Communication method and apparatus

Abstract

The application relates to a communication method and device, which are applied to the technical field of communication. In the method, a first device acquires first information, and the first information is used for configuring a merging mechanism. The first device merges N times of received sensing data based on the merging mechanism. In the N times of received sensing data, each time of received sensing data from the second time to the Nth time is obtained by re-sensing measurement under the condition that sensing verification of the previous time of received sensing data fails, and N is an integer greater than or equal to 2. The method can utilize the sensing data of sensing verification failure, and improves the utilization rate of the sensing data.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a communication method and apparatus. Background Technology

[0002] With continuous technological advancements, intelligent applications such as smart cities and autonomous driving have emerged. To support these applications, mobile communication systems have gradually evolved into integrated sensing and communication (ISAC) systems. In an ISAC scenario, sensing devices perform sensing measurements to obtain sensing data, and these devices can also transmit this data to other devices so that the receiving devices can utilize it. However, during the sensing verification process, a single failed verification typically results in the abandonment of all sensing data, leading to low data utilization. Improving the utilization rate of sensing data remains a research area. Summary of the Invention

[0003] This application provides a communication method and apparatus that can improve the utilization rate of sensed data.

[0004] Firstly, this application provides a communication method applicable to a first device. For example, the first device may be a network device, or a component within the network device (e.g., a processor, chip, chip system, circuit, or functional module), or a logical node, logical module, or software capable of implementing all or part of the functions of the network device. As another example, the first device may be a terminal device, or a component within the terminal device (e.g., a processor, chip, chip system, circuit, or functional module), or a logical node, logical module, or software capable of implementing all or part of the functions of the terminal device. The following description uses the first device as an example.

[0005] The method includes: a first device acquiring first information, which is used to configure a merging mechanism. The first device, based on the merging mechanism, merges N received sensing data. Specifically, in the N received sensing data, the sensing data received from the 2nd to the Nth time is obtained by re-sensing and measuring the sensing data after the sensing verification of the previous received sensing data failed, where N is an integer greater than or equal to 2.

[0006] As can be seen, in this method, the sensing data received by the first device N times is the sensing data obtained through N sensing measurements. The sensing data received from the 1st to the N-1th time fails the sensing verification. The first device merges the sensing data received N times, which can make use of the sensing data that failed the sensing verification, thereby improving the utilization rate of the sensing data.

[0007] In one optional implementation, at least one piece of data corresponding to the anchor point target is successfully verified in at least one of the N received sensing data sets by the first device. Based on this method, the first device can merge the N received sensing data sets, resulting in higher accuracy of the merged sensing data.

[0008] In one alternative implementation, the method further includes: a first device acquiring second information, the second information being used to indicate whether a merging mechanism is enabled.

[0009] Based on the above scheme, the first device can determine whether to perform the operation of merging N received sensing data based on the merging mechanism through the second information, thereby reducing the computational overhead caused by the first device performing the operation of merging N received sensing data based on the merging mechanism when the merging mechanism is not allowed to be enabled.

[0010] In one optional implementation, the first information is used to configure the merging mechanism, including: configuring a merging mode. The merging mode is a first mode, where in N received sensing data, different received sensing data correspond to the same sensing measurement conditions. Alternatively, the merging mode is a second mode, where in at least two of the N received sensing data, different received sensing data correspond to different sensing measurement conditions.

[0011] Based on the above scheme, the first device can determine the merging mode through the first information, and then determine the status of the sensing measurement conditions corresponding to the sensing data received in different times among the N received sensing data, so as to assist the first device in merging the N received sensing data.

[0012] In one optional implementation, the sensing data received in different sessions correspond to the same sensing measurement conditions, including: the sensing targets corresponding to the sensing data received in different sessions are all the same, and the anchor point targets corresponding to the sensing data received in different sessions are all the same.

[0013] Based on the above scheme, in the first merging mode, in the N received sensing data sets of the first device, the sensing targets corresponding to different received sensing data sets are all the same, and the anchor point targets corresponding to different received sensing data sets are all the same. It is evident that the N received sensing data sets of the first device include data obtained from multiple sensing measurements of the same sensing target. If the first device merges the data corresponding to the sensing target in the N received sensing data sets, it is beneficial to improve the accuracy of the data corresponding to the sensing target. Furthermore, since the N received sensing data sets of the first device include data obtained from multiple sensing measurements of the same anchor point target, merging the data corresponding to the anchor point target in the N received sensing data sets is beneficial to improving the accuracy of the data corresponding to the anchor point target, thereby improving the accuracy of the sensing verification.

[0014] In one optional implementation, the sensing data received in different sessions correspond to different sensing measurement conditions, including: the sensing target corresponding to the sensing data received in different sessions is partially or completely different, and / or, the anchor point target corresponding to the sensing data received in different sessions is partially or completely different.

[0015] In this method, based on the fact that the anchor targets corresponding to the sensing data received by the first device in at least two of the N times are partially or completely different, the retransmitted sensing data can provide the first device with new data corresponding to the anchor targets, increasing the number of anchor targets for sensing measurement. If the first device merges the data corresponding to the anchor targets in the N times of sensing data, it will help improve the accuracy of sensing verification.

[0016] In one optional implementation, the merging mode is the second mode. The method further includes: a first device receiving third information, the third information including sensing data received from any one of the N received sensing data, and the third information also indicating the sensing measurement conditions corresponding to the sensing data in the third information.

[0017] Based on the above scheme, when the merging mode is the second mode, the sensing data received by the first device at different times corresponds to different sensing measurement conditions. Therefore, the first device can also receive the sensing measurement conditions corresponding to the sensing data at the same time as receiving the sensing data, so that the first device can determine the sensing measurement conditions corresponding to the received sensing data.

[0018] In one optional implementation, the third information may further include one or more of the following: version identifier, length, location indication, and maximum length value corresponding to the perceived data in the third information.

[0019] In one optional implementation, the merging mode is the first mode. In the N received sensing data, each received sensing data includes: data corresponding to the sensing target and data corresponding to the anchor target; wherein, the data corresponding to the anchor target is used for sensing data verification.

[0020] Based on the above scheme, in the case of the merging mode being the first mode, considering that the sensing targets corresponding to the sensing data received by the first device in different receptions are all the same, and the anchor point targets corresponding to the sensing data received in different receptions are all the same, it can be seen that the sensing data received by the first device in N receptions includes data obtained from N sensing measurements of the same sensing target. If the data corresponding to the sensing target in the N receptions of sensing data is merged, the sensing accuracy of the sensing target can be improved. Furthermore, the sensing data received by the first device in N receptions includes data obtained from N sensing measurements of the same anchor point target. If the data corresponding to the anchor point target in the N receptions of sensing data is merged, the sensing accuracy of the anchor point target can be improved, thereby helping to improve the accuracy of sensing verification.

[0021] In one optional implementation, the merging mode is the second mode. In the N received sensing data sets, each received sensing data set includes: data corresponding to the sensing target and data corresponding to the anchor target; or, in the N received sensing data sets, some rounds of receiving sensing data include data corresponding to the sensing target and data corresponding to the anchor target, while the remaining rounds of receiving sensing data include data corresponding to the anchor target. The data corresponding to the anchor target is used for sensing data verification.

[0022] In one optional implementation, the first information is used to configure the merging mechanism, including: configuring the merging object. The merging object includes: data corresponding to the sensing target in the sensing data, and / or, data corresponding to the anchor target in the sensing data.

[0023] Based on the above scheme, the first device can determine the merging object through the first information, and then merge the merging object during the merging of N received sensing data. The method by which the first device merges the data corresponding to the sensing target in the sensing data helps to improve the accuracy of the merged data corresponding to the sensing target. Similarly, the method by which the first device merges the data corresponding to the anchor target in the sensing data helps to improve the accuracy of the merged data corresponding to the anchor target, thus improving the accuracy of the sensing verification.

[0024] In one optional implementation, the first information is used to configure a merging mechanism, including: configuring a merging algorithm, wherein the merging algorithm is used to determine the result of merging N received sensing data. This implementation enables the first device to determine the merging algorithm through the first information, and then merge the N received sensing data according to the merging algorithm configured by the first information.

[0025] Secondly, this application provides a communication method that can be applied to a second device. For example, the second device can be a network device, or a component within the network device (e.g., a processor, chip, chip system, circuit, or functional module), or a logical node, logical module, or software capable of implementing all or part of the functions of the network device. As another example, the second device can be a terminal device, or a component within the terminal device (e.g., a processor, chip, chip system, circuit, or functional module), or a logical node, logical module, or software capable of implementing all or part of the functions of the terminal device. The following description uses a second device as an example.

[0026] The method includes: a second device sending first information, the first information being used to configure a merging mechanism. The second device sending sensing data M times. The merging mechanism is used to merge some or all of the sensing data sent in the M times. In the M times of sensing data transmission, the sensing data sent in the 2nd to Mth times is obtained by re-sensing and measuring after receiving a sensing verification failure indication following the previous transmission, or by re-sensing and measuring after not receiving a sensing verification indication within a first time range following the previous transmission, where M is an integer greater than or equal to 2.

[0027] As can be seen, in this method, the sensing data sent by the second device M times is the sensing data obtained through M sensing measurements. If some or all of the sensing data sent by the merged M times includes sensing data that failed the sensing verification, then some or all of the sensing data sent by the merged M times can utilize the sensing data that failed the sensing verification, thereby improving the utilization rate of the sensing data.

[0028] In one alternative implementation, the method further includes: a second device sending second information, the second information also indicating whether a merging mechanism is enabled.

[0029] Based on the above scheme, the first device that obtains the second information can determine whether to perform the operation of merging sensing data based on the merging mechanism, thereby reducing the computational overhead caused by the first device performing the operation of merging sensing data based on the merging mechanism when the merging mechanism is not allowed to be enabled.

[0030] In one optional implementation, the first information is used to configure the merging mechanism, including: configuring a merging mode. The merging mode is a first mode, where in the M transmitted sensing data, different transmitted sensing data correspond to the same sensing measurement conditions; or, the merging mode is a second mode, where in at least two of the M transmitted sensing data, different transmitted sensing data correspond to different sensing measurement conditions.

[0031] In one optional implementation, the sensing data transmitted in different transmissions correspond to the same sensing measurement conditions, including: the sensing targets corresponding to the sensing data transmitted in different transmissions are all the same, and the anchor point targets corresponding to the sensing data transmitted in different transmissions are all the same.

[0032] Based on the above scheme, in the first merging mode, in the M sensing data transmitted by the second device, the sensing targets corresponding to different transmissions of sensing data are all the same, and the anchor point targets corresponding to different transmissions of sensing data are all the same. Therefore, the sensing data to be merged includes data obtained from multiple sensing measurements of the same sensing target. Merging the data corresponding to the sensing target helps improve the accuracy of the data corresponding to the sensing target. Furthermore, merging the data corresponding to the anchor point target helps improve the accuracy of the data corresponding to the anchor point target, thereby improving the accuracy of the sensing verification.

[0033] In one optional implementation, the sensing data transmitted in different sessions correspond to different sensing measurement conditions, including: the sensing target corresponding to the sensing data transmitted in different sessions is partially or completely different, and / or, the anchor point target corresponding to the sensing data transmitted in different sessions is partially or completely different.

[0034] In this method, based on the fact that the anchor targets corresponding to the sensing data sent in at least two of the M transmissions by the second device are partially or completely different, the retransmitted sensing data can provide data corresponding to the new anchor targets, increasing the number of anchor targets for sensing measurement. If the data corresponding to the anchor targets are merged, it is beneficial to improve the accuracy of sensing verification.

[0035] In one optional implementation, the merging mode is the second mode. The second device transmits sensing data M times, including: the second device transmitting third information, the third information including sensing data from any one of the M transmitted sensing data, and the third information further indicating the sensing measurement conditions corresponding to the sensing data in the third information.

[0036] Based on the above scheme, when the merging mode is the second mode, the sensing data sent by the second device at different times corresponds to different sensing measurement conditions. Therefore, the second device can also send the sensing measurement conditions corresponding to the sensing data at the same time as sending the sensing data, so that the first device can determine the sensing measurement conditions corresponding to the received sensing data.

[0037] In one optional implementation, the third information may further include one or more of the following: version identifier, length, location indication, and maximum length value corresponding to the perceived data in the third information.

[0038] In one optional implementation, the merging mode is the first mode. In the M transmissions of sensing data, each transmission includes: data corresponding to the sensing target and data corresponding to the anchor target. The data corresponding to the anchor target is used for sensing data verification.

[0039] Based on the above scheme, in the case of the merging mode being the first mode, considering that the sensing targets corresponding to the sensing data transmitted by the second device in different transmissions are all the same, and the anchor point targets corresponding to the sensing data transmitted by the second device in different transmissions are all the same, it can be seen that the sensing data transmitted by the second device in M ​​transmissions includes data obtained from M sensing measurements of the same sensing target. If the data corresponding to the sensing target is merged, the sensing accuracy of the sensing target can be improved. Furthermore, the sensing data transmitted by the second device in M ​​transmissions includes data obtained from M sensing measurements of the same anchor point target. If the data corresponding to the anchor point target is merged, the sensing accuracy of the anchor point target can be improved, which is conducive to improving the accuracy of sensing verification.

[0040] In one optional implementation, the merging mode is the second mode. In the M transmissions of sensing data, each transmission includes: data corresponding to the sensing target and data corresponding to the anchor target; or, in the M transmissions of sensing data, some rounds of transmission include data corresponding to the sensing target and data corresponding to the anchor target, while the remaining rounds of transmission include data corresponding to the anchor target. The data corresponding to the anchor target is used for sensing data verification.

[0041] In one optional implementation, the first information is used to configure the merging mechanism, including: configuring the merging object. The merging object includes: data corresponding to the sensing target in the sensing data, and / or, data corresponding to the anchor target in the sensing data.

[0042] Based on the above scheme, the first device that acquires the first information can determine the merging object, and then merge the merging object during the merging of sensing data. The method of merging the data corresponding to the sensing target in the sensing data helps to improve the accuracy of the merged data corresponding to the sensing target. Similarly, the method of merging the data corresponding to the anchor target in the sensing data helps to improve the accuracy of the merged data corresponding to the anchor target, thus improving the accuracy of the sensing verification.

[0043] In one optional implementation, the first information is used to configure a merging mechanism, including: configuring a merging algorithm to determine the result of merging some or all of the sensed data transmitted M times. This implementation helps the first device that acquires the first information to determine the merging algorithm, and then merge the sensed data according to the merging algorithm configured in the first information.

[0044] Thirdly, this application also provides a communication device. This communication device can be a first device, a chip, or a logic module or software capable of implementing all or part of the functions of the first device, and has the function of implementing some or all of the embodiments described in the first aspect. Alternatively, the communication device can be a second device, or a chip, or a logic module or software capable of implementing all or part of the functions of the second device, and has the function of implementing some or all of the embodiments described in the second aspect. The functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0045] In one possible design, the communication device may include a processing unit configured to support the communication device in performing the corresponding functions described in the above methods. Optionally, the communication device may also include a communication unit for supporting communication between the communication device and other communication devices. Optionally, the communication device may further include a storage unit coupled to the processing unit and the communication unit, which stores necessary program instructions and data for the communication device. Additionally, the processing unit may be used to control the communication unit to transmit and receive data / signaling.

[0046] In one embodiment, the processing unit is configured to acquire first information, which is used to configure a merging mechanism. The processing unit is also configured to merge N received sensing data based on the merging mechanism. Specifically, in the N received sensing data, the sensing data received from the 2nd to the Nth time is obtained by re-sensing and measuring the sensing data after the sensing verification of the previous received sensing data failed, and N is an integer greater than or equal to 2.

[0047] In addition, other alternative implementations of the communication device in this regard can be found in the relevant content of the first aspect above, and will not be described in detail here.

[0048] In another embodiment, the communication unit is used to send first information, which is used to configure the merging mechanism. The communication unit is also used to send sensing data M times. The merging mechanism is used to merge some or all of the sensing data sent in the M times. In the M times of sensing data transmission, the sensing data sent in the second to the Mth times is obtained by re-sensing and measuring after receiving a sensing verification failure indication following the previous transmission, or by re-sensing and measuring after not receiving a sensing verification indication within a first time range following the previous transmission, where M is an integer greater than or equal to 2.

[0049] In addition, other alternative implementations of the communication device in this regard can be found in the relevant content of the second aspect above, and will not be described in detail here.

[0050] As an example, the communication unit can be a transceiver or a communication interface, the storage unit can be a memory, and the processing unit can be a processor. The processor is coupled to the memory, which stores programs or instructions for the processor. The processor can be used to execute computer programs or instructions stored in the memory, and / or, through logic circuitry, cause the communication device to perform the methods described in the first or second aspect above. The transceiver or communication interface can be used to transmit and receive signals and / or data.

[0051] In another embodiment, the communication device is a chip or chip system. The processing unit may also be a processing circuit or logic circuit; the transceiver unit may be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system.

[0052] In one possible implementation, the processor can be used for, for example, but not limited to, baseband-related processing, and the transceiver or communication interface can be used for, for example, but not limited to, radio frequency transceiver. The aforementioned devices can be disposed on separate chips, or at least partially or entirely on the same chip. For example, the processor can be further divided into analog baseband processors and digital baseband processors. The analog baseband processor can be integrated with the transceiver (or communication interface) on the same chip, while the digital baseband processor can be disposed on a separate chip. With the continuous development of integrated circuit technology, more and more devices can be integrated on the same chip. For example, a digital baseband processor can be integrated with multiple application processors (e.g., but not limited to graphics processors, multimedia processors, etc.) on the same chip. Such a chip can be called a system-on-a-chip (SoC). Whether the various devices are disposed independently on different chips or integrated on one or more chips often depends on the needs of the product design. This application does not limit the implementation form of the aforementioned devices.

[0053] Fourthly, this application also provides a processor for executing the various methods described above. In the execution of these methods, the processes of sending and receiving the aforementioned information can be understood as the process of the processor outputting the aforementioned information, and the process of the processor inputting the aforementioned information. When outputting the aforementioned information, the processor outputs the aforementioned information to a transceiver so that the transceiver (or communication interface) can transmit it. After being output by the processor, the aforementioned information may require further processing before reaching the transceiver (or communication interface). Similarly, when the processor receives the aforementioned input information, the transceiver (or communication interface) receives the aforementioned information and inputs it into the processor. Furthermore, after the transceiver (or communication interface) receives the aforementioned information, the aforementioned information may require further processing before being input into the processor.

[0054] Unless otherwise specified, or unless it contradicts its actual function or internal logic in the relevant description, the transmission and reception operations involved by the processor can be more generally understood as processor output and reception, input and other operations, rather than transmission and reception operations directly performed by radio frequency circuits and antennas.

[0055] In implementation, the processor can be a dedicated processor for executing these methods, or it can be a processor that executes computer instructions stored in memory to execute these methods, such as a general-purpose processor. The memory can be a non-transitory memory, such as read-only memory (ROM), which can be integrated with the processor on the same chip or disposed on different chips. This application does not limit the type of memory or the arrangement of the memory and processor.

[0056] Fifthly, this application also provides a communication system including means for performing the method described in the first aspect and means for performing the method described in the second aspect. In another possible design, the system may further include other devices that interact with the means for performing the method described in the first aspect, and / or other devices that interact with the means for performing the method described in the second aspect.

[0057] Sixthly, this application provides a computer-readable storage medium storing a computer program that, when run, causes the methods described in the first or second aspect above to be executed.

[0058] In a seventh aspect, this application also provides a computer program product including instructions, the computer program product comprising: computer program code, which, when executed, causes the methods described in the first or second aspect above to be performed.

[0059] Eighthly, this application provides a chip including at least one processor for executing instructions to cause the method described in the first or second aspect to be performed. Optionally, the chip further includes an interface circuit for receiving the executed instructions and transmitting them to the processor. And / or, the interface circuit is used to receive information from the processor and output information. Optionally, the chip further includes a memory for storing instructions and data. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of a communication system provided in an embodiment of this application;

[0061] Figure 2 This is a schematic diagram of a retransmission sensing embodiment provided in this application;

[0062] Figure 3 This is a schematic diagram of a sensing transmission block provided in an embodiment of this application;

[0063] Figure 4 This is a schematic diagram of a target perception provided in an embodiment of this application;

[0064] Figure 5 This is a flowchart illustrating a communication method provided in an embodiment of this application;

[0065] Figure 6 This is a schematic diagram illustrating multiple transmissions of sensing data provided in an embodiment of this application;

[0066] Figure 7 This is a schematic diagram of a sensing data provided in an embodiment of this application;

[0067] Figure 8 This is a schematic diagram of another type of sensing data provided in an embodiment of this application;

[0068] Figure 9 This is a schematic diagram of another type of sensing data provided in an embodiment of this application;

[0069] Figure 10 This is a schematic diagram of a version of sensing data provided in an embodiment of this application;

[0070] Figure 11 This is a schematic diagram of another version of sensing data provided in an embodiment of this application;

[0071] Figure 12 This is a schematic diagram of another communication method provided in an embodiment of this application;

[0072] Figure 13 This application provides a schematic diagram of the structure of a communication device;

[0073] Figure 14 This application provides a schematic diagram of the structure of another communication device. Detailed Implementation

[0074] The embodiments of this application are described below with reference to the accompanying drawings.

[0075] The technical solutions of the embodiments of this application can be applied to various communication systems. For example, Global System for Mobile Communications (GSMA), Long Term Evolution (LTE) system, LTE Frequency Division Duplex (FDD) system, LTE Time Division Duplex (TDD) system, Universal Mobile Telecommunications System (UMTX), Vehicle-to-Everything (V2X) network, Internet of Things (IoT), 4th generation (4G) mobile communication system, 5th generation (5G) mobile communication system, New Radio (NR) system, Next Generation Cellular Communication System, and with the continuous development of communication technology, the technical solutions of the embodiments of this application can also be used in future communication systems.

[0076] For example, Figure 1 This is a schematic diagram of a communication system provided in an embodiment of this application. The communication system includes network devices and / or terminal devices. The network devices and terminal devices can communicate with each other. Different terminal devices can communicate with each other. Different network devices can also communicate with each other. Figure 1 The number and form of devices shown are for illustrative purposes only and do not constitute a limitation on the embodiments of this application. In actual applications, it may include multiple terminal devices and / or multiple network devices, or one or more network devices and one terminal device, or one or more terminal devices and one network device. Figure 1 The following is an example illustrating a multi-transmission reception point (multi-TRP) scenario. Figure 1 The terminal devices in this example are mobile phones, and the network devices are base stations.

[0077] The following section describes network devices and terminal devices.

[0078] 1. Network equipment

[0079] Network devices have wireless transceiver capabilities. In addition to communication functions, network devices can also be responsible for sensing functions, and are partially responsible for the centralized storage, management, distribution, and calculation of scatterer and density information. Network devices include, but are not limited to: sensing management function (SeMF), access network devices, radio network controller (RNC), base station controller (BSC), base transceiver station (BTS), home network devices (e.g., home evolved Node B, or home Node B, HNB), baseband unit (BBU), relay devices, donor nodes, radio controllers, transceiver nodes, wireless backhaul nodes, transmission and reception points (TRP), transmission points (TP) in cloud radio access network (CRAN) scenarios, wireless fidelity (WiFi) access points (AP) (i.e., WiFi AP), integrated access and backhaul (IAB) nodes, mobile switching centers, and network devices in non-terrestrial network (NTN) communication systems, which can be deployed on high-altitude platforms or satellites, etc. Network equipment can also function as a base station in device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, drone communication, and machine-to-machine (M2M) communication. Optionally, network equipment can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, in vehicle-to-everything (V2X) technology, the access network equipment can be a roadside unit (RSU).

[0080] For example, SeMF can be implemented as a function within the core network. Alternatively, SeMF can be deployed within access network devices as part of those devices. Or, SeMF can be a standalone functional entity. There are no limitations on this.

[0081] Access network equipment can be a base station (BS). A base station is a device deployed in a radio access network that provides wireless communication functions. It can also be called base station equipment, such as the evolved Node B (eNB or e-NodeB) in LTE systems, Node B, the base station (gNodeB or gNB) in 5G systems, and base stations in future communication systems. A base station can contain a BBU and a remote radio unit (RRU). The BBU and RRU can be placed in different locations; for example, the RRU can be deployed remotely to a high-traffic area, while the BBU is placed in the central equipment room. Alternatively, the BBU and RRU can be placed in the same equipment room. The BBU and RRU can also be different components within the same rack. Base stations can take the following forms: macro base stations, micro base stations (also called small stations), indoor stations, pico base stations, relay stations, access points, balloon stations, etc.

[0082] For example, in traditional UMTS or LTE systems, network equipment can be traditional macro base stations (eNBs). In heterogeneous network (HetNet) scenarios, network equipment can be micro base stations (eNBs). In distributed base station scenarios, network equipment can include BBUs and RRUs. In CRAN scenarios, network equipment can include baseband pools (BBUpools) and RRUs. In future wireless communication systems, network equipment can be gNBs.

[0083] Optionally, multiple network devices can collaborate to assist terminal devices in achieving wireless access, with different network devices each implementing a portion of the base station's functions. For example, network devices can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a BBU. RUs can be included in radio equipment or radio units, such as RRUs, active antenna units (AAUs), or remote radio heads (RRHs). It is understood that network devices can be CU nodes, DU nodes, or devices including both CU and DU nodes. Furthermore, CUs can be classified as network devices in the radio access network (RAN) or as network devices in the core network (CN); no restrictions are placed here.

[0084] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an open-radio access network (O-RAN) system, CU can also be called an open CU (open-CU, O-CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through a software module, a hardware module, or a combination of software and hardware modules.

[0085] The embodiments of this application do not limit the specific technology or device form used in the network equipment. For ease of description, a base station is used as an example of a network equipment in the following description. It is understood that a base station can be referred to as a communication device. For example, a base station can be understood as a device with base station functions. For example, the device used to implement the functions of a base station can be a base station; or some components in a base station, such as CU, DU, etc.; or it can also be a device that can support the base station in implementing the functions, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. This device can be installed in a base station or can be used in conjunction with a base station. In the embodiments of this application, the chip system can be composed of chips or can include chips and other discrete devices.

[0086] The network device deployment methods listed above are merely examples. As technology evolves, network devices may have other deployment forms, and this application embodiment does not limit them.

[0087] 2. Terminal equipment

[0088] Terminal equipment has communication capabilities. It can also collect sensing data and perform some scatterer calculations. Terminal equipment can also be referred to as user equipment (UE), user communication equipment, terminal, access terminal, subscriber unit, user station, mobile station, mobile station (MS), remote station, remote terminal, mobile terminal (MT), mobile device, user terminal, user agent, or user equipment.

[0089] The terminal device in this application embodiment can be a handheld device with wireless communication function, an in-vehicle device, an in-vehicle communication module or other embedded communication module, a wearable device, a computing device or other processing device connected to a wireless modem, or a device used to provide voice or data connectivity to a user. The terminal device can also be an Internet of Things (IoT) device. The terminal device can be a terminal with the function of connecting to a cellular base station. For example, the terminal device can be a cellular phone, a smartphone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wireless data card, a personal digital assistant (PDA) computer, a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, a wearable device (e.g., a smartwatch, a smart bracelet, a pedometer, smart glasses, etc.), an in-vehicle device (e.g., a car, a bicycle, an electric vehicle, an airplane, a ship, a train, a high-speed rail, etc.), a vehicle networking device, a satellite terminal, etc.

[0090] Terminal devices can also include virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, smart point of sale (POS) machines, customer-premises equipment (CPE), light user equipment (UE), reduced capability user equipment (REDCAP UE), wireless terminals in industrial control, wireless communication equipment in smart factories, smart home devices (e.g., refrigerators, televisions, air conditioners, electricity meters, etc.), smart robots, robotic arms, workshop equipment, wireless terminals in self-driving, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, and flying equipment (e.g., smart robots, hot air balloons, drones, airplanes), etc. Terminal devices can also be vehicle devices, such as vehicle devices, vehicle modules, vehicle chips, on-board units (OBUs) or telematics boxes (T-BOXs). Terminal devices can also be other devices with terminal functions. For example, a terminal device can also be a device that performs terminal functions in D2D communication.

[0091] The embodiments of this application do not limit the specific technology or device form used in the terminal. It is understood that a terminal can be referred to as a communication device. For example, a terminal can be understood as a device with terminal functions. For example, the device used to implement the terminal functions can be a terminal itself; or it can be a device capable of supporting the terminal in implementing those functions, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. This device can be installed in the terminal or can be used in conjunction with the terminal.

[0092] The deployment methods of terminal devices listed above are merely examples. As technology evolves, other deployment forms of terminal devices may exist, and this application does not limit them.

[0093] The embodiments disclosed in this application will be presented to illustrate various aspects, embodiments, or features of this application in relation to systems including multiple devices, components, modules, etc. It should be understood and appreciated that individual systems may include additional devices, components, modules, etc., and / or may not include all the devices, components, modules, etc. discussed in conjunction with the accompanying drawings. Furthermore, combinations of these approaches may also be used.

[0094] The relevant concepts involved in the embodiments of this application are described below.

[0095] 1. Perception Retransmission

[0096] In the sensing retransmission process, if the sensing data verification fails, it will trigger a re-sensing measurement and transmit the sensing data obtained from the re-sensing measurement. Sensing retransmission can also be called sensing hybrid automatic repeat request (S-HARQ) retransmission. The following explanation uses device #1 as the sender of sensing data and device #2 as the receiver of sensing data as an example.

[0097] For example, in combination Figure 2 Device #1 initially transmits sensing data, and device #2 receives and verifies the sensing data. For example, device #2 verifies the sensing data by: determining whether the sensing data can be correctly decoded, and verifying the accuracy of the sensing data; wherein verifying the accuracy of the sensing data includes, for example, verifying indicators such as the precision of the sensing data. If device #2 can correctly decode the sensing data and the accuracy of the sensing data meets the conditions, the sensing verification is successful. If device #2 cannot correctly decode the sensing data and / or the accuracy of the sensing data does not meet the conditions, the sensing verification fails.

[0098] Based on the result of the sensing verification, device #2 sends a sensing verification indication. In this embodiment, if the sensing verification is successful, the sensing verification indication is a sensing verification success indication, such as a sensing affirmative acknowledgment (S-ACK). If the sensing verification fails, the sensing verification indication is a sensing verification failure indication, such as a sensing negative acknowledgment (S-NACK). Figure 2 The example of a failed perception verification is used to illustrate this.

[0099] Upon receiving a sensing verification failure indication, device #1 re-sensors and measures, and then sends the re-sensing data obtained from the re-sensing measurement, i.e., retransmits the sensing data. Device #2 receives the sensing data again and performs sensing verification on the re-received sensing data, which is similar to the sensing verification performed by device #2 previously and will not be described in detail here.

[0100] Based on the result of the perception verification of the received perception data, device #2 sends a perception verification instruction. Figure 2 The following example illustrates the situation where the sensor data received again fails to pass a sensor verification test. Upon receiving a sensor verification failure indication, device #1 re-sensors and measures, then sends the re-sensored data (i.e., retransmits the sensor data). Device #2 receives the sensor data again and performs a sensor verification test on it. The sensor verification process for the re-received data, and the subsequent operations, are similar to the previous sensor verification and the operations following it, and will not be described in detail here.

[0101] 2. Sensing transport block (STB)

[0102] A sensing transport block includes one or more sensing information blocks (SIBs) and / or one or more sensing redundancy checks (SRCs), such as... Figure 3 As shown in the diagram. The sensing information block carries the data corresponding to the sensing target, while the sensing redundancy check carries the data corresponding to the anchor point target.

[0103] Optional, such as Figure 3 As shown, a sensing information block includes one or more scatter information elements (SIEs), and a sensing redundancy check also includes one or more scatter information elements. Therefore, the basic unit of the sensing transmission block, sensing information block, and sensing redundancy check is the scatter information element. Optionally, for a scatter information element in a sensing information block, the scatterer is the sensing target, and one scatter information element in the sensing information block carries the data corresponding to one sensing target. For a scatter information element in a sensing redundancy check, the scatterer is the anchor target, and one scatter information element in the sensing redundancy check carries the data corresponding to one anchor target.

[0104] For example, the data carried by SIE may include one or more of the following: scatter identity (scatter ID), three-dimensional coordinates, angle, likelihood, power, signal-to-noise ratio (SNR), velocity, scatter type, etc.

[0105] This application does not restrict the order of the SIEs included in the SIB and the SIEs included in the SRC in the STB. For example, in the sensing transport block, the SIEs included in the SIB and the SIEs included in the SRC can be ordered, or they can be a set of unordered data.

[0106] This application does not limit the form of the sensing target and the anchor point target. For example, the sensing target can be part or all of a person, or part or all of an object such as a vehicle, utility pole, or tree. Figure 4 As shown, the perceived target can be Figure 4 The entire cuboid shown; or it could be Figure 4 The portion of the cuboid shown is as follows: Figure 4 The medium-sized cuboid generates scattering points / scattering surfaces / scatterers represented by one or more gray ellipses. Similarly, anchor targets can be part or all of a person, or part or all of an object such as a vehicle, telephone pole, or tree, which will not be elaborated further here.

[0107] Furthermore, in this embodiment, the data corresponding to the sensing target can also be understood as: data obtained from sensing and measuring the sensing target. The data corresponding to the anchor point target can also be understood as: data obtained from sensing and measuring the anchor point target. Since the location and other information of the anchor point target are known, the accuracy of the sensing data can be verified by comparing the data corresponding to the anchor point target with the known information of the anchor point target. Therefore, the data corresponding to the anchor point target can be used for sensing data verification.

[0108] This application does not limit the presentation method of the sensing data, the data corresponding to the sensing target, and the data corresponding to the anchor target. For example, the sensing data is presented in STB format, the data corresponding to the sensing target is presented in SIB format, and the data corresponding to the anchor target is presented in SRC format; when transmitting the sensing data, STB is transmitted, and STB includes SIB and / or SRC. As another example, the data corresponding to the sensing target is presented in SIB format, and the data corresponding to the anchor target is presented in SRC format; when transmitting the sensing data, SIB is transmitted directly, or SRC is transmitted directly, or a combination of SIB and SRC is transmitted directly.

[0109] Optionally, the perceived data includes data corresponding to the perceived target and data corresponding to the anchor target. There can be one or more data corresponding to the perceived target and one or more data corresponding to the anchor target. Optionally, the data corresponding to the perceived target and the data corresponding to the anchor target can be correlated, and the data corresponding to the anchor target and its associated data corresponding to the perceived target were obtained under the same measurement conditions. For example, the data corresponding to the perceived target is presented in the form of SIBs, and the data corresponding to the anchor target is presented in the form of SRCs. The perceived data includes one or more SIBs and the SRCs associated with each SIB.

[0110] Alternatively, the perceived data includes data corresponding to anchor targets, where the data corresponding to anchor targets can be one or more. For example, the data corresponding to anchor targets is presented in the form of SRCs, and the perceived data includes one or more SRCs.

[0111] 3. Perception verification of perceived data

[0112] For example, perception verification of perceived data may include: determining whether the perceived data can be correctly decoded, and verifying the accuracy of the perceived data. Verifying the accuracy of the perceived data may include, for example, verifying metrics such as the precision of the perceived data.

[0113] Optionally, verification is performed on one or more data points corresponding to the anchor target in the sensing data. If the number of data points that fail verification among the one or more data points corresponding to the anchor target meets a first condition, the sensing verification of the sensing data fails. This application embodiment does not limit the first condition. For example, the first condition is: the number of data points that fail verification among the one or more data points corresponding to the anchor target in the sensing data is greater than or equal to a preset value. Another example is: the proportion of data points in the sensing data that correspond to the anchor target and fail verification among the one or more data points corresponding to the anchor target is greater than or equal to a threshold.

[0114] Optionally, the data corresponding to the anchor point target is validated, including: validating the accuracy of the data corresponding to the anchor point target. For example, if the accuracy of the data corresponding to the anchor point target meets a preset condition, the data validation of the anchor point target is successful; otherwise, the data validation of the anchor point target fails.

[0115] Alternatively, if the perceived data includes data corresponding to the anchor target and data corresponding to the perceived data associated with the anchor target, the accuracy of the data corresponding to the anchor target can indirectly reflect the accuracy of the data corresponding to the perceived target associated with it. Successful verification of the data corresponding to the anchor target indicates that the data corresponding to the associated perceived target has been successfully verified, and failure to verify the data corresponding to the anchor target indicates that the data corresponding to the associated perceived target has failed to be verified.

[0116] The following example uses sensing data #1, which includes W SIBs and W SRCs, with a one-to-one correspondence between the W SRCs and W SIBs:

[0117] Assuming W equals 1, if one SRC check fails in the sensing data #1, then all SRC checks in the sensing data #1 fail, and the sensing data #1 fails the sensing check.

[0118] Assuming W is an integer greater than or equal to 2, if W1 out of the W SRCs included in the perception data #1 fail verification and If W1 is greater than or equal to K, then the perception verification of perception data #1 fails. Here, W1 is 0 or a positive integer, W1 is less than or equal to W, and K is a non-negative number less than or equal to 1.

[0119] In the perception retransmission process, if the perception data verification fails, it will trigger a re-perception measurement and transmission of the re-measured perception data. Based on this, in the perception retransmission scenario, the perception data receiver will receive perception data in multiple rounds. However, the receiver subsequently uses the most recently received perception data that has successfully undergone verification to execute business operations, while the perception data transmitted in previous rounds that failed verification is not utilized, resulting in a waste of perception data.

[0120] This application provides a communication method based on a merging mechanism, which merges N received sensing data. Specifically, in the N received sensing data, each of the Nth to the 2nd received sensing data is obtained by re-sensing and measuring after the sensing data of the previous received sensing data failed a sensing verification test. N is an integer greater than or equal to 2. Therefore, this method can fully utilize the sensing data that failed the sensing verification test, thus improving the utilization rate of sensing data.

[0121] The embodiments of this application are described in detail below with reference to the accompanying drawings. For ease of explanation, the embodiments of this application use a first device and a second device as examples to illustrate the corresponding methods. For example, the first device is a network device, and the second device is a terminal device. Alternatively, the first device and the second device may be different terminal devices. Or, the first device and the second device may be different network devices. However, this application does not limit the specific form of the executing entity of the method. For example, the device in the embodiments of this application may be the network device or the terminal device itself, or it may be a chip, chip system, or processor that supports the device in implementing the corresponding method, or it may be a logic module, unit, or software that can implement all or part of the functions of the device, etc.

[0122] In one optional embodiment, the first device includes a sensing module, which is used to implement the method provided in the embodiments of this application. In another optional embodiment, if the first device already has sensing functionality, or if the first device is a device that has undergone integrated sensing technology, then it is not necessary to add an additional sensing module to the first device. Additionally, optionally, a sensing algorithm can be added to the first device so that the first device can utilize the sensing algorithm to implement the method provided in the embodiments of this application. The second device is similar to the first device and will not be described in detail here.

[0123] Please see Figure 5 , Figure 5 This is a flowchart illustrating a communication method provided in an embodiment of this application. The communication method includes the following steps.

[0124] S101, The first device acquires first information, which is used to configure the merging mechanism.

[0125] This application does not limit the method by which the first device acquires the first information.

[0126] For example, the first information may be pre-configured in the first device.

[0127] For example, the first device reads the first information.

[0128] For example, the second device sends first information to the first device, and correspondingly, the first device receives first information from the second device. In the embodiments of this application, the second device and the first device can communicate directly, or they can communicate indirectly through other devices besides the second device and the first device; there is no limitation on this.

[0129] For example, the first information is sent to the first device by a device other than the second device and the first device.

[0130] S102. The first device merges the N received sensing data based on a merging mechanism. Among the N received sensing data, the sensing data received from the 2nd to the Nth time is obtained by re-sensing and measuring the sensing data after the sensing verification of the previous received sensing data failed. N is an integer greater than or equal to 2.

[0131] In this embodiment, the sensing data received by the first device is the sensing data sent by the second device. For example, the second device sends sensing data M times. For any of the M times the second device sends sensing data, the first device may or may not receive it. If the first device receives the sensing data, it performs a sensing verification and sends a sensing verification instruction to the second device. If the sensing verification instruction indicates a sensing verification failure, the second device re-sensits and measures, and sends the re-sensitized sensing data. If the second device does not receive the sensing verification instruction within a first time range after sending the sensing data, it re-sensits and measures, and sends the re-sensitized sensing data. The second device may not receive the sensing verification instruction because the first device did not receive the sensing data, and therefore the first device will not perform sensing verification or send a sensing verification instruction. This application does not limit the method for determining the first time range. For example, the first time range may be pre-configured, or it may be determined through negotiation between the first and second devices. Furthermore, for a detailed explanation of the sensing data, sensing verification, and sensing verification instruction, please refer to the foregoing descriptions, which will not be repeated here.

[0132] Therefore, for the second device, in the M transmissions of sensing data, each transmission from the 2nd to the Mth transmission is obtained by re-sensing and measuring after receiving a sensing verification failure indication following the previous transmission, or by re-sensing and measuring after not receiving a sensing verification indication within the first time range following the previous transmission, where M is an integer greater than or equal to 2. The merging mechanism is used to merge some or all of the sensing data from the M received transmissions. Furthermore, N is less than or equal to M, and the N received sensing data from the first device is some or all of the sensing data from the M transmissions of the second device.

[0133] For example, combining Figure 6The second device sends sensing data #1. The first device fails to verify sensing data #1 and sends a sensing verification failure indication. The second device re-sensors and measures to obtain sensing data #2 and sends it, but the first device does not receive sensing data #2. Within the first time range after sending sensing data #2, the second device does not receive a sensing verification indication. The second device re-sensors and measures to obtain sensing data #3 and sends it. The first device fails to verify sensing data #3 and sends a sensing verification failure indication. The second device re-sensors and measures to obtain sensing data #4 and sends it. The first device performs sensing verification on sensing data #4. It can be seen that in... Figure 6 During the process shown, the second device sends sensing data four times, and the first device receives sensing data three times.

[0134] In addition, in this embodiment of the application, the second device's re-sensing measurement may, for example, be a re-sensing measurement of the sensing targets and / or anchor targets in the sensing task corresponding to the sensing data that failed the sensing verification. The sensing targets targeted by the second device's re-sensing measurement may be some or all of the sensing targets in the sensing task corresponding to the sensing data that failed the sensing verification. Similarly, the anchor targets targeted by the second device's re-sensing measurement may be some or all of the anchor targets in the sensing task corresponding to the sensing data that failed the sensing verification.

[0135] Alternatively, the second device can re-sensing and measuring, for example, by directly re-sensing the sensing targets and / or anchor targets corresponding to the sensing data that failed the sensing verification. The sensing targets targeted by the second device's re-sensing and measuring can be some or all of the sensing targets corresponding to the sensing data that failed the sensing verification. Similarly, the anchor targets targeted by the second device's re-sensing and measuring can be some or all of the anchor targets corresponding to the sensing data that failed the sensing verification.

[0136] This application does not limit the method by which the second device obtains sensing data through sensing measurement. Exemplarily, the second device obtains sensing data through sensing measurement using either mono-static sensing or bi-static sensing. In mono-static sensing, the second device sends a sensing signal and receives the signal reflected from the sensing target and / or anchor point target. The second device determines sensing data based on the reflected signal corresponding to the sensing signal. In bi-static sensing, a sensing signal is sent by a device other than the second device. The second device receives the signal reflected from the sensing target and / or anchor point target. The second device determines sensing data based on the reflected signal corresponding to the sensing signal. Optionally, the second device determining sensing data based on the reflected signal corresponding to the sensing signal includes: the second device measuring the reflected signal corresponding to the sensing signal to obtain the sensing data.

[0137] In one alternative implementation, the first device merges N received sensing data based on a merging mechanism, including some or all of the sensing data cached in a buffer.

[0138] Example 1: The first device buffers the received sensing data in a buffer each time it receives sensing data. The first device can then retrieve the N received sensing data to be merged from the buffer.

[0139] For example, the buffer can cache a maximum of R received sensing data from the first device, where R is a positive integer. The first device caches the sensing data in the buffer after each received sensing data. In the case of the (R+1)th received sensing data, the first device deletes the first received sensing data cached in the buffer and caches the (R+1)th received sensing data in the buffer. Subsequently, in the case of the (R+2)th received sensing data, since the first received sensing data has already been deleted, the first device also deletes the second received sensing data cached in the buffer and caches the (R+2)th received sensing data in the buffer. The caching of sensing data by the first device in subsequent received sensing data is similar and will not be described further. Understandably, when the data storage exceeds the buffer size, the data cached in the earliest round is cleared.

[0140] Assume the buffer already contains R1 received sensing data points from the first device, where R1 is a positive integer less than or equal to R. If N is less than R1, the first device selects N received sensing data points from the R1 received sensing data points in the buffer and merges the selected N received sensing data points based on a merging mechanism. Alternatively, if N equals R1, the first device merges all the sensing data points in the buffer based on the merging mechanism.

[0141] Example 2: If the first device fails to verify the received sensing data, it caches the sensing data in a buffer. In the N received sensing data, the Nth received sensing data can be the sensing data received by the first device in the current round or the most recently received sensing data, and the sensing data received from the 1st to the (N-1th)th received sensing data can be the sensing data obtained by the first device from the buffer.

[0142] For example, the buffer can cache a maximum of R received sensing data from the first device, where R is a positive integer. The first device caches the sensing data in the buffer each time a sensing data verification fails. If the sensing data received for the (R+1)th time fails verification, the first device deletes the first received sensing data from the buffer and caches the (R+1)th received sensing data. Subsequently, if the first device receives sensing data for the (R+2)th time fails verification, since the first received sensing data was previously deleted, the first device deletes the second received sensing data from the buffer and caches the (R+2)th received sensing data. The caching of sensing data by the first device in subsequent receptions of failed sensing data follows a similar pattern and will not be elaborated further. Understandably, when the data storage exceeds the buffer size, the data cached in the earliest round is cleared.

[0143] Assume the first device receives sensing data a total of N+r times. After receiving the sensing data for the N+rth time out of the N+r times, the first device merges the sensing data from the Nth time out of the N+r received sensing data based on a merging mechanism. Here, r is 0 or a positive integer.

[0144] In one possible scenario, N-1 equals R. When the first device receives sensing data for the N+rth time out of N+r times, the buffer already contains sensing data received from the 1+rth to the R+rth times out of N+r times. Based on a merging mechanism, the first device merges the sensing data received for the N+rth time out of N+r times with all the sensing data cached in the buffer.

[0145] In another possible scenario, N-1 is less than R, and N+r-1 is less than or equal to R. When the first device receives sensing data for the N+rth time out of N+r times, the buffer already contains the sensing data received from the 1st to the N+r-1th times out of N+r times. Based on a merging mechanism, the first device merges the sensing data received for the N+rth time out of N+r times with all the sensing data cached in the buffer.

[0146] In another possible scenario, N-1 is less than R, and N+r-1 is greater than R. When the first device receives sensing data for the N+rth time out of N+r times, the buffer already contains sensing data received from the N+rRth to the N+r-1th times out of N+r times. The first device selects sensing data received from the N-1th time out of the buffer from the sensing data stored in the buffer, and merges the sensing data received by the first device for the N+rth time out of N+r times with the sensing data selected from the buffer based on a merging mechanism.

[0147] Furthermore, the embodiments of this application do not limit the method by which the first device selects the sensing data to be merged from the buffer. For example, the first device may randomly select the sensing data to be merged from the sensing data cached in the buffer. Another example is that the first device may select sensing data with higher priority from the sensing data cached in the buffer.

[0148] In one alternative approach, the method further includes obtaining fourth information, which indicates the size of the buffer. The size of the buffer can also be understood as the maximum amount of data that the buffer can hold.

[0149] For example, the buffer can cache the sensing data received by the first device at most R times, where R is a positive integer, and the fourth information includes the value of R.

[0150] For example, the fourth piece of information includes the maximum number of bits that the buffer can hold.

[0151] This application does not limit the method by which the first device acquires the fourth information. For example, the fourth information may be pre-configured in the first device. Another example is that the first device reads the fourth information. Yet another example is that the second device sends the fourth information to the first device. Yet another example is that the fourth information is sent to the first device by a device other than the second and first devices. Optionally, the fourth information and the first information may be acquired simultaneously by the first device. For example, the second device may simultaneously send the first information and the fourth information, and the first device may simultaneously receive the first information and the fourth information, wherein the first information and the fourth information may be carried in the same message.

[0152] Alternatively, the fourth piece of information is carried within the first piece of information. This fourth piece of information could also be, for example, called a cache combining buffer size indicator.

[0153] In one alternative implementation, the method further includes: obtaining second information, the second information being used to indicate whether the merging mechanism is enabled.

[0154] This application does not limit the method by which the first device acquires the second information. For example, the second information may be pre-configured in the first device. Another example is that the first device reads the second information. Yet another example is that the second device sends the second information to the first device. Yet another example is that the first information is sent to the first device by a device other than the second and first devices. Optionally, the second information and the first information may be acquired simultaneously by the first device. For example, the second device may simultaneously send the first information and the second information, and the first device may simultaneously receive the first information and the second information, wherein the first information and the second information may be carried in the same message.

[0155] Understandably, when the second information indicates that the merging mechanism is enabled, the first device activates the function of merging sensing data and executes step S102 using the merging mechanism configured by the first information. When the second information indicates that the merging mechanism is not enabled, the first device does not activate the function of merging sensing data, the first information has no effect, and the first device does not execute step S102. In another optional manner, the first device obtains the second information #1 indicating that the merging mechanism is enabled, the first device activates the function of merging sensing data, and after the first device has activated the function of merging sensing data for a period of time, the first device obtains the second information #2 indicating that the merging mechanism is not enabled, and the first device disables the function of merging sensing data.

[0156] In addition, in the embodiments of this application, the second information is used to indicate whether the merging mechanism is enabled, which can also be understood as: the second information is used to indicate whether the merging function is enabled; or it can also be understood as: the second information is used to indicate whether the cache merging function is enabled.

[0157] Optionally, the second information includes a first flag bit, the value of which is related to whether the merging mechanism is enabled. For example, as shown in Table 1 below, a value of "0" for the first flag bit indicates that the second information indicates that the merging mechanism is not enabled, and a value of "1" for the first flag bit indicates that the second information indicates that the merging mechanism is enabled.

[0158] Table 1

[0159] The value of the first flag bit 0 1 describe Do not enable the merge mechanism Enable merge mechanism

[0160] However, this application embodiment does not limit the value of the first flag bit, nor the correspondence between the value of the first flag bit and whether the merging mechanism is enabled. For example, the value of the first flag bit can be "0" to indicate that the second information indicates that the merging mechanism is enabled, and the value of the first flag bit can be "1" to indicate that the second information indicates that the merging mechanism is not enabled. In addition, this application embodiment does not limit the name of the first flag bit. For example, the first flag bit can also be called the allowedSensingCacheCombining flag bit.

[0161] In one optional implementation, in the M transmissions of sensing data by the second device, each transmission includes: data corresponding to the sensing target and data corresponding to the anchor point target. Correspondingly, in the N receptions of sensing data by the first device, each reception includes: data corresponding to the sensing target and data corresponding to the anchor point target.

[0162] Alternatively, in the sensing data transmitted M times by the second device, some rounds of sensing data include data corresponding to the sensing target and data corresponding to the anchor target, while the remaining rounds of sensing data include data corresponding to the anchor target. Correspondingly, in the sensing data received N times by the first device, some rounds of sensing data include data corresponding to the sensing target and data corresponding to the anchor target, while the remaining rounds of sensing data include data corresponding to the anchor target.

[0163] It is evident that each of the N sensing data received by the first device includes data corresponding to the anchor point target. For details regarding sensing data, data corresponding to the sensing target, and data corresponding to the anchor point target, please refer to the aforementioned explanations; they will not be repeated here.

[0164] Optionally, in at least one of the N received sensing data sets by the first device, at least one data set corresponding to the anchor target is successfully verified. For a detailed explanation of verifying the data corresponding to the anchor target, please refer to the aforementioned explanations, which will not be repeated here. Based on this method, the first device merges the sensing data received at least once out of N times, resulting in higher accuracy of the merged sensing data.

[0165] For example, based on this method, if the data corresponding to the anchor target in the N sensing data received by the first device are merged, the accuracy of the merged data corresponding to the anchor target can be higher, which is beneficial to improving the sensing verification accuracy.

[0166] If, in at least one of the N sensing data received by the first device, in addition to at least one data corresponding to the anchor target and successfully verified, it also includes data corresponding to the sensing target associated with at least one data corresponding to the anchor target and successfully verified, since the data corresponding to the anchor target and the data corresponding to the associated sensing target were obtained under the same measurement conditions, and the successful verification of at least one data corresponding to the anchor target indicates that the data corresponding to the associated sensing target has been successfully verified, then merging the data corresponding to the sensing targets in the N sensing data received by the first device can make the accuracy of the merged data corresponding to the sensing targets higher. Consequently, more accurate data can be used to perform business operations, which helps to improve business performance.

[0167] In one optional implementation, the first information is used to configure the merging mechanism, including one or more of the following: the first information is used to configure the merging mode, the first information is used to configure the merging object, and the first information is used to configure the merging algorithm. The merging mode, merging object, and merging algorithm are illustrated below.

[0168] 1. Merge Mode

[0169] The merging mode can be either the first mode or the second mode. This application does not limit the names of the first and second modes; for example, the first mode can also be called the fixed redundancy merging mode, and the second mode can also be called the incremental redundancy merging mode.

[0170] Optionally, the first information includes a second flag bit, the value of which is related to the merging mode. This method can be considered as one possible implementation for configuring the merging mode using the first information. For example, as shown in Table 2 below, a value of "0" for the second flag bit indicates that the merging mode is the first mode, and a value of "1" for the second flag bit indicates that the merging mode is the second mode.

[0171] Table 2

[0172] The value of the second flag bit 0 1 describe First Mode Second Mode

[0173] However, this application embodiment does not limit the value of the second flag bit, nor the correspondence between the value of the second flag bit and the merging mode. For example, the value of the second flag bit can be "1" to indicate that the merging mode is the first mode, and the value of the first flag bit can be "0" to indicate that the merging mode is the second mode. In addition, this application embodiment does not limit the name of the second flag bit. For example, the second flag bit can also be called the sensing cache merging mode indicator flag bit (sensingCacheCombining-mode).

[0174] The first mode and the second mode are described below by example, as described in Implementation Method 1.1 and Implementation Method 1.2.

[0175] Implementation method 1.1, the merging mode is the first mode.

[0176] When the merging mode is in the first mode, in the M transmissions of sensing data from the second device, the sensing data from different transmissions correspond to the same sensing measurement conditions. Correspondingly, in the N receptions of sensing data from the first device, the sensing data from different receptions correspond to the same sensing measurement conditions.

[0177] It is evident that when the merging mode is in the first mode, the sensing data transmitted M times by the second device are sensing data obtained from different transmissions under the same sensing measurement conditions. Correspondingly, the sensing data received N times by the first device are sensing data obtained from different receptions under the same sensing measurement conditions. Understandably, since the first device receives N sensing data from N receptions under the same sensing measurement conditions, merging these N receptions can improve the white noise variance accumulation gain and enhance the sensing accuracy under these conditions.

[0178] This application does not limit the method for determining the sensing measurement conditions when the merging mode is the first mode. For example, the sensing measurement conditions can be pre-configured. Another example is that the second device sends the sensing measurement conditions simultaneously when it first sends the sensing data, and does not need to send the sensing measurement conditions again when the second device sends sensing data subsequently.

[0179] Optionally, the sensing data transmitted by the second device in different transmissions corresponds to the same sensing measurement conditions, including: all sensing targets corresponding to the sensing data transmitted by the second device in different transmissions are the same, and all anchor point targets corresponding to the sensing data transmitted in different transmissions are the same. Correspondingly, the sensing data received by the first device in different transmissions corresponds to the same sensing measurement conditions, including: all sensing targets corresponding to the sensing data received by the first device in different transmissions are the same, and all anchor point targets corresponding to the sensing data received in different transmissions are the same. For example, when the merging mode is the first mode, the sensing targets corresponding to each retransmitted sensing data are the same as those corresponding to the initial transmitted sensing data, and the anchor point targets corresponding to each retransmitted sensing data are the same as those corresponding to the initial transmitted sensing data.

[0180] For example, in the N sensing data received by the first device, the sensing targets corresponding to the i-th receiving sensing data are sensing target #1 and sensing target #2, and the anchor targets corresponding to the i-th receiving sensing data are anchor target #1 and anchor target #2. The sensing targets corresponding to the j-th receiving sensing data are also sensing target #1 and sensing target #2, and the anchor targets corresponding to the j-th receiving sensing data are also anchor target #1 and anchor target #2. It can be seen that the sensing targets corresponding to the i-th receiving sensing data and the j-th receiving sensing data are all the same, and the anchor targets corresponding to the i-th receiving sensing data and the j-th receiving sensing data are all the same. Here, i and j are positive integers less than or equal to N, and i is not equal to j.

[0181] Additionally, for example, the perceived data is presented in the form of STB, the data corresponding to the perceived target is presented in the form of SIB, and the data corresponding to the anchor point target is presented in the form of SRC. In the case where the merging mode is the first mode, in the STBs transmitted by the second device M times, the total number of SIEs included in the SIB and the total number of SIEs included in the SRC are the same in different STBs transmitted. Correspondingly, in the STBs received by the first device N times, the total number of SIEs included in the SIB and the total number of SIEs included in the SRC are the same in different STBs received. For details regarding STB, SIB, SRC, and SIE, please refer to the foregoing explanations; further elaboration is unnecessary.

[0182] Additionally, for example, if different transmissions or receptions of sensing data correspond to the same anchor target, it can be manifested as the anchor target having the same identifier (ID) for different transmissions or receptions of sensing data.

[0183] Optionally, the merging mode is the first mode. In the M transmissions of sensing data by the second device, each transmission includes: data corresponding to the sensing target and data corresponding to the anchor target. Correspondingly, in the N receptions of sensing data by the first device, each reception includes: data corresponding to the sensing target and data corresponding to the anchor target. The data corresponding to the anchor target is used for sensing data verification. For details regarding the data corresponding to the sensing target and the data corresponding to the anchor target, please refer to the aforementioned explanations, which will not be repeated here.

[0184] Understandably, in an implementation where the sensing targets corresponding to the sensing data received by the first device in different receptions are all the same, and the anchor point targets corresponding to the sensing data received in different receptions are all the same, the sensing data received by the first device in N receptions includes data obtained from N sensing measurements of the same sensing target. If the data corresponding to the sensing target in the N receptions of sensing data are merged, the sensing accuracy of the sensing target can be improved. Similarly, the sensing data received by the first device in N receptions includes data obtained from N sensing measurements of the same anchor point target. If the data corresponding to the anchor point target in the N receptions of sensing data are merged, the sensing accuracy of the anchor point target can be improved, thereby improving the accuracy of sensing verification.

[0185] For example, in the merge pattern, it's pattern one, where M equals N and N equals 4. (Merge) Figure 7 In the process of transmitting sensing data four times between the second device and the first device, the second device obtains sensing data #1 in the first sensing measurement and sends sensing data #1. Sensing data #1 includes: data corresponding to sensing target #1, data corresponding to sensing target #2, data corresponding to anchor point target #1, and data corresponding to anchor point target #2. The first device fails to verify sensing data #1 and sends a sensing verification failure indication to the second device.

[0186] The second device obtains and transmits sensing data #2 during its second sensing measurement. Sensing data #2 includes: data corresponding to sensing target #1, data corresponding to sensing target #2, data corresponding to anchor point target #1, and data corresponding to anchor point target #2. The first device fails to verify sensing data #2 and sends a sensing verification failure indication to the second device.

[0187] The second device obtains and transmits sensing data #3 during its third sensing measurement. Sensing data #3 includes: data corresponding to sensing target #1, data corresponding to sensing target #2, data corresponding to anchor point target #1, and data corresponding to anchor point target #2. The first device fails to verify sensing data #3 and sends a sensing verification failure indication to the second device.

[0188] The second device obtains and transmits sensing data #4 during its fourth sensing measurement. Sensing data #4 includes data corresponding to sensing target #1, sensing target #2, anchor point target #1, and anchor point target #2. The first device then verifies and interprets sensing data #4.

[0189] It is evident that in the four transmissions of sensing data between the second device and the first device, each transmission of sensing data includes both the data corresponding to the sensing target and the data corresponding to the anchor point target.

[0190] Implementation method 1.2, the merging mode is the second mode.

[0191] When the merging mode is in the second mode, in the sensing data transmitted by the second device in at least two out of M transmissions, the sensing data transmitted in different transmissions corresponds to different sensing measurement conditions. Correspondingly, in the sensing data received by the first device in at least two out of N transmissions, the sensing data received in different transmissions corresponds to different sensing measurement conditions.

[0192] It is evident that when the merging mode is the second mode, in the sensing data transmitted at least twice in the M times by the second device, the sensing data transmitted in different times is sensing data obtained by sensing measurements under different sensing measurement conditions. Correspondingly, in the sensing data received at least twice in the N times by the first device, the sensing data received in different times is sensing data obtained by sensing measurements under different sensing measurement conditions.

[0193] For example, in at least two of the sensing data received by the first device in N times, the sensing data received in different times corresponds to different sensing measurement conditions. This can be because the sensing measurement conditions corresponding to the sensing data received in the first device in N times are partially or completely different. For example, if N equals 3, in the sensing data received by the first device in 3 times, the sensing data received in the 1st time corresponds to sensing measurement condition #1, the sensing data received in the 2nd time corresponds to sensing measurement condition #2, and the sensing data received in the 3rd time corresponds to sensing measurement condition #3. Sensing measurement conditions #1, #2, and #3 are partially or completely different. Similarly, the situation is similar in that the sensing data transmitted in at least two of the sensing data in the second device in M ​​times corresponds to different sensing measurement conditions, and will not be elaborated further.

[0194] For example, in the N times the sensing data received by the first device, there are at least two instances where the sensing data received in different sessions correspond to different sensing measurement conditions, and there are also at least two instances where the sensing data received in different sessions correspond to the same sensing measurement conditions. For instance, if N equals 3, in the 3 times the sensing data received by the first device, the first instance of sensing data corresponds to sensing measurement condition #1, the second instance of sensing data corresponds to sensing measurement condition #2, and the third instance of sensing data corresponds to sensing measurement condition #3. Sensing measurement condition #1 and sensing measurement condition #2 are partially or completely different, while sensing measurement condition #1 and sensing measurement condition #3 are completely the same. Similarly, in the M times the second device transmits sensing data, the sensing data transmitted in different sessions corresponds to different sensing measurement conditions, and will not be described further.

[0195] Optionally, the sensing data transmitted by the second device in different transmissions corresponds to different sensing measurement conditions, including: the sensing targets corresponding to the sensing data transmitted by the second device in different transmissions are partially or completely different, and / or, the anchor targets corresponding to the sensing data transmitted in different transmissions are partially or completely different. Similarly, the sensing data received by the first device in different transmissions corresponds to different sensing measurement conditions, including: the sensing targets corresponding to the sensing data received by the first device in different transmissions are partially or completely different, and / or, the anchor targets corresponding to the sensing data received in different transmissions are partially or completely different. Wherein, based on the method that the anchor targets corresponding to the sensing data received by the first device in at least two of the N transmissions are partially or completely different, the retransmitted sensing data can provide the first device with data corresponding to new anchor targets, increasing the number of anchor targets for sensing measurement. The first device merging the data corresponding to anchor targets in the N transmissions of sensing data is beneficial to improving the accuracy of sensing verification.

[0196] For example, in the N sensing data received by the first device, the sensing targets corresponding to the i1th receiving sensing data are sensing target #1 and sensing target #2, and the sensing targets corresponding to the j1th receiving sensing data are sensing target #3 and sensing target #4. It is evident that the sensing targets corresponding to the i1th receiving sensing data are completely different from those corresponding to the j1st receiving sensing data. Here, i1 and j1 are positive integers less than or equal to N, and i1 is not equal to j1.

[0197] For example, in the N sensing data received by the first device, the sensing targets corresponding to the i2th receiving sensing data are sensing target #1 and sensing target #2, and the sensing targets corresponding to the j2th receiving sensing data are sensing target #2 and sensing target #3. It can be seen that the sensing targets corresponding to the i2th receiving sensing data and the sensing targets corresponding to the j2th receiving sensing data are partially different. Here, i2 and j2 are positive integers less than or equal to N, and i2 is not equal to j2.

[0198] For example, in the N sensing data received by the first device, the anchor targets corresponding to the i3rd receiving sensing data are anchor target #1 and anchor target #2, and the anchor targets corresponding to the j3rd receiving sensing data are anchor target #3 and anchor target #4. It is evident that the anchor targets corresponding to the i3rd receiving sensing data are all different from those corresponding to the j3rd receiving sensing data. Here, i3 and j3 are positive integers less than or equal to N, and i3 is not equal to j3.

[0199] For example, in the N sensing data received by the first device, the anchor targets corresponding to the i4th sensing data are anchor target #1 and anchor target #2, and the anchor targets corresponding to the j4th sensing data are anchor target #2 and anchor target #3. It can be seen that the anchor targets corresponding to the i4th sensing data and the j4th sensing data are partially different. Here, i4 and j4 are positive integers less than or equal to N, and i4 is not equal to j4.

[0200] Additionally, for example, the perceived data is presented in the form of STB, the data corresponding to the perceived target is presented in the form of SIB, and the data corresponding to the anchor point target is presented in the form of SRC. In the case where the merging mode is the second mode, in at least two STBs transmitted by the second device in M ​​transmissions, the total number of SIEs included in the SIB and / or the total number of SIEs included in the SRC differs between different STBs transmitted. Correspondingly, in at least two STBs received by the first device in N transmissions, the total number of SIEs included in the SIB and / or the total number of SIEs included in the SRC differs between different STBs received. For further details regarding STB, SIB, SRC, and SIE, please refer to the foregoing explanations; further elaboration is unnecessary.

[0201] Additionally, for example, the anchor target parts or all of the sensing data corresponding to different transmissions / receptions may be different, which can be manifested as: the identifier (ID) parts of the anchor target corresponding to different transmissions or receptions of sensing data being different or all of them being different.

[0202] The following is an exemplary description of the transmitted sensing data in the case of the merging mode being the second mode, as described in optional methods A and B below.

[0203] Method A: In the M transmissions of sensing data by the second device, each transmission includes: data corresponding to the sensing target and data corresponding to the anchor target. Correspondingly, in the N receptions of sensing data by the first device, each reception includes: data corresponding to the sensing target and data corresponding to the anchor target. The data corresponding to the anchor target is used for sensing data verification. Therefore, each transmission of sensing data includes both the data corresponding to the sensing target and the data corresponding to the anchor target.

[0204] Optionally, based on method A, in the M transmissions of sensing data by the second device, the sensing target corresponding to each transmission of sensing data belongs to the first set, and the anchor target corresponding to each transmission of sensing data belongs to the second set. Correspondingly, in the N receptions of sensing data by the first device, the sensing target corresponding to each reception of sensing data belongs to the first set, and the anchor target corresponding to each reception of sensing data belongs to the second set.

[0205] The first set is a set of perceived targets and / or perceived target data, and the second set is a set of anchor targets and / or anchor target data. For example, the second set is a set of preset anchor target data in the scene. For example, the size of the second set is much larger than the amount of anchor target data corresponding to the perceived data transmitted in the first mode. The data corresponding to the anchor targets in each received perceived data set by the first device is a subset of the second set. Furthermore, the first and second sets can be pre-configured, or they can be determined through negotiation between the first and second devices; there are no limitations on this. The names of the first and second sets are also not limited in this application embodiment.

[0206] For example, the first set includes perception target #1, perception target #2, and perception target #3, and the second set includes anchor target #1, anchor target #2, anchor target #3, anchor target #4, and anchor target #5. The merging mode is the second mode, where M equals N equals 4.

[0207] Combination Figure 8 In the process of transmitting sensing data four times between the second device and the first device, the second device obtains sensing data #1 in the first sensing measurement and sends sensing data #1. Sensing data #1 includes: data corresponding to sensing target #1, data corresponding to sensing target #2, data corresponding to sensing target #3, and data corresponding to anchor point target #1. The first device fails to verify sensing data #1 and sends a sensing verification failure indication to the second device.

[0208] The second device obtains and transmits sensing data #2 during its second sensing measurement. Sensing data #2 includes data corresponding to sensing target #1, anchor target #2, anchor target #3, and anchor target #4. The first device fails to verify sensing data #2 and sends a sensing verification failure indication to the second device.

[0209] The second device obtains and transmits sensing data #3 during its third sensing measurement. Sensing data #3 includes data corresponding to sensing target #1, sensing target #2, anchor point target #4, and anchor point target #5. The first device fails to verify sensing data #3 and sends a sensing verification failure indication to the second device.

[0210] The second device obtains and transmits sensing data #4 during its fourth sensing measurement. Sensing data #4 includes data corresponding to sensing target #3, anchor target #1, anchor target #2, and anchor target #3. The first device then verifies and interprets sensing data #4.

[0211] It is evident that in the four transmissions of sensing data between the second device and the first device, each transmission of sensing data includes both the data corresponding to the sensing target and the data corresponding to the anchor point target.

[0212] Method B: In the sensing data transmitted M times by the second device, some rounds of transmission include data corresponding to the sensing target and data corresponding to the anchor target, while the remaining rounds include data corresponding to the anchor target. Correspondingly, in the sensing data received N times by the first device, some rounds include data corresponding to the sensing target and data corresponding to the anchor target, while the remaining rounds include data corresponding to the anchor target. The data corresponding to the anchor target is used for sensing data verification. Therefore, some rounds of transmission include both data corresponding to the sensing target and data corresponding to the anchor target; some rounds include data corresponding to the anchor target but not data corresponding to the sensing target.

[0213] Optionally, based on method B, in the transmitted sensing data, the sensing target corresponding to the sensing data belongs to the first set, and the anchor point target corresponding to the sensing data belongs to the second set. For details regarding the first and second sets, please refer to the relevant explanations in method A, which will not be repeated here.

[0214] For example, the first set includes perception target #1, perception target #2, and perception target #3, and the second set includes anchor target #1, anchor target #2, anchor target #3, anchor target #4, and anchor target #5. The merging mode is the second mode, where M equals N equals 4.

[0215] Combination Figure 9 In the process of transmitting sensing data four times between the second device and the first device, the second device obtains sensing data #1 in the first sensing measurement and sends sensing data #1. Sensing data #1 includes: data corresponding to sensing target #1, data corresponding to sensing target #2, data corresponding to sensing target #3, and data corresponding to anchor point target #1. The first device fails to verify sensing data #1 and sends a sensing verification failure indication to the second device.

[0216] The second device obtains and transmits sensing data #2 during its second sensing measurement. Sensing data #2 includes data corresponding to anchor target #2, anchor target #3, and anchor target #4. The first device fails to verify sensing data #2 and sends a sensing verification failure indication to the second device.

[0217] The second device obtains and transmits sensing data #3 during its third sensing measurement. Sensing data #3 includes data corresponding to sensing target #1, sensing target #2, anchor point target #4, and anchor point target #5. The first device fails to verify sensing data #3 and sends a sensing verification failure indication to the second device.

[0218] The second device obtains and transmits sensing data #4 during its fourth sensing measurement. Sensing data #4 includes data corresponding to sensing target #3, anchor target #1, anchor target #2, and anchor target #3. The first device then verifies and interprets sensing data #4.

[0219] It can be seen that among the four transmissions of sensing data between the second device and the first device, the sensing data transmitted in the first, third and fourth transmissions includes both the data corresponding to the sensing target and the data corresponding to the anchor point target; the sensing data transmitted in the second transmission includes the data corresponding to the anchor point target but does not include the data corresponding to the sensing target.

[0220] In an optional implementation, when the merging mode is the second mode, the method further includes: the first device receiving third information from the second device, the third information including sensing data received at any one of the N received sensing data, and the third information further indicating the sensing measurement conditions corresponding to the sensing data in the third information. It is understood that when the merging mode is the second mode, the sensing data transmitted by the second device at different times corresponds to different sensing measurement conditions. Therefore, the second device can also transmit the sensing measurement conditions corresponding to the sensing data each time it transmits the sensing data, so that the first device can determine the sensing measurement conditions corresponding to the received sensing data.

[0221] One possible implementation of the third information indicating the sensing measurement conditions is as follows: the third information also includes one or more of the following: the version identifier, length, location indication, and maximum length value of the sensing data in the third information.

[0222] Optionally, in the M transmissions of sensing data by the second device, each transmission corresponds to one of X versions. Correspondingly, in the N receptions of sensing data by the first device, each reception corresponds to one of X versions. Here, X is an integer greater than or equal to 2. The sensing target portions corresponding to different versions of the X versions are different or completely different, and / or, the anchor point target portions corresponding to different versions of the sensing data are different or completely different. This application embodiment does not limit the name of the sensing data version; for example, the sensing data version can also be called a sensing redundancy version (SRV). The correspondence between the sensing data and one of the X versions can also be understood as the sensing data version being one of the X versions.

[0223] For example, X equals 4. Version #0's perception data includes: data corresponding to all perceived targets in the first set, and data corresponding to a small number of anchor targets in the second set. Version #1's perception data includes data corresponding to anchor targets, but excludes data corresponding to perceived targets. Version #2's perception data includes: data corresponding to a large number of perceived targets in the first set, and data corresponding to a small number of anchor targets in the second set. Version #3's perception data includes: data corresponding to a small number of perceived targets in the first set, and data corresponding to a large number of anchor targets in the second set.

[0224] For example, X equals 4. Figure 10 As shown, the first set includes perception target #1, perception target #2, and perception target #3, and the second set includes anchor target #1, anchor target #2, anchor target #3, anchor target #4, and anchor target #5. Version #0's perception data includes: data corresponding to perception target #1, perception target #2, perception target #3, and anchor target #1. Version #1's perception data includes: data corresponding to anchor target #2, anchor target #3, and anchor target #4. Version #2's perception data includes: data corresponding to perception target #1, perception target #2, anchor target #4, and anchor target #5. Version #3's perception data includes: data corresponding to perception target #3, anchor target #1, anchor target #2, and anchor target #3.

[0225] Optionally, the length of the perceived data in each of the X versions is less than or equal to the maximum length. This application does not limit the method for determining the maximum length; for example, the maximum length can be pre-configured, or it can be determined through negotiation between the first and second devices.

[0226] Optionally, the lengths of the sensing data in different versions of the X versions may be the same or different. For example, the length of the sensing data is the number of bits occupied by the sensing data. Another example is that the basic unit of sensing data is a SIE (Sensitive Internet Explorer), and the length of the sensing data is the number of SIEs included in the sensing data.

[0227] For example, the data corresponding to the perceived target is presented in SIB format, and the data corresponding to the anchor target is presented in SRC format. The perceived data in X versions has the same length, and the length of the perceived data in each version is L, which is the number of SIEs included in the perceived data. The total number of SIEs corresponding to the perceived targets in the first set is P, and the total number of SIEs corresponding to the anchor targets in the second set is Q, where P is less than or equal to L, and L is less than or equal to Q. Therefore, when the perceived data in X versions has the same length, if the merging mechanism is configured according to the second merging mode, P must be less than or equal to Q. Understandably, when P is greater than Q, the first information is configured with the first merging mode; when P is less than or equal to Q, the first information is configured with either the first or second merging mode.

[0228] Optionally, the X versions are sorted, and the sensing data sent by the second device M times is sent in the order of the X versions. For example, the second device sends sensing data in the order of the X versions during the initial sensing transmission and sensing retransmission.

[0229] For example, if X equals 4, the sorting order of the four versions is: version #0, version #1, version #2, and version #3. The second device sends the sensing data of version #0 during the initial transmission, version #1 during the first retransmission, version #2 during the second retransmission, version #3 during the third retransmission, version #0 during the fourth retransmission, version #1 during the fifth retransmission, version #2 during the sixth retransmission, and version #3 during the seventh retransmission. Subsequent retransmissions follow a similar pattern, cyclically transmitting the sensing data in the order of version #0, version #1, version #2, and version #3.

[0230] Optionally, including a location indication corresponding to the sensing data in the third information can be applied to scenarios where sensing targets in the first set and anchor targets in the second set are pre-sorted. In this scenario, the location indication in the third information can indicate the arrangement position of the sensing data included in the third information in the first and second sets. Thus, based on the third information, the first device can determine the sensing targets and anchor targets corresponding to the sensing data included in the third information, or determine the anchor targets corresponding to the sensing data included in the third information.

[0231] For example, the data corresponding to the perceived target is presented in the form of SIB, and the data corresponding to the anchor target is presented in the form of SRC. The perceived data of different versions in X versions have the same length, and the length of the perceived data of each version is the number L of SIEs included in the perceived data. The total number of SIEs corresponding to the perceived targets in the first set is P, and the total number of SIEs corresponding to the anchor targets in the second set is Q. The sum of P and Q is greater than 2L.

[0232] Assuming X equals 4, the identifiers for versions #0, #1, #2, and #3 are 0, 1, 2, and 3, respectively. For example... Figure 11 As shown, the P SIEs corresponding to the perceived targets in the first set and the Q SIEs corresponding to the anchor targets in the second set are arranged. The position indicator corresponding to the perceived data can indicate the arrangement range of the SIEs corresponding to the perceived data in the P+Q SIEs. The position indicators corresponding to the perceived data in the four versions are shown in Table 3 below.

[0233] Table 3

[0234]

[0235] Based on Table 3, the perception data for version #0 includes the first L SIEs out of P+Q SIEs, the perception data for version #1 includes the (L+1)th to the 2Lth SIEs out of P+Q SIEs, and the perception data for version #2 includes the first L SIEs out of P+Q SIEs. SIE and the last The perception data for version #3 of the P+Q SIEs includes the first SIE. To the One SIE.

[0236] Assuming X equals 3, the three versions are: Figure 11As can be seen from the versions #0, #1, and #3, the sensing data corresponding to each version is arranged consecutively in P+Q SIEs. In addition to indicating the range of the arrangement position of the SIE corresponding to the sensing data in P+Q SIEs as shown in Table 3, the position indication of the sensing data can also indicate the starting position of the SIE corresponding to the sensing data in P+Q SIEs. The position indications of the sensing data for the three versions are shown in Table 4 below.

[0237] Table 4

[0238]

[0239] 2. Merging Objects

[0240] The merged objects include: data corresponding to the perceived target in the perceived data, and / or data corresponding to the anchor target in the perceived data.

[0241] Optionally, the first information includes a third flag bit, the value of which is related to the merging object. This method can be used as a possible implementation for configuring the merging object in the first information. For example, as shown in Table 5 below, a value of "0" for the third flag bit indicates that the merging object is the data corresponding to the sensing target in the sensing data; a value of "1" for the third flag bit indicates that the merging object is the data corresponding to the anchor target in the sensing data; and a value of "2" for the third flag bit indicates that the merging object includes both the data corresponding to the sensing target in the sensing data and the data corresponding to the anchor target in the sensing data.

[0242] Table 5

[0243]

[0244] However, this application embodiment does not limit the value of the third flag bit, nor the correspondence between the value of the third flag bit and the merged object. For example, the value of the third flag bit can also be: a value of "0" indicates that the merged object is the data corresponding to the anchor target in the sensing data; a value of "1" indicates that the merged object is the data corresponding to the sensing target in the sensing data; and a value of "2" indicates that the merged object includes both the data corresponding to the sensing target in the sensing data and the data corresponding to the anchor target in the sensing data. Furthermore, this application embodiment does not limit the name of the third flag bit; for example, the third flag bit can also be called the sensing cache merging object indicator flag bit (sensingCacheCombining-object).

[0245] The following examples illustrate three scenarios: the merged object is the data corresponding to the sensing target in the sensing data; the merged object is the data corresponding to the anchor target in the sensing data; and the merged object includes both the data corresponding to the sensing target and the data corresponding to the anchor target in the sensing data. These are described in optional implementation methods 2.1 to 2.3.

[0246] In implementation method 2.1, the merged object is the data corresponding to the perceived target in the perceived data.

[0247] In this case, the first device merges the sensing data received N times, including the data corresponding to the sensing target from the merged sensing data. This method helps to make the data corresponding to the sensing target more accurate after merging, thereby improving the accuracy of the data corresponding to the sensing target. Alternatively, the first device may not merge the data corresponding to the anchor point target from the N times of sensing data received.

[0248] Optionally, the first device merges the data corresponding to the sensing target from the N received sensing data, including: the first device merges the data corresponding to the same sensing target from the N received sensing data. Optionally, the first device merges the data corresponding to the same physical quantity of the same sensing target from the N received sensing data. It can be seen that the first device merges the N received sensing data in a positional merging manner.

[0249] For example, when N equals 4, the sensing data received by the first device in 4 transactions is as follows: Figure 7 The diagram illustrates sensing data #1, sensing data #2, sensing data #3, and sensing data #4. The first device merges the data corresponding to sensing target #1 from the four received sensing data sets, and also merges the data corresponding to sensing target #2 from the four received sensing data sets.

[0250] Assuming that in the four received sensing data sets of the first device, the data corresponding to sensing target #1 includes the position and velocity of sensing target #1, and the data corresponding to sensing target #2 includes the position and velocity of sensing target #2. Then, the first device merges the data corresponding to sensing target #1 from the four received sensing data sets, including: merging the velocity of sensing target #1 from the four received sensing data sets, and merging the position of sensing target #1 from the four received sensing data sets. Similarly, the first device merges the data corresponding to sensing target #2 from the four received sensing data sets, including: merging the velocity of sensing target #2 from the four received sensing data sets, and merging the position of sensing target #2 from the four received sensing data sets.

[0251] Alternatively, in embodiment 2.1, the order of the operation of merging the data corresponding to the sensing target in the Nth received sensing data after the first device receives sensing data in N times, and the operation of the first device using the data corresponding to the anchor point target in the Nth received sensing data for sensing verification, is not limited.

[0252] In implementation method 2.2, the merged object is the data corresponding to the anchor target in the perception data.

[0253] In this case, the first device merges the sensing data received N times, including the data corresponding to the sensing target from the merged sensing data. This method helps to make the data corresponding to the anchor target more accurate after merging, thereby improving the accuracy of the data corresponding to the anchor target and improving the accuracy of sensing verification. Alternatively, the first device may choose not to merge the data corresponding to the sensing target from the N times of sensing data received.

[0254] Optionally, the first device merges the data corresponding to the anchor point target in the N received sensing data, including: the first device merges the data corresponding to the same anchor point target in the N received sensing data. Optionally, the first device merges the data corresponding to the same physical quantity of the same anchor point target in the N received sensing data. It can be seen that the first device merges the N received sensing data in a positional merging manner.

[0255] For example, when N equals 4, the sensing data received by the first device in 4 transactions is as follows: Figure 7 The diagram illustrates sensing data #1, sensing data #2, sensing data #3, and sensing data #4. The first device merges the data corresponding to anchor target #1 from the four received sensing data sets, and also merges the data corresponding to anchor target #2 from the four received sensing data sets.

[0256] Assume that in the four received sensing data sets of the first device, the data corresponding to anchor target #1 includes the position and velocity of anchor target #1, and the data corresponding to anchor target #2 includes the position and velocity of anchor target #2. Then, the first device merges the data corresponding to anchor target #1 from the four received sensing data sets, including: merging the velocity of anchor target #1 from the four received sensing data sets, and merging the position of anchor target #1 from the four received sensing data sets. Similarly, the first device merges the data corresponding to anchor target #2 from the four received sensing data sets, including: merging the velocity of anchor target #2 from the four received sensing data sets, and merging the position of anchor target #2 from the four received sensing data sets.

[0257] Alternatively, in implementation 2.2, after the first device receives the sensing data for the Nth time out of N times, it merges the data corresponding to the anchor target in the N received sensing data, and performs sensing verification based on the result obtained by merging the data corresponding to the anchor target in the N received sensing data, which helps to improve the accuracy of sensing verification.

[0258] Implementation method 2.3, the merged objects include: data corresponding to the sensing target in the sensing data, and data corresponding to the anchor target in the sensing data.

[0259] In this scenario, the first device merges the received sensing data from N times, including: the data corresponding to the sensing target in the merged sensing data from N times, and the data corresponding to the sensing target in the merged sensing data from N times. This method helps to improve the accuracy of the merged data corresponding to the sensing target, thus improving the accuracy of the data corresponding to the sensing target. This method also helps to improve the accuracy of the merged data corresponding to the anchor target, thus improving the accuracy of the data corresponding to the anchor target, and thus improving the accuracy of the sensing verification.

[0260] Optionally, the first device merges the data corresponding to the sensing target from the N received sensing data, including: the first device merges the data corresponding to the same sensing target from the N received sensing data. Optionally, the first device merges the data corresponding to the same physical quantity of the same sensing target from the N received sensing data.

[0261] Optionally, the first device merges the data corresponding to the anchor point target in the N received sensing data, including: the first device merges the data corresponding to the same anchor point target in the N received sensing data. Optionally, the first device merges the data corresponding to the same physical quantity of the same anchor point target in the N received sensing data.

[0262] It is evident that the first device merges the received sensing data from N times in a bitwise manner.

[0263] For example, when N equals 4, the sensing data received by the first device in 4 transactions is as follows: Figure 7 The diagram illustrates sensing data #1, sensing data #2, sensing data #3, and sensing data #4. The first device merges the data corresponding to sensing target #1 from the four received sensing data sets, merges the data corresponding to sensing target #2 from the four received sensing data sets, merges the data corresponding to anchor target #1 from the four received sensing data sets, and merges the data corresponding to anchor target #2 from the four received sensing data sets.

[0264] Assuming that in the four received sensing data sets of the first device, the data corresponding to sensing target #1 includes the position and velocity of sensing target #1, and the data corresponding to sensing target #2 includes the position and velocity of sensing target #2. Then, the first device merges the data corresponding to sensing target #1 from the four received sensing data sets, including: merging the velocity of sensing target #1 from the four received sensing data sets, and merging the position of sensing target #1 from the four received sensing data sets. Similarly, the first device merges the data corresponding to sensing target #2 from the four received sensing data sets, including: merging the velocity of sensing target #2 from the four received sensing data sets, and merging the position of sensing target #2 from the four received sensing data sets.

[0265] Assume that in the four received sensing data sets of the first device, the data corresponding to anchor target #1 includes the position and velocity of anchor target #1, and the data corresponding to anchor target #2 includes the position and velocity of anchor target #2. Then, the first device merges the data corresponding to anchor target #1 from the four received sensing data sets, including: merging the velocity of anchor target #1 from the four received sensing data sets, and merging the position of anchor target #1 from the four received sensing data sets. Similarly, the first device merges the data corresponding to anchor target #2 from the four received sensing data sets, including: merging the velocity of anchor target #2 from the four received sensing data sets, and merging the position of anchor target #2 from the four received sensing data sets.

[0266] Alternatively, in embodiment 2.3, after the first device receives the sensing data for the Nth time out of N times, it merges the data corresponding to the anchor target from the N received sensing data, and performs sensing verification based on the result obtained by merging the data corresponding to the anchor target from the N received sensing data, which helps to improve the accuracy of sensing verification. Optionally, in embodiment 2.3, the order of the operation of merging the data corresponding to the sensing target from the N received sensing data after the first device receives the sensing data for the Nth time out of N times, and the operation of performing sensing verification based on the result obtained by the first device by merging the data corresponding to the anchor target from the N received sensing data, is not limited in this application embodiment.

[0267] 3. Merging Algorithm

[0268] The merging algorithm is used to determine the result of merging N received sensing data. This application does not limit the merging algorithm. For example, the merging algorithm can be one of the following: mean merging, weighted average merging, maximum likelihood merging, artificial intelligence (AI) or machine learning algorithms, or other merging algorithms.

[0269] Optionally, the first information includes a fourth flag bit, the value of which is related to the merging algorithm. This method can be considered as one possible implementation for configuring the merging algorithm using the first information. For example, as shown in Table 6 below, a value of "0" for the fourth flag bit indicates that the merging algorithm is mean merging, a value of "1" indicates that the merging algorithm is weighted average merging, a value of "2" indicates that the merging algorithm is maximum likelihood merging, and a value of "3" indicates that the merging algorithm is a machine learning merging algorithm.

[0270] Table 6

[0271] The value of the fourth flag bit 0 1 2 3 describe Mean merging Weighted average merging Maximum likelihood merging Machine learning merging algorithm

[0272] However, this application embodiment does not limit the value of the fourth flag bit, nor the correspondence between the value of the fourth flag bit and the merging algorithm. Furthermore, this application embodiment does not limit the name of the fourth flag bit; for example, the fourth flag bit can also be called the sensing cache merging algorithm indicator flag bit (sensingCacheCombining-method).

[0273] Consider the following scenario: the basic unit of perceived data is a SIE (Scattering Object Identifier), which includes the scatterer's identifier, three-dimensional coordinates, angle, likelihood, power, SNR (Speed ​​Ratio), velocity, and scatterer type. Using this scenario as an example, we will exemplify several merging algorithms, including mean merging, weighted average merging, maximum likelihood merging, and AI or machine learning merging algorithms, as described in optional implementation methods 3.1 to 3.4 below.

[0274] Implementation method 3.1 uses the mean merging algorithm.

[0275] In this case, in the SIE obtained by the first device by combining the SIEs received N times, the identifier of the scatterer is the identifier of the scatterer in the SIE received by the first device in the Nth time, the type of the scatterer is the type of the scatterer in the SIE received by the first device in the Nth time, the three-dimensional coordinates are the average of the three-dimensional coordinates in the SIE received N times, the angle is the average of the angles in the SIE received N times, the likelihood is the average of the likelihoods in the SIE received N times, the power is the average of the power in the SIE received N times, the SNR is the average of the SNR in the SIE received N times, and the velocity is the average of the velocity in the SIE received N times.

[0276] For example, if N equals 3, in the N SIEs received by the first device, the first SIE#1 is received, which includes: identifier #1, three-dimensional coordinates #1, angle #1, likelihood #1, power #1, SNR #1, velocity #1, and type #1. The second SIE#2 is received, which includes: identifier #2, three-dimensional coordinates #2, angle #2, likelihood #2, power #2, SNR #2, velocity #2, and type #2. The third SIE#3 is received, which includes: identifier #3, three-dimensional coordinates #3, angle #3, likelihood #3, power #3, SNR #3, velocity #3, and type #3.

[0277] In the SIE obtained after merging SIE#1, SIE#2, and SIE#3 in the first device, the identifier is #3, and the three-dimensional coordinates are... Angle is Likelihood Power is SNR is speed is The type is type #3.

[0278] In implementation method 3.2, the merging algorithm is a weighted average merging algorithm.

[0279] In this scenario, in the SIE obtained by combining N received SIEs by the first device, the scatterer identifier is the same as the scatterer identifier in the Nth received SIE, the scatterer type is the same as the scatterer type in the Nth received SIE, the three-dimensional coordinates are the weighted average of the three-dimensional coordinates in the N received SIEs, the angle is the weighted average of the angles in the N received SIEs, the likelihood is the weighted average of the likelihoods in the N received SIEs, the power is the weighted average of the power in the N received SIEs, the SNR is the weighted average of the SNR in the N received SIEs, and the velocity is the weighted average of the velocity in the N received SIEs. The weight used for weighted averaging is either power or SNR.

[0280] For example, if N equals 3, in the N SIEs received by the first device, the first received SIE#1 includes: identifier #1, 3D coordinates #1, angle #1, likelihood #1, power #1, SNR #1, velocity #1, and type #1; the second received SIE#2 includes: identifier #2, 3D coordinates #2, angle #2, likelihood #2, power #2, SNR #2, velocity #2, and type #2; the third received SIE#3 includes:

[0281] Identifier #3, 3D coordinates #3, angle #3, likelihood #3, power #3, SNR #3, velocity #3, type #3.

[0282] Assuming the weight is SNR, in the SIE obtained after merging SIE#1, SIE#2, and SIE#3 in the first device, the identifier is identifier #3, and the three-dimensional coordinates are... Angle is Likelihood Power is SNR is speed is The type is type #3.

[0283] In implementation method 3.3, the merging algorithm is the maximum likelihood merging algorithm.

[0284] In this case, the SIE obtained by the first device by merging the N received SIEs is similar to that in implementation 3.2, except that: when the merging algorithm is the maximum likelihood merging algorithm, the weight used in the weighted average is the likelihood.

[0285] For example, if N equals 3, in the N SIEs received by the first device, the first received SIE#1 includes: identifier #1, 3D coordinates #1, angle #1, likelihood #1, power #1, SNR #1, velocity #1, and type #1; the second received SIE#2 includes: identifier #2, 3D coordinates #2, angle #2, likelihood #2, power #2, SNR #2, velocity #2, and type #2; the third received SIE#3 includes:

[0286] Identifier #3, 3D coordinates #3, angle #3, likelihood #3, power #3, SNR #3, velocity #3, type #3.

[0287] In the SIE obtained after merging SIE#1, SIE#2, and SIE#3 in the first device, the identifier is #3, and the three-dimensional coordinates are... Angle is Likelihood Power is SNR is speed is The type is type #3.

[0288] Implementation method 3.4 uses an AI / machine learning-based merging algorithm.

[0289] In this case, an AI model needs to be pre-trained. When merging the N received SIEs, the first device directly inputs the N received SIEs into the AI ​​model, and the AI ​​model outputs the merged SIE.

[0290] The above has described the merge mode, merge objects, and merge algorithm. The first piece of information is used to configure the merge mechanism and can be used to configure one or more of the merge mode, merge objects, and merge algorithms.

[0291] Example 1: The first information is used to configure the merge mechanism, including: The first information is used to configure the merge mode. For example, the first information includes a second flag bit, the value of which is related to the merge mode.

[0292] Example 2: The first information is used to configure the merge mechanism, including: The first information is used to configure the merge objects. For example, the first information includes a third flag bit, the value of which is related to the merge objects.

[0293] Example 3: The first information is used to configure the merging mechanism, including: The first information is used to configure the merging algorithm. For example, the first information includes a fourth flag bit, the value of which is related to the merging algorithm.

[0294] Example 4: The first information is used to configure the merge mechanism, including: the merge mode and the merge objects. For example, the first information includes a second flag and a third flag. The value of the second flag is related to the merge mode, and the value of the third flag is related to the merge objects.

[0295] Example 5: The first information is used to configure the merge mechanism, including: the merge mode and the merge algorithm. For example, the first information includes a second flag bit and a fourth flag bit. The value of the second flag bit is related to the merge mode, and the value of the fourth flag bit is related to the merge algorithm.

[0296] Example 6: The first information is used to configure the merge mechanism, including: the merge objects and the merge algorithm. For example, the first information includes a third flag and a fourth flag. The value of the third flag is related to the merge objects, and the value of the fourth flag is related to the merge algorithm.

[0297] Example 7: The first information is used to configure the merge mechanism, including: the merge mode, merge objects, and merge algorithm. For example, the first information includes a second flag, a third flag, and a fourth flag. The value of the second flag is related to the merge mode, the value of the third flag is related to the merge objects, and the value of the fourth flag is related to the merge algorithm.

[0298] For a detailed explanation of the content involved in any of the examples 1 to 7 above, please refer to the relevant explanations in the preceding sections on "merging mode", "merging object" and "merging algorithm", which will not be repeated here.

[0299] In an optional implementation, based on the communication method described above, this application embodiment also provides an exemplary communication method, such as... Figure 12 As shown. Figure 12 The communication method shown includes the following steps.

[0300] S201, the second device sends second information and first information to the first device. Correspondingly, the first device receives the second information and the first information. The second information is used to indicate whether the merging mechanism is enabled. The first information is used to configure the merging mechanism, including configuring the merging mode, merging objects, and merging algorithm.

[0301] S202, the second device transmits initial sensing data to the first device. Correspondingly, the first device receives the sensing data.

[0302] S203. Based on the result of the perception verification of the perception data, the first device sends a perception verification instruction to the second device.

[0303] S204. If the second device receives a sensing verification failure indication after the previous transmission of sensing data, or if it does not receive a sensing verification indication within the first time range after the previous transmission of sensing data, it transmits the sensing data obtained from the resenting measurement.

[0304] S205. Based on the result of the perception verification of the received perception data, the first device sends a perception verification instruction to the second device.

[0305] Steps S204 and S205 can be executed multiple times.

[0306] S206. The first device merges the N received sensing data based on a merging mechanism. Among the N received sensing data by the first device, the sensing data received from the 2nd to the Nth time is obtained by re-sensing and measuring the sensing data after the sensing verification of the previous received sensing data failed, and N is an integer greater than or equal to 2.

[0307] For a detailed explanation of steps S201 to S206, please refer to the aforementioned explanations, which will not be repeated here.

[0308] In summary, in the communication method provided by the embodiments of this application, the first device acquires first information, which is used to configure a merging mechanism. Based on the merging mechanism, the first device merges N received sensing data. Specifically, in the N received sensing data, the sensing data received from the 2nd to the Nth time is obtained by re-sensing and measuring after the sensing verification of the previously received sensing data failed, where N is an integer greater than or equal to 2.

[0309] As can be seen, in this method, among the sensing data received by the first device N times, the sensing data received from the 1st to the N-1th times fails the sensing verification. The first device merges the sensing data received N times, which can make full use of the sensing data that failed the sensing verification, improve the utilization rate of sensing data, and reduce the problem of data waste and insufficient utilization caused by the unused sensing data that failed the sensing verification.

[0310] Furthermore, the sensing data received by the first device N times is sensing data obtained through N sensing measurements. If at least one data corresponding to the anchor target is successfully verified in at least one of the sensing data received by the first device N times, the first device can merge the sensing data received N times, which can make the merged sensing data more accurate.

[0311] Furthermore, by way of example, in this method, the sensing data received N times by the first device includes the initial sensing data and the sensing data from at least one round of retransmission, or the sensing data received N times by the first device includes the sensing data from at least two rounds of retransmission. The method provided in this application embodiment enables full utilization of historical sensing data transmitted in the past. This sensing data will be subsequently used for merging, improving the utilization rate of historical sensing data. Moreover, merging sensing data from multiple rounds of transmission helps to improve the accuracy, such as the precision, of the merged sensing data.

[0312] To achieve the functions of the methods provided in the embodiments of this application, the network element / device may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0313] like Figure 13As shown, this application embodiment provides a communication device 1300. The communication device 1300 can be a first device, or a component of the first device (e.g., an integrated circuit, a chip, etc.). Alternatively, the communication device 1300 can be a second device, or a component of a second device (e.g., an integrated circuit, a chip, etc.). The communication device 1300 can also be other communication units used to implement the methods in the method embodiments of this application. The communication device 1300 may include a processing unit 1301. Optionally, the communication device 1300 may further include a communication unit 1302, where the processing unit 1301 controls the communication unit 1302 to perform data / signaling transmission and reception. The communication unit 1302 may also be referred to as a transceiver unit. Optionally, the communication unit 1302 may include a sending unit and a receiving unit; the sending unit can be used to send data / signaling, and the receiving unit can be used to receive data / signaling. Optionally, the communication device 1300 may also include a storage unit 1303, which can be used to store information and / or data and / or instructions, etc. The storage unit 1303 can interact with the processing unit 1301 or the communication unit 1302.

[0314] In one possible design, regarding the case where the communication device 1300 is used to implement the function of the first device in the above method embodiment:

[0315] Processing unit 1301 is used to acquire first information, which is used to configure the merging mechanism. Processing unit 1301 is also used to merge N received sensing data based on the merging mechanism. Specifically, in the N received sensing data, the sensing data received from the 2nd to the Nth time is obtained by re-sensing and measuring the sensing data after the previous sensing data failed verification, and N is an integer greater than or equal to 2.

[0316] In an optional implementation, the processing unit 1301 is further configured to acquire second information, which is used to indicate whether the merging mechanism is enabled.

[0317] In one alternative implementation, the first information is used to configure the merging mechanism, including: the first information is used to configure the merging mode.

[0318] The merging mode is the first mode, where different receptions of the perceived data in N receptions correspond to the same perceived measurement conditions. Alternatively, the merging mode is the second mode, where at least two receptions of the perceived data in the N receptions correspond to different perceived measurement conditions.

[0319] In one optional implementation, the sensing data received in different sessions correspond to the same sensing measurement conditions, including: the sensing targets corresponding to the sensing data received in different sessions are all the same, and the anchor point targets corresponding to the sensing data received in different sessions are all the same.

[0320] In one optional implementation, the sensing data received in different sessions correspond to different sensing measurement conditions, including: the sensing target corresponding to the sensing data received in different sessions is partially or completely different, and / or, the anchor point target corresponding to the sensing data received in different sessions is partially or completely different.

[0321] In one optional implementation, the merging mode is the second mode. The communication unit 1302 is used to receive third information, which includes sensing data received from any one of the N received sensing data, and the third information is also used to indicate the sensing measurement conditions corresponding to the sensing data in the third information.

[0322] In one optional implementation, the merging mode is the first mode. In the N received sensing data, each received sensing data includes: data corresponding to the sensing target and data corresponding to the anchor target; wherein, the data corresponding to the anchor target is used for sensing data verification.

[0323] In one optional implementation, the merging mode is the second mode. In the N received sensing data sets, each received sensing data set includes: data corresponding to the sensing target and data corresponding to the anchor target; or, in the N received sensing data sets, some rounds of receiving sensing data include data corresponding to the sensing target and data corresponding to the anchor target, while the remaining rounds of receiving sensing data include data corresponding to the anchor target. The data corresponding to the anchor target is used for sensing data verification.

[0324] In one optional implementation, the first information is used to configure the merging mechanism, including: configuring the merging object. The merging object includes: data corresponding to the sensing target in the sensing data, and / or, data corresponding to the anchor target in the sensing data.

[0325] In one alternative implementation, the first information is used to configure the merging mechanism, including: the first information is used to configure the merging algorithm, which is used to determine the result of merging N received sensing data.

[0326] In another possible design, regarding the case where the communication device 1300 is used to implement the function of the second device in the above method embodiment:

[0327] Communication unit 1302 is used to send first information, which is used to configure the merging mechanism. Communication unit 1302 is also used to send sensing data M times. The merging mechanism is used to merge some or all of the sensing data sent in the M times. In the M times of sensing data transmission, the sensing data sent in the 2nd to Mth times is obtained by re-sensing and measuring after receiving a sensing verification failure indication following the previous transmission, or by re-sensing and measuring after not receiving a sensing verification indication within the first time range following the previous transmission, where M is an integer greater than or equal to 2.

[0328] In an alternative implementation, the communication unit 1302 is further configured to send a second message, which is also configured to indicate whether the merging mechanism is enabled.

[0329] In one alternative implementation, the first information is used to configure the merging mechanism, including: the first information is used to configure the merging mode.

[0330] The merging mode is the first mode, where in the M transmissions of sensing data, the sensing data transmitted in different transmissions correspond to the same sensing measurement conditions. Alternatively, the merging mode is the second mode, where in at least two of the M transmissions of sensing data, the sensing data transmitted in different transmissions correspond to different sensing measurement conditions.

[0331] In one optional implementation, the sensing data transmitted in different transmissions correspond to the same sensing measurement conditions, including: the sensing targets corresponding to the sensing data transmitted in different transmissions are all the same, and the anchor point targets corresponding to the sensing data transmitted in different transmissions are all the same.

[0332] In one optional implementation, the sensing data transmitted in different sessions correspond to different sensing measurement conditions, including: the sensing target corresponding to the sensing data transmitted in different sessions is partially or completely different, and / or, the anchor point target corresponding to the sensing data transmitted in different sessions is partially or completely different.

[0333] In one optional implementation, the merging mode is the second mode. The communication unit 1302 is used to transmit sensing data M times, including: transmitting third information, the third information including sensing data transmitted in any one of the M times, and the third information is also used to indicate the sensing measurement conditions corresponding to the sensing data in the third information.

[0334] In one optional implementation, the merging mode is the first mode. In the M transmissions of sensing data, each transmission includes: data corresponding to the sensing target and data corresponding to the anchor target; wherein, the data corresponding to the anchor target is used for sensing data verification.

[0335] In one optional implementation, the merging mode is the second mode. In the M transmissions of sensing data, each transmission includes: data corresponding to the sensing target and data corresponding to the anchor target; or, in the M transmissions of sensing data, some rounds of transmission include data corresponding to the sensing target and data corresponding to the anchor target, while the remaining rounds of transmission include data corresponding to the anchor target. The data corresponding to the anchor target is used for sensing data verification.

[0336] In one optional implementation, the first information is used to configure the merging mechanism, including: configuring the merging object. The merging object includes: data corresponding to the sensing target in the sensing data, and / or, data corresponding to the anchor target in the sensing data.

[0337] In one optional implementation, the first information is used to configure the merging mechanism, including: the first information is used to configure the merging algorithm, which is used to determine the result of merging some or all of the sensing data in the M transmitted sensing data.

[0338] The embodiments of this application and the method embodiments shown above are based on the same concept and have the same technical effects. For the specific principles, please refer to the description of the embodiments shown above, which will not be repeated here.

[0339] This application also provides a communication device 1400, such as... Figure 14 As shown. The communication device 1400 can be a first device, or a chip, chip system, or processor that supports the first device in implementing the above-described method. Alternatively, the communication device 1400 can be a second device, or a chip, chip system, or processor that supports the second device in implementing the above-described method. This device can be used to implement the methods described in the above-described method embodiments, and for details, please refer to the description in the above-described method embodiments.

[0340] The communication device 1400 may include one or more processors 1401. The processor 1401 can be used to implement some or all of the functions of the terminal-side device or network-side device through logic circuits or by running computer programs. The processor 1401 may be a general-purpose processor or a special-purpose processor, etc. For example, it may be one or a combination of one or more of the following: baseband processor, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, central processing unit (CPU), application-specific integrated circuit (ASIC), digital signal processor (DSP), microprocessor unit (MPU), microcontroller unit (MCU), graphics processing unit (GPU), field-programmable gate array (FPGA), artificial intelligence processor (AI processor), or neural processing unit (NPU). The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control communication devices, execute software programs, and process data from software programs. Communication devices include, for example, base stations, baseband chips, terminals, terminal chips, DUs, or CUs.

[0341] Optionally, the communication device 1400 may include one or more memories 1402, which may store instructions 1404 that can be executed on the processor 1401, causing the communication device 1400 to perform the methods described in the above method embodiments. Optionally, the memory 1402 may also store data. The processor 1401 and the memory 1402 may be provided separately or integrated together.

[0342] Memory 1402 may include, but is not limited to, non-volatile memory such as cache, read-only memory (ROM), random access memory (RAM), synchronous dynamic random access memory (SDRAM), hard disk drive (HDD), or solid-state drive (SSD). Memory 902 may also include random access memory (RAM), erasable programmable read-only memory (EPROM), ROM, or compact disc read-only memory (CD-ROM), etc. Memory is any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited to this. The memory in the embodiments of this application may also be a circuit or any other device capable of implementing storage functions for storing computer programs or instructions, and / or data.

[0343] Optionally, the communication device 1400 may further include a transceiver 1405 and / or an antenna 1406. The transceiver 1405 may be referred to as a transceiver unit, transceiver, or transceiver circuit, etc., and is used to implement transceiver functions. The transceiver 1405 may include a receiver and a transmitter; the receiver may be referred to as a receiver or receiving circuit, etc., and is used to implement a receiving function; the transmitter may be referred to as a transmitter or transmitting circuit, etc., and is used to implement a transmitting function.

[0344] In one possible design, regarding the case where the communication device 1400 is used to implement the function of the first device in the above method embodiment:

[0345] Processor 1401 is used to acquire first information, which is used to configure the merging mechanism. Processor 1401 is also used to merge N received sensing data based on the merging mechanism. Among the N received sensing data, the sensing data received from the 2nd to the Nth time is obtained by re-sensing and measuring the sensing data after the sensing verification of the previous received sensing data failed, and N is an integer greater than or equal to 2.

[0346] In another possible design, regarding the case where the communication device 1400 is used to implement the function of the second device in the above method embodiment:

[0347] Transceiver 1405 is used to transmit first information, which is used to configure the merging mechanism. Transceiver 1405 is also used to transmit sensing data M times. The merging mechanism is used to merge some or all of the sensing data transmitted in the M times. In the M transmissions of sensing data, the sensing data transmitted from the 2nd to the Mth transmissions is obtained by re-sensing and measuring after receiving a sensing verification failure indication following the previous transmission, or by re-sensing and measuring after not receiving a sensing verification indication within the first time range following the previous transmission, where M is an integer greater than or equal to 2.

[0348] In another possible design, the processor 1401 may include a transceiver for implementing receive and transmit functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing receive and transmit functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or for transmitting or relaying signals.

[0349] In another possible design, the processor 1401 may optionally store instructions 1403, which, when executed on the processor 1401, cause the communication device 1400 to perform the methods described in the above method embodiments. Instructions 1403 may be embedded in the processor 1401; in this case, the processor 1401 may be implemented in hardware.

[0350] In another possible design, the communication device 1400 may include circuitry that can perform the functions of transmitting, receiving, or communicating as described in the foregoing method embodiments. The processor and transceiver described in this application embodiment can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal-oxide semiconductors (CMOS), n-metal-oxide-semiconductor (NMOS), positive-channel metal-oxide semiconductors (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon-germanium (SiGe), gallium arsenide (GaAs), etc.

[0351] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can use various methods to implement the described functionality for a specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0352] The embodiments of this application and the above-described method embodiments are based on the same concept and have the same technical effects. For the specific principles, please refer to the description in the above-described method embodiments, which will not be repeated here.

[0353] This application also provides a computer-readable storage medium for storing computer software instructions that, when executed by a communication device, implement the functions of any of the above method embodiments.

[0354] This application also provides a computer program product for storing computer software instructions, which, when executed by a communication device, implement the functions of any of the above method embodiments.

[0355] This application also provides a computer program that, when run on a computer, implements the functions of any of the above method embodiments.

[0356] This application also provides a chip including a processor. The processor is used to execute code or instructions to implement the functions of any of the above method embodiments. Optionally, the chip further includes an interface, and the processor is coupled to the interface, which is used to receive or output signals.

[0357] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., SSDs), etc.

[0358] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0359] Furthermore, unless otherwise specified or logically conflicting, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0360] It is understood that some optional features in the various embodiments of this application may not depend on other features in certain scenarios, or may be combined with other features in certain scenarios, without limitation.

[0361] It is understood that the solutions in the embodiments of this application can be used in combination, and the explanations or descriptions of various terms, similar operations or steps appearing in the embodiments can be referenced or explained to each other in the various embodiments, and this application does not limit them.

[0362] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can mean: a, or, b, or, c, or, a and b, or, a and c, or, b and c, or, a, b, and c. Here, a, b, and c can each be single or multiple.

[0363] In this application, the terms "first," "second," and various numerical designations are used for ease of description and are not intended to limit the scope of the embodiments of this application. For example, they may be used to distinguish different messages, rather than to describe a specific order or sequence. It should be understood that such descriptions can be interchanged where appropriate to describe solutions other than those described in this application.

[0364] In this application, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0365] In this application, "for indicating" can include both direct and indirect indication. When describing an indication message as indicating A, it can include whether the indication message directly indicates A or indirectly indicates A, but does not necessarily mean that the indication message carries A.

[0366] In this application, "sending information to XX (device / network element)" can be understood as the destination of the information being that device / network element. This can include sending information directly or indirectly to that device / network element. "Receiving information from XX (device / network element), or receiving information from XX (device / network element)" can be understood as the source of the information being that device / network element. This can include receiving information directly or indirectly from that device / network element. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source.

[0367] In this application, the terms "exemplary," "for example," or "example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary," "for example," or "example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "example" is intended to present the relevant concepts in a specific manner to facilitate understanding.

Claims

1. A communication method, characterized in that, The method includes: Obtain first information, which is used to configure the merging mechanism; Based on the aforementioned merging mechanism, the sensed data received N times are merged; In the N received sensing data, the sensing data received in the second to Nth times is obtained by re-sensing and measuring after the sensing data verification of the previous received sensing data failed, where N is an integer greater than or equal to 2.

2. The method according to claim 1, characterized in that, The method further includes: Obtain second information, which indicates whether the merging mechanism is enabled.

3. The method according to claim 1 or 2, characterized in that, The first information is used to configure the merging mechanism, including: the first information is used to configure the merging mode; The merging mode is the first mode, in which the sensing data from different receptions correspond to the same sensing measurement conditions in the N received sensing data; or, The merging mode is the second mode, in which the sensing data received in at least two of the N times corresponds to different sensing measurement conditions in different times.

4. The method according to claim 3, characterized in that, The sensing data received in different sessions correspond to the same sensing measurement conditions, including: the sensing targets corresponding to the sensing data received in different sessions are all the same, and the anchor point targets corresponding to the sensing data received in different sessions are all the same.

5. The method according to claim 3, characterized in that, The different sensing data received in different sessions correspond to different sensing measurement conditions, including: the sensing target parts are different or completely different for the sensing data received in different sessions, and / or the anchor point targets are different or completely different for the sensing data received in different sessions.

6. The method according to claim 3 or 5, characterized in that, The merging mode is the second mode; the method further includes: Receive third information, which includes sensing data received from any one of the N received sensing data, and the third information is also used to indicate the sensing measurement conditions corresponding to the sensing data in the third information.

7. The method according to claim 3 or 4, characterized in that, The merging mode is the first mode; In the N received sensing data, each received sensing data includes: data corresponding to the sensing target and data corresponding to the anchor point target; The data corresponding to the anchor point target is used for the perception verification of the perception data.

8. The method according to claim 3, 5, or 6, characterized in that, The merging mode is the second mode; In the N received sensing data, each received sensing data includes: data corresponding to the sensing target and data corresponding to the anchor point target; or, In the N received perception data, the perception data received in some rounds includes the data corresponding to the perception target and the data corresponding to the anchor point target, while the perception data received in the remaining rounds includes the data corresponding to the anchor point target. The data corresponding to the anchor point target is used for the perception verification of the perception data.

9. The method according to any one of claims 1 to 8, characterized in that, The first information is used to configure the merging mechanism, including: the first information is used to configure the merging object; The merged objects include: the data corresponding to the sensing targets in the sensing data, and / or the data corresponding to the anchor targets in the sensing data.

10. The method according to any one of claims 1 to 9, characterized in that, The first information is used to configure the merging mechanism, including: the first information is used to configure the merging algorithm, and the merging algorithm is used to determine the result of merging the N received sensing data.

11. A communication method, characterized in that, The method includes: Send the first message, which is used to configure the merging mechanism; M times of sensing data transmission; The merging mechanism is used to merge some or all of the sensing data sent in the M times. In the M transmissions of sensing data, the sensing data transmitted from the 2nd to the Mth transmissions is obtained by re-sensing and measuring after receiving a sensing verification failure indication following the previous transmission of sensing data, or by re-sensing and measuring after not receiving a sensing verification indication within the first time range following the previous transmission of sensing data, where M is an integer greater than or equal to 2.

12. The method according to claim 11, characterized in that, The method further includes: A second message is sent, which also indicates whether the merging mechanism is enabled.

13. The method according to claim 11 or 12, characterized in that, The first information is used to configure the merging mechanism, including: the first information is used to configure the merging mode; The merging mode is the first mode, in which the sensing data from different transmissions correspond to the same sensing measurement conditions in the M transmissions; or, The merging mode is the second mode, in which the sensing data sent in at least two of the M times corresponds to different sensing measurement conditions in different times.

14. The method according to claim 13, characterized in that, The sensing data transmitted in different sessions correspond to the same sensing measurement conditions, including: the sensing targets corresponding to the sensing data transmitted in different sessions are all the same, and the anchor point targets corresponding to the sensing data transmitted in different sessions are all the same.

15. The method according to claim 13, characterized in that, The different sensing data transmitted correspond to different sensing measurement conditions, including: the sensing target parts are different or completely different for the sensing data transmitted in different times, and / or the anchor point targets are different or completely different for the sensing data transmitted in different times.

16. The method according to claim 13 or 15, characterized in that, The merging mode is the second mode; the M transmissions of sensing data include: Send a third message, which includes sensing data from any one of the M sent sensing data, and the third message is also used to indicate the sensing measurement conditions corresponding to the sensing data in the third message.

17. The method according to claim 13 or 14, characterized in that, The merging mode is the first mode; In the M transmissions of sensing data, each transmission of sensing data includes: data corresponding to the sensing target and data corresponding to the anchor point target; The data corresponding to the anchor point target is used for the perception verification of the perception data.

18. The method according to claim 13, 15, or 16, characterized in that, The merging mode is the second mode; In the M transmissions of sensing data, each transmission includes: data corresponding to the sensing target and data corresponding to the anchor point target; or, In the M transmissions of perception data, some transmissions include data corresponding to the perception target and data corresponding to the anchor target, while the remaining transmissions include data corresponding to the anchor target. The data corresponding to the anchor point target is used for the perception verification of the perception data.

19. The method according to any one of claims 11 to 18, characterized in that, The first information is used to configure the merging mechanism, including: the first information is used to configure the merging object; The merged objects include: the data corresponding to the sensing targets in the sensing data, and / or the data corresponding to the anchor targets in the sensing data.

20. The method according to any one of claims 11 to 19, characterized in that, The first information is used to configure the merging mechanism, including: the first information is used to configure the merging algorithm, the merging algorithm being used to determine the result of merging some or all of the sensing data in the M transmitted sensing data.

21. A communication device, characterized in that, The apparatus includes modules or units for implementing the method of any one of claims 1 to 10, or includes modules or units for implementing the method of any one of claims 11 to 20.

22. A communication device, characterized in that, Includes at least one processor; The processor is configured to cause the communication device to perform the method of any one of claims 1 to 10, or to cause the communication device to perform the method of any one of claims 11 to 20, by executing a computer program or instructions stored in a memory, and / or by logic circuitry.

23. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, causes the method as described in any one of claims 1 to 10 to be performed, or causes the method as described in any one of claims 11 to 20 to be performed.

24. A computer program product, the computer program product comprising: Computer program code that, when executed, causes the method as described in any one of claims 1 to 10 to be performed, or causes the method as described in any one of claims 11 to 20 to be performed.

Images