output (MIMO) transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission. MIMO transmission may include, for example, channel prediction, MIMO precoding, link obstruction prediction, and beam adjustment. Channel measurement may include, for example, channel estimation, acquisition of propagation path parameters, channel covariance information, and channel prediction. Link adaptation may include, for example, channel link estimation, coding and modulation selection, and power control. Beam management may include, for example, beam alignment, beam search, beam training, beam prediction, and beam tracking. High-frequency communication may include, for example, millimeter-wave communication, terahertz communication, obstruction prediction, and beam switching. Network management may include, for example, resource management, load balancing, interference coordination, access control, user scheduling, user mobility management, edge user management, and MU-MIMO user pairing. Data transmission may include, for example, user data transmission, signaling transmission, network control data transmission, RAN-native data / native data transmission, non-terrestrial network communication, and satellite communication.

[0574] Perception services may include: map-based positioning / tracking / identification tasks, imaging, or assisting in subsequent environmental perception, radar scanning, and assisting in the evaluation of perception scanning parameters.

[0575] It should be noted that the correspondence between different tasks (ie, first services) and map base element types can be explicitly indicated or implicitly bound.

[0576] Display specification: indicating the first information through signaling indication or table mapping.

[0577] The geometry types (or attribute types) corresponding to different tasks can be indicated using enumeration / bitmap / index, etc. Different tasks can indicate different geometry types and attribute types. It should be understood that some tasks can include both geometry types and attribute types, while some tasks can only include geometry types.

[0578] From Table 1 and Table 3, it can be seen that the display indication may include the following two representation modes.

[0579] Method 1: {task ID 1, geometry type {POINT, PATCH, CUBE}, attribute type {MATERIAL, TEXTURE, PERMEABILITY}}, {task ID 2, geometry type {POINT, PATCH}, attribute type {TEXTURE}}, ...,}

[0580] Method 2: {task ID 1, geometry type 110100, attribute type 11001}, {task ID 2, geometry type 110000, attribute type 00001}, {task ID 3, geometry type 110000}, ...,}

[0581] The geometry types (or attribute types) corresponding to different tasks can also be indicated by table mapping relationships. The table can be agreed upon by protocol or broadcast / multicast / unicast to the UE via the base station. For example, the "Map Base Element Type Table" (B-Table for short) is defined as shown in Table 4 below. The indexes in the table correspond to different geometry types and attribute types, and " / " indicates that the attribute type is not available.

[0582] In conjunction with Table 4, the display indication may also include the following two representation modes.

[0583] Method 1: The first information can reference the index in the table (such as B-Table), for example, {task identifier 1, B-Table index 0}, {task identifier 2, B-Table index 2}, {task identifier 3, B-Table index 1},...,}, respectively indicating that the geometry type of task 1 includes 110100 and the attribute type includes 11001, the geometry type of task 2 includes 110000, and the geometry type of task 3 includes 110000 and the attribute type includes 00001.

[0584] Method 2: The index in Table 4 is directly the task ID. For example, the following table can indicate that the task geometry type of the task ID 0 includes 110100 and the attribute type includes 11001; the task geometry type of the task ID 1 includes 110000 and the attribute type includes 00001; and the task geometry type of the task ID 2 includes 110000.

[0585] Table 4

[0586] Implicit binding: For example, the first information is implicitly indicated through time-frequency resource mapping or the like.

[0587] As shown in Figure 15, the base station can feedback different forms of environment reconstruction maps on the corresponding time-frequency resources (different time-frequency resources implicitly correspond to different tasks), for example:

[0588] Method 1: {Period 1, geometry type 110100, attribute type 11001}, {Period 2, geometry type 110000}, .... By indicating the correspondence between different periods (period length and optional start time) and map base elements, the correspondence between tasks and map base elements can be implicitly expressed. The task map geometry type corresponding to period 1 includes 110100 and the attribute type includes 11001. The task map geometry type corresponding to period 2 includes 110000.

[0589] Method 2: {time-frequency resource 1, geometry type 110100, attribute type 11001}, {time-frequency resource 2, geometry type 110000}, .... By indicating the correspondence between time-frequency resources and map base elements, the correspondence between tasks and map base elements can be implicitly expressed. The task map geometry type corresponding to time-frequency resource 1 includes 110100 and the attribute type includes 11001. The task map geometry type corresponding to time-frequency resource 2 includes 110000.

[0590] Mode 3: {time-frequency resource 1, B-Table index 0}, {time-frequency resource 2, B-Table index 2}, {time-frequency resource 3, B-Table index 1}, ..., the correspondence between tasks (time-frequency resources) and map base elements can refer to the indexes in Table 4. According to Table 4, the map geometry type sent on time-frequency resource 1 includes 110100 and the attribute type includes 11001, the map geometry type sent on time-frequency resource 2 includes 110000, and the map geometry type sent on time-frequency resource 3 includes 110000 and the attribute type includes 00001.

[0591] It should be noted that the above configuration can be indicated to the UE via signaling such as RRC / MAC / PDCCH.

[0592] In some embodiments, the environment reconstruction map sent by the second communication device (e.g., base station) or the first communication device (e.g., UE) may include different types when corresponding to different tasks. For example, the environment reconstruction map corresponding to Task 1 may only include the geometry type (or attribute type) corresponding to Task 1, and the environment reconstruction map corresponding to Task 2 may only include the geometry type (or attribute type) corresponding to Task 2.

[0593] S930: The first communication device scans the first space to obtain an environment reconstruction map.

[0594] The environment reconstruction map is expressed by a map base element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

[0595] For example, the target service is channel measurement, and the index of the target service may be index 2 in Table 4. The geometry type of the target service includes 110000 (corresponding to the geometry types of point and plane in Table 1). The environment reconstruction map is expressed using the map base elements corresponding to the target service. In other words, the environment reconstruction map can be represented by points, planes, etc.

[0596] S940: The first communication device reconstructs a map according to the environment to provide communication services.

[0597] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0598] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0599] S950: The first communication device sends an environment reconstruction map to the second communication device. Correspondingly, the second communication device receives the environment reconstruction map.

[0600] It should be understood that S950 is an optional step. In some embodiments, the first communication device may send the environment reconstruction map to the second communication device for use by the second communication device.

[0601] S960: The second communication device reconstructs the map according to the environment to provide communication services.

[0602] It should be understood that S960 is an optional step. When the first communication device sends the environment reconstruction map to the second communication device, after the second communication device receives the environment reconstruction map, the second communication device can also perform perception services and / or communication services based on the environment reconstruction map.

[0603] It should be understood that S940 to S960 can refer to S103 to S105 respectively, and will not be repeated here.

[0604] In an embodiment of the present application, both the first communication device and the second communication device can obtain the first information, that is, both the first communication device and the second communication device can obtain the correspondence between different services and map base elements. On this basis, the first communication device can scan and obtain the environment reconstruction map corresponding to the target service, and perform communication services and / or perception services based on the environment reconstruction map. Subsequently, the first communication device can send the environment reconstruction map to the second communication device, so that the second communication device can perform corresponding communication services and / or perception services based on the environment reconstruction map.

[0605] Figure 13 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device scanning and obtaining an environment reconstruction map. The method mainly involves interaction between the first communication device and a second communication device.

[0606] S1010: The second communication device obtains first information.

[0607] S1020: The first communication device obtains first information.

[0608] S1010 and S1020 may refer to S910 and S920 respectively, and will not be repeated here.

[0609] S1030: The first communication device sends a target service to the second communication device. Correspondingly, the second communication device receives the target service sent by the first communication device.

[0610] It should be understood that step S1030 is an optional step. In some embodiments, the first communication device may not send the target service to the second communication device. The target service may be implicitly indicated via the time-frequency resources shown in FIG15 . For example, in period 1 or time-frequency resource 1, the geometry type corresponding to the target service is 110100 and the attribute type is 11001. Therefore, in period 1 or time-frequency resource 1, the second communication device may directly send parameter information with a geometry type of 110100 and an attribute type of 11001.

[0611] In other embodiments, the first communication device may send the target service to the second communication device. For example, the first communication device may send the identifier of the target service to the second communication device so that the second communication device can determine the geometry type and attribute type corresponding to the target service according to Table 4.

[0612] S1040: The second communication device reconstructs a map according to the target service environment.

[0613] The environment reconstruction map is expressed by map base elements corresponding to the target service.

[0614] It should be understood that S1040 is an optional step. In some embodiments, if it is within cycle 1 or time-frequency resource 1, the second communication device can directly send the environment reconstruction map corresponding to the target service.

[0615] In some embodiments, if the second communication device receives the target service sent by the first communication device, the second communication device may determine the environment reconstruction map according to the target service that the first communication device needs to execute.

[0616] S1050: The second communication device sends an environment reconstruction map to the first communication device. Correspondingly, the first communication device receives the environment reconstruction map sent by the second communication device.

[0617] S1060: The first communication device reconstructs a map according to the environment to provide communication services.

[0618] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0619] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0620] S1070: The second communication device performs communication services.

[0621] It should be understood that S1070 is an optional step.

[0622] It should be understood that S1060 and S1070 can refer to S503 and S504 respectively, and will not be repeated here.

[0623] In an embodiment of the present application, both the first communication device and the second communication device can obtain the first information, that is, both the first communication device and the second communication device can obtain the correspondence between different services and map base elements. On this basis, the first communication device can send the target service to be performed to the second communication device. The second communication device can determine the environment reconstruction map based on the first information and the target service, and send it to the first communication device, so that the first communication device can perform communication services and / or perception services based on the environment reconstruction map. Furthermore, the second communication device can also better perform communication services and / or perception services based on the information fed back by the first communication device.

[0624] Figure 14 is a flow chart of another communication method provided in an embodiment of the present application. The method mainly involves a first communication device scanning and acquiring an environment reconstruction map. The method mainly involves interaction between the first communication device and a second communication device.

[0625] S1110. The second communication device obtains first information.

[0626] S1120: The first communication device obtains first information.

[0627] S1110 and S1120 may refer to S910 and S920 respectively, and will not be repeated here.

[0628] S1130: The second communication device sends a service environment reconstruction map to the first communication device. Correspondingly, the first communication device receives the service environment reconstruction map sent by the second communication device.

[0629] The service environment reconstruction map is expressed by the map base elements corresponding to the first service. In other words, the service environment reconstruction map is expressed by the map base elements corresponding to multiple different tasks, such as shown in Table 4, wherein the first service includes the target service.

[0630] S1140: The first communication device determines an environment reconstruction map from the service environment reconstruction map according to the target service.

[0631] The environment reconstruction map is expressed by the map base element corresponding to the target service.

[0632] In this step, the first communication device may determine the environment reconstruction map corresponding to the target service from the service environment reconstruction map sent by the second communication device, so that the first communication device can execute the target service.

[0633] S1150: The first communication device reconstructs a map according to the environment to provide communication services.

[0634] In some embodiments, the first communication device can reconstruct a map based on the environment to provide communication services, such as MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, data transmission, etc.

[0635] In some embodiments, the first communication device can also reconstruct a map based on the environment to provide perception services, such as performing positioning / tracking / identification tasks and imaging based on the map, or assisting subsequent environmental perception, radar scanning, and auxiliary perception scanning parameter evaluation.

[0636] S1160: The second communication device performs communication services.

[0637] It should be understood that S1160 is an optional step.

[0638] It should be understood that S1150 and S1160 can refer to S503 and S504 respectively, and will not be repeated here.

[0639] In an embodiment of the present application, both the first communication device and the second communication device can obtain the first information, that is, both the first communication device and the second communication device can obtain the correspondence between different services and map base elements. On this basis, the second communication device can send the existing service environment reconstruction map for different services to the first communication device. The first communication device can determine the environment reconstruction map corresponding to the target service from the service environment reconstruction map according to the target service it needs to perform, and can perform communication services and / or perception services based on the environment reconstruction map. Furthermore, the second communication device can also better perform communication services and / or perception services based on the information fed back by the first communication device.

[0640] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 15. The device embodiment of the present application is described in detail below in conjunction with Figures 16 to 19. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment. Therefore, for parts not described in detail, reference can be made to the above method embodiment.

[0641] Figures 16 to 19 are schematic structural diagrams of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the first communication device or the second communication device in the above method embodiments, thereby also achieving the beneficial effects of the above method embodiments.

[0642] As shown in Figure 16, a communication device 1600 includes an acquiring unit 1610 and a processing unit 1620. The communication device 1600 can be used to implement the functions of the first communication device in the method embodiments shown in Figures 2 and 4 to 14 above.

[0643] When the communication device 1600 is used to implement the function of the first communication device in the method embodiment shown in Figures 2, 4 to 14 above: the acquisition unit 1610 is used to obtain an environment reconstruction map of a first space, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; the processing unit 1620 is used to perform communication services according to the environment reconstruction map, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0644] In some embodiments, the acquiring unit 1610 is further configured to scan the first space to obtain the environment reconstruction map.

[0645] In some embodiments, the environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

[0646] In some embodiments, the acquisition unit 1610 is further used to receive second capability information sent by a second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device, and the environment reconstruction map is expressed by the map base elements corresponding to the second capability information.

[0647] In some embodiments, the acquisition unit 1610 is further used to receive second capability information sent by a second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device; the processing unit 1620 is further used to determine third capability information based on the second capability information and the first capability information, where the first capability information is used to indicate type information of map base elements supported by the first communication device, and the third capability information is used to indicate at least one item of type information of map base elements supported by both the first communication device and the second communication device; wherein the environment reconstruction map is expressed by the map base elements corresponding to the third capability information.

[0648] In some embodiments, the acquisition unit 1610 is also used to receive a global environment reconstruction map sent by a second communication device, and the global environment reconstruction map is expressed by a map base element corresponding to second capability information, and the second capability information is used to indicate the type information of the map base element supported by the second communication device; the processing unit 1620 is also used to determine the environment reconstruction map from the global environment reconstruction map according to the first capability information, and the environment reconstruction map is expressed by a map base element corresponding to the first capability information, and the first capability information is used to indicate the type information of the map base element supported by the first communication device.

[0649] In some embodiments, the acquisition unit 1610 is also used to receive a first local environment reconstruction map sent by a second communication device, where the first local environment reconstruction map is an environment reconstruction map within the first space possessed by the second communication device; the acquisition unit 1610 is also used to scan the first space to obtain a second local environment reconstruction map; the processing unit 1620 is also used to determine the environment reconstruction map based on the first local environment reconstruction map and the second local environment reconstruction map.

[0650] In some embodiments, the communication apparatus further includes a sending unit 1630, and the sending unit 1630 is configured to send the environment reconstruction map to a second communication device.

[0651] In some embodiments, the sending unit 1630 is further configured to send first capability information to the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

[0652] In some embodiments, the acquiring unit 1610 is further configured to receive the environment reconstruction map sent by a second communication device.

[0653] In some embodiments, the acquiring unit 1610 is further configured to receive second capability information sent by the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device.

[0654] In some embodiments, the environment reconstruction map is expressed by a map base element corresponding to second capability information, and the second capability information is used to indicate type information of the map base element supported by the second communication device.

[0655] In some embodiments, the sending unit 1630 is further configured to send first capability information to the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

[0656] In some embodiments, the environment reconstruction map is expressed by map-based elements corresponding to the first capability information.

[0657] In some embodiments, the sending unit 1630 is further configured to send first capability information to the second communication device, where the first capability information indicates type information of map-based elements supported by the first communication device. The environment reconstruction map is expressed using map-based elements corresponding to third capability information, where the third capability information indicates at least one item of type information of map-based elements supported by both the first and second communication devices.

[0658] In some embodiments, the acquisition unit 1610 is further used to receive second capability information sent by the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device; the processing unit 1620 is further used to determine third capability information based on the second capability information and the first capability information, where the first capability information is used to indicate type information of map base elements supported by the first communication device, and the third capability information is used to indicate at least one item of type information of map base elements supported by both the first communication device and the second communication device; the sending unit 1630 is further used to send the third capability information to the second communication device; wherein the environment reconstruction map is expressed by the map base elements corresponding to the third capability information.

[0659] In some embodiments, the acquiring unit 1610 is further configured to acquire first information, where the first information is configured to indicate a correspondence between a first service and type information of a map base element, where the first service includes the communication service and / or the perception service.

[0660] In some embodiments, the acquiring unit 1610 is further configured to receive the first information sent by a second communication device.

[0661] In some embodiments, the processing unit 1620 is also used to scan the first space according to the target service to obtain the environment reconstruction map, and the environment reconstruction map is expressed by the map base element corresponding to the target service. The target service is the service that the first communication device needs to perform, and the first service includes the target service. The environment reconstruction map is expressed by the map base element corresponding to the target service.

[0662] In some embodiments, the sending unit 1630 is further configured to send the environment reconstruction map to a second communication device.

[0663] In some embodiments, the acquisition unit 1610 is also used to receive the environment reconstruction map sent by the second communication device, and the environment reconstruction map is expressed by the map base element corresponding to the target service. The first service includes the target service, and the target service is the service that the first communication device needs to perform.

[0664] In some embodiments, the sending unit 1630 is further configured to send the target service to the second communication device.

[0665] In some embodiments, the acquisition unit 1610 is also used to receive a service environment reconstruction map sent by a second communication device, and the service environment reconstruction map is expressed by a map base element corresponding to the first service; the processing unit 1620 is also used to determine the environment reconstruction map from the service environment reconstruction map according to a target service, the target service is a service that the first communication device needs to perform, the first service includes the target service, and the environment reconstruction map is expressed by a map base element corresponding to the target service.

[0666] As shown in Figure 17, a communication device 1700 includes an acquiring unit 1710 and a processing unit 1720. The communication device 1700 can be used to implement the functions of the second communication device in the method embodiments shown in Figures 2 and 4 to 14 above.

[0667] When the communication device 1700 is used to implement the function of the second communication device in the method embodiment shown in Figures 2 and 4 to 14 above: the acquisition unit 1710 is used to receive the environment reconstruction map of the first space sent by the first communication device, wherein the first space is the space within the preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; the processing unit 1720 is used to perform communication services according to the environment reconstruction map, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0668] In some embodiments, the environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

[0669] In some embodiments, the acquiring unit 1710 is further configured to receive first capability information sent by the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

[0670] In some embodiments, the communication apparatus further includes a sending unit 1730, and the sending unit 1730 is further configured to send second capability information to the first communication device, where the second capability information is configured to indicate type information of map base elements supported by the second communication device.

[0671] In some embodiments, the environment reconstruction map is expressed by map-based elements corresponding to the second capability information.

[0672] In some embodiments, the sending unit 1730 is further configured to send second capability information to the first communication device, where the second capability information indicates type information of map-based elements supported by the second communication device. The environment reconstruction map is expressed using map-based elements corresponding to third capability information, where the third capability information indicates at least one item of type information of map-based elements supported by both the first and second communication devices.

[0673] In some embodiments, the sending unit 1730 is also used to send a global environment reconstruction map to the first communication device, and the global environment reconstruction map is expressed by the map base element corresponding to the second capability information, and the second capability information is used to indicate the type information of the map base element supported by the second communication device; wherein, the environment reconstruction map is expressed by the map base element corresponding to the first capability information, and the first capability information is used to indicate the type information of the map base element supported by the first communication device.

[0674] In some embodiments, the sending unit 1730 is further configured to send a first local environment reconstruction map to the first communication device, where the first local environment reconstruction map is an environment reconstruction map within the first space possessed by the second communication device.

[0675] In some embodiments, the acquiring unit 1710 is further configured to acquire first information, where the first information is configured to indicate a correspondence between a first service and type information of a map base element, where the first service includes the communication service and / or the perception service.

[0676] In some embodiments, the acquiring unit 1710 is further configured to receive the first information sent by the first communication device.

[0677] In some embodiments, the environment reconstruction map is expressed by a map-based element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

[0678] As shown in Figure 18, a communication device 1800 includes a sending unit 1810 and a processing unit 1820. The communication device 1800 can be used to implement the functions of the second communication device in the method embodiments shown in Figures 2 and 4 to 14 above.

[0679] When the communication device 1800 is used to implement the function of the second communication device in the method embodiment shown in Figures 2 and 4 to 14 above: the sending unit 1810 is used to send an environment reconstruction map of a first space to the first communication device, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; the processing unit 1820 is used to perform communication services, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

[0680] In some embodiments, the sending unit 1810 is further configured to send second capability information to the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device.

[0681] In some embodiments, the environment reconstruction map is expressed by a map base element corresponding to second capability information, and the second capability information is used to indicate type information of the map base element supported by the second communication device.

[0682] In some embodiments, the communication device further includes an acquisition unit 1830, which is used to receive first capability information sent by the first communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device; wherein the environment reconstruction map is expressed by the map base elements corresponding to the first capability information.

[0683] In some embodiments, the acquisition unit 1830 is further used to receive first capability information sent by the first communication device, where the first capability information is used to indicate type information of map-based elements supported by the first communication device; the processing unit 1820 is further used to determine the third capability information based on the first capability information and the second capability information, where the third capability information is used to indicate at least one item of type information of map-based elements commonly supported by the first communication device and the second communication device; wherein the environment reconstruction map is expressed by the map-based elements corresponding to the third capability information.

[0684] In some embodiments, the acquisition unit 1830 is further used to receive third capability information sent by the first communication device, where the third capability information is used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; wherein the environment reconstruction map is expressed by the map base element corresponding to the third capability information.

[0685] In some embodiments, the acquiring unit 1830 is further configured to acquire first information, where the first information is configured to indicate a correspondence between a first service and type information of a map base element, where the first service includes the communication service and / or the perception service.

[0686] In some embodiments, the acquiring unit 1830 is further configured to receive the first information sent by the first communication device.

[0687] In some embodiments, the environment reconstruction map is expressed by a map-based element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

[0688] In some embodiments, the acquisition unit 1830 is further used to receive the target service sent by the first communication device; the processing unit 1820 is further used to determine the environment reconstruction map according to the target service.

[0689] As shown in Figure 19, communication device 1900 includes a processor 1910 and a communication interface 1920. Processor 1910 and communication interface 1920 are coupled to each other. It is understood that communication interface 1920 can be a transceiver or an input / output interface. Optionally, communication device 200 may also include a memory 1930 for storing instructions executed by processor 1910, input data required by processor 1910 to execute instructions, or data generated by processor 1910 after executing instructions.

[0690] When the communication device 1900 is used to implement the methods shown in Figures 2 and 4 to 14, the processor 1910 is used to implement the functions of the above-mentioned processing unit, and the communication interface 1920 is used to implement the functions of the above-mentioned acquisition unit and sending unit.

[0691] It should be understood that the processor 1910 shown in FIG. 19 may include at least one processor, and the communication interface 1920 may also include multiple communication interfaces.

[0692] The explanation of the relevant contents and beneficial effects of any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, which will not be repeated here.

[0693] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0694] An embodiment of the present application provides a chip system, including a processor, configured to call and execute a computer program from a memory, causing a device equipped with the chip system to execute the steps performed by the first communication device in Figures 2 and 4 through 14, or to execute the steps performed by the second communication device in Figures 2 and 4 through 14. Optionally, the memory may be integrated with the processor.

[0695] An embodiment of the present application provides a computer-readable storage medium, which stores program code for execution by a device, wherein the program code includes steps for executing the steps performed by the first communication device in the above-mentioned Figures 2 and 4 to 14, or the program code includes steps for executing the steps performed by the second communication device in the above-mentioned Figures 2 and 4 to 14.

[0696] An embodiment of the present application provides a computer program product. When the computer program product runs on a computer, it enables the computer to execute the steps performed by the first communication device in Figures 2 and 4 to 14 above, or enables the computer to execute the steps performed by the second communication device in Figures 2 and 4 to 14 above.

[0697] In addition, an embodiment of the present application also provides a communication system, which may include the first communication device in the above-mentioned Figures 2, 4 to 14, and the second communication device in the above-mentioned Figures 2, 4 to 14.

[0698] As used in this specification, the terms "component," "module," "system," and the like are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. By way of illustration, both an application running on a computing device and a computing device can be a component. One or more components can reside in a process and / or an execution thread, and a component can be located on a computer and / or distributed between two or more computers. In addition, these components can be executed from various computer-readable media having various data structures stored thereon. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component on a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0699] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0700] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0701] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0702] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0703] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0704] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0705] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A communication method, characterized in that: include: The first communication device obtains an environment reconstruction map of a first space, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, wherein the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; The first communication device performs communication services according to the environment reconstruction map, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

2. The method according to claim 1, characterized in that The first communication device obtains an environment reconstruction map of the first space, including: The first communication device scans the first space to obtain the environment reconstruction map.

3. The method according to claim 2, characterized in that The environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

4. The method according to claim 2, characterized in that: The method further comprises: The first communication device receives second capability information sent by the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device, and the environment reconstruction map is expressed by the map base elements corresponding to the second capability information.

5. The method according to claim 2, characterized in that: The method further comprises: The first communication device receives second capability information sent by the second communication device, where the second capability information is used to indicate type information of a map base element supported by the second communication device; The first communication device determines third capability information according to the second capability information and the first capability information, the first capability information being used to indicate type information of map base elements supported by the first communication device, and the third capability information being used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; The environment reconstruction map is expressed by the map base element corresponding to the third capability information.

6. The method according to claim 1, characterized in that The first communication device acquiring the environment reconstruction map of the first space includes: The first communication device receives a global environment reconstruction map sent by the second communication device, where the global environment reconstruction map is expressed by a map base element corresponding to second capability information, where the second capability information is used to indicate type information of the map base element supported by the second communication device; The first communication device determines the environment reconstruction map from the global environment reconstruction map according to the first capability information, and the environment reconstruction map is expressed by the map base element corresponding to the first capability information, and the first capability information is used to indicate the type information of the map base element supported by the first communication device.

7. The method according to claim 1, characterized in that The first communication device acquiring the environment reconstruction map of the first space includes: The first communication device receives a first local environment reconstruction map sent by the second communication device, where the first local environment reconstruction map is an environment reconstruction map within the first space possessed by the second communication device; The first communication device scans the first space to obtain a second local environment reconstruction map; The first communication device determines the environment reconstruction map based on the first local environment reconstruction map and the second local environment reconstruction map.

8. The method according to any one of claims 1 to 7, characterized in that The first communication device reconstructs a map according to the environment to provide a communication service, including: The first communication device sends the environment reconstruction map to the second communication device.

9. The method according to claim 8, characterized in that The method further comprises: The first communication device sends first capability information to the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

10. The method according to claim 1, characterized in that The first communication device obtains an environment reconstruction map of the first space, including: The first communication device receives the environment reconstruction map sent by the second communication device.

11. The method according to claim 10, characterized in that The method further comprises: The first communication device receives second capability information sent by the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device.

12. The method according to claim 10 or 11, characterized in that: The environment reconstruction map is expressed by a map base element corresponding to second capability information, and the second capability information is used to indicate type information of the map base element supported by the second communication device.

13. The method according to claim 10, characterized in that The method further comprises: The first communication device sends first capability information to the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device; The environment reconstruction map is expressed by map base elements corresponding to the first capability information.

14. The method according to claim 10, characterized in that The method further comprises: The first communication device sends first capability information to the second communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device; The environment reconstruction map is expressed by a map base element corresponding to third capability information, and the third capability information is used to indicate at least one item of type information of the map base element commonly supported by the first communication device and the second communication device.

15. The method according to claim 10, characterized in that The method further comprises: The first communication device receives second capability information sent by the second communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device; The first communication device determines third capability information according to the second capability information and the first capability information, the first capability information being used to indicate type information of map base elements supported by the first communication device, and the third capability information being used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; The first communication device sends the third capability information to the second communication device; The environment reconstruction map is expressed by the map base element corresponding to the third capability information.

16. The method according to claim 1, characterized in that The method further comprises: The first communication device acquires first information, where the first information is used to indicate a correspondence between a first service and type information of a map base element, where the first service includes the communication service and / or the perception service.

17. The method according to claim 16, characterized in that The first communication device acquiring the first information includes: The first communication device receives the first information sent by the second communication device.

18. The method according to claim 16 or 17, characterized in that The first communication device obtains an environment reconstruction map of the first space, including: The first communication device scans the first space to obtain the environment reconstruction map, which is expressed by a map base element corresponding to a target service. The target service is a service that the first communication device needs to perform, and the first service includes the target service.

19. The method according to claim 18, characterized in that The method further comprises: The first communication device sends the environment reconstruction map to the second communication device.

20. The method according to claim 16 or 17, characterized in that The first communication device obtains an environment reconstruction map of the first space, including: The first communication device receives the environment reconstruction map sent by the second communication device, the environment reconstruction map is expressed by a map base element corresponding to a target service, the first service includes the target service, and the target service is a service that the first communication device needs to perform.

21. The method according to claim 20, characterized in that Before the first communication device receives the environment reconstruction map sent by the second communication device, the method further includes: The first communication device sends the target service to the second communication device.

22. The method according to claim 16 or 17, characterized in that The first communication device obtains an environment reconstruction map of the first space, including: The first communication device receives a service environment reconstruction map sent by the second communication device, wherein the service environment reconstruction map is expressed by a map base element corresponding to the first service; The first communication device determines the environment reconstruction map from the service environment reconstruction map according to the target service, the target The service is a service that the first communication device needs to perform, the first service includes the target service, and the environment reconstruction map is expressed by a map base element corresponding to the target service.

23. The method according to any one of claims 1 to 22, characterized in that The type information of the map base element includes at least one of the following: surface, voxel, octree, sphere, cylinder, and cone.

24. The method according to any one of claims 1 to 23, characterized in that The location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstruction map, the index of the map base element in the environment reconstruction map, and the spatial range of the map base element in the environment reconstruction map.

25. The method according to any one of claims 1 to 24, characterized in that The parameter information of the map base element also includes: Representation parameters, the representation parameters are used to represent the geometric features of the map base element; and / or, Property type, the property type including at least one of the following: dielectric constant, magnetic permeability, scattering coefficient; and / or, Attribute parameter, the attribute parameter is a specific parameter value corresponding to the attribute type; and / or, A reliability parameter, wherein the reliability parameter is used to indicate the reliability of the map base element.

26. A communication method, characterized in that: include: The second communication device receives an environment reconstruction map of a first space sent by the first communication device, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; The second communication device performs communication services according to the environment reconstruction map, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

27. The method according to claim 26, characterized in that The environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

28. The method according to claim 26 or 27, characterized in that The method further comprises: The second communication device receives first capability information sent by the first communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device.

29. The method according to claim 26, characterized in that The method further comprises: The second communication device sends second capability information to the first communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device; The environment reconstruction map is expressed by the map base element corresponding to the second capability information.

30. The method according to claim 26, characterized in that The method further comprises: The second communication device sends second capability information to the first communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device; The environment reconstruction map is expressed by a map base element corresponding to third capability information, and the third capability information is used to indicate at least one item of type information of the map base element commonly supported by the first communication device and the second communication device.

31. The method according to claim 26, characterized in that Before the second communication device receives the environment reconstruction map of the first space sent by the first communication device, the method further includes: The second communication device sends a global environment reconstruction map to the first communication device, where the global environment reconstruction map is expressed by a map base element corresponding to second capability information, where the second capability information is used to indicate type information of the map base element supported by the second communication device; The environment reconstruction map is expressed by a map base element corresponding to first capability information, and the first capability information is used to indicate type information of the map base element supported by the first communication device.

32. The method according to claim 26, characterized in that Before the second communication device receives the environment reconstruction map of the first space sent by the first communication device, the method further includes: The second communication device sends a first local environment reconstruction map to the first communication device, where the first local environment reconstruction map is an environment reconstruction map within the first space possessed by the second communication device.

33. The method according to claim 26, characterized in that The method further comprises: The second communication device obtains first information, where the first information is used to indicate a corresponding relationship between a first service and type information of a map base element, where the first service includes the communication service and / or the perception service.

34. The method according to claim 33, characterized in that The second communication device acquiring the first information includes: The second communication device receives the first information sent by the first communication device.

35. The method according to claim 33 or 34, characterized in that The environment reconstruction map is expressed by a map base element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

36. The method according to any one of claims 26 to 35, characterized in that The type information of the map base element includes at least one of the following: surface, voxel, octree, sphere, cylinder, and cone.

37. The method according to any one of claims 26 to 36, characterized in that The location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstruction map, the index of the map base element in the environment reconstruction map, and the spatial range of the map base element in the environment reconstruction map.

38. The method according to any one of claims 26 to 37, characterized in that The parameter information of the map base element also includes: Representation parameters, the representation parameters are used to represent the geometric features of the map base element; and / or, Property type, the property type including at least one of the following: dielectric constant, magnetic permeability, scattering coefficient; and / or, Attribute parameter, the attribute parameter is a specific parameter value corresponding to the attribute type; and / or, A reliability parameter, wherein the reliability parameter is used to indicate the reliability of the map base element.

39. A communication method, characterized in that: include: The second communication device sends an environment reconstruction map of a first space to the first communication device, wherein the first space is a space within a preset range of the first communication device, and the environment reconstruction map is expressed by a map base element, and the map base element includes parameter information of the map base element, and the parameter information of the map base element includes type information and location information of the map base element; The second communication device performs communication services, and the communication services include at least one of the following: multiple-input multiple-output MIMO transmission, channel measurement, link adaptation, beam management, high-frequency communication, network management, and data transmission.

40. The method according to claim 39, characterized in that The method further comprises: The second communication device sends second capability information to the first communication device, where the second capability information is used to indicate type information of map base elements supported by the second communication device.

41. The method according to claim 39 or 40, characterized in that The environment reconstruction map is expressed by a map base element corresponding to second capability information, and the second capability information is used to indicate type information of the map base element supported by the second communication device.

42. The method according to claim 39, characterized in that The method further comprises: The second communication device receives first capability information sent by the first communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device; The environment reconstruction map is expressed by map base elements corresponding to the first capability information.

43. The method according to claim 39, characterized in that The method further comprises: The second communication device receives first capability information sent by the first communication device, where the first capability information is used to indicate type information of map base elements supported by the first communication device; The second communication device determines the third capability information according to the first capability information and the second capability information, where the third capability information is used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; The environment reconstruction map is expressed by the map base element corresponding to the third capability information.

44. The method according to claim 39, characterized in that The method further comprises: The second communication device receives third capability information sent by the first communication device, where the third capability information is used to indicate at least one item of type information of map base elements commonly supported by the first communication device and the second communication device; The environment reconstruction map is expressed by the map base element corresponding to the third capability information.

45. The method according to claim 39, characterized in that The method further comprises: The second communication device obtains first information, where the first information is used to indicate a corresponding relationship between a first service and type information of a map base element, where the first service includes the communication service and / or the perception service.

46. ​​The method according to claim 45, characterized in that The second communication device acquiring the first information includes: The second communication device receives the first information sent by the first communication device.

47. The method according to claim 45 or 46, characterized in that The environment reconstruction map is expressed by a map base element corresponding to a target service, the target service is a service that the first communication device needs to perform, and the first service includes the target service.

48. The method according to claim 47, characterized in that Before the second communication device sends the environment reconstruction map of the first space to the first communication device, the method further includes: The second communication device receives the target service sent by the first communication device; The second communication device determines the environment reconstruction map according to the target service.

49. The method according to any one of claims 39 to 48, characterized in that The type information of the map base element includes at least one of the following: surface, voxel, octree, sphere, cylinder, and cone.

50. The method according to any one of claims 39 to 49, characterized in that The location information of the map base element includes at least one of the following: the coordinates of the map base element in the environment reconstruction map, the index of the map base element in the environment reconstruction map, and the spatial range of the map base element in the environment reconstruction map.

51. The method according to any one of claims 39 to 50, characterized in that The parameter information of the map base element also includes: Representation parameters, the representation parameters are used to represent the geometric features of the map base element; and / or, Property type, the property type including at least one of the following: dielectric constant, magnetic permeability, scattering coefficient; and / or, Attribute parameter, the attribute parameter is a specific parameter value corresponding to the attribute type; and / or, A reliability parameter, wherein the reliability parameter is used to indicate the reliability of the map base element.

52. A communication device, characterized in that: The communication device includes a processor, which is coupled to a memory, and the memory stores instructions. When the instructions are executed by the processor, the method according to any one of claims 1 to 25 is implemented, or the method according to any one of claims 26 to 38 is implemented, or the method according to any one of claims 39 to 51 is implemented.

53. A computer-readable storage medium, characterized in that: The computer-readable storage medium comprises instructions, which, when executed by a processor, enable the method according to any one of claims 1 to 25 to be implemented, or enable the method according to any one of claims 26 to 38 to be implemented, or enable the method according to any one of claims 39 to 51 to be implemented.

54. A computer program product, characterized in that The computer program product comprises instructions, which, when executed by a processor, enable the method according to any one of claims 1 to 25 to be implemented, or enable the method according to any one of claims 26 to 38 to be implemented, or enable the method according to any one of claims 39 to 51 to be implemented.

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